1.0.0

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

README.md

@@ -8,7 +8,7 @@ rclcpp provides the standard C++ API for interacting with ROS 2.
 
 `#include "rclcpp/rclcpp.hpp"` allows use of the most common elements of the ROS 2 system.
 
-Visit the [rclcpp API documentation](http://docs.ros2.org/eloquent/api/rclcpp/) for a complete list of its main components.
+Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components.
 
 ### Examples
 

rclcpp/CHANGELOG.rst

@@ -2,6 +2,106 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.0 (2020-05-12)
+------------------
+* Remove MANUAL_BY_NODE liveliness API (`#1107 <https://github.com/ros2/rclcpp/issues/1107>`_)
+* Use rosidl_default_generators dependency in test (`#1114 <https://github.com/ros2/rclcpp/issues/1114>`_)
+* Make sure to include what you use (`#1112 <https://github.com/ros2/rclcpp/issues/1112>`_)
+* Mark flaky test with xfail: TestMultiThreadedExecutor (`#1109 <https://github.com/ros2/rclcpp/issues/1109>`_)
+* Contributors: Chris Lalancette, Ivan Santiago Paunovic, Karsten Knese, Louise Poubel
+
+0.9.1 (2020-05-08)
+------------------
+* Fix tests that were not properly torn down (`#1073 <https://github.com/ros2/rclcpp/issues/1073>`_)
+* Added docblock in rclcpp (`#1103 <https://github.com/ros2/rclcpp/issues/1103>`_)
+* Added Quality declaration: rclcpp, rclpp_action, rclcpp_components andrclcpp_lifecycle (`#1100 <https://github.com/ros2/rclcpp/issues/1100>`_)
+* Use RCL_RET_SERVICE_TAKE_FAILED and not RCL_RET_CLIENT_TAKE_FAILED when checking a request take (`#1101 <https://github.com/ros2/rclcpp/issues/1101>`_)
+* Update comment about return value in Executor::get_next_ready_executable (`#1085 <https://github.com/ros2/rclcpp/issues/1085>`_)
+* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Devin Bonnie, Ivan Santiago Paunovic
+
+0.9.0 (2020-04-29)
+------------------
+* Serialized message move constructor (`#1097 <https://github.com/ros2/rclcpp/issues/1097>`_)
+* Enforce a precedence for wildcard matching in parameter overrides. (`#1094 <https://github.com/ros2/rclcpp/issues/1094>`_)
+* Add serialized_message.hpp header (`#1095 <https://github.com/ros2/rclcpp/issues/1095>`_)
+* Add received message age metric to topic statistics (`#1080 <https://github.com/ros2/rclcpp/issues/1080>`_)
+* Deprecate redundant namespaces (`#1083 <https://github.com/ros2/rclcpp/issues/1083>`_)
+* Export targets in addition to include directories / libraries (`#1088 <https://github.com/ros2/rclcpp/issues/1088>`_)
+* Ensure logging is initialized just once (`#998 <https://github.com/ros2/rclcpp/issues/998>`_)
+* Adapt subscription traits to rclcpp::SerializedMessage (`#1092 <https://github.com/ros2/rclcpp/issues/1092>`_)
+* Protect subscriber_statistics_collectors\_ with a mutex (`#1084 <https://github.com/ros2/rclcpp/issues/1084>`_)
+* Remove unused test variable (`#1087 <https://github.com/ros2/rclcpp/issues/1087>`_)
+* Use serialized message (`#1081 <https://github.com/ros2/rclcpp/issues/1081>`_)
+* Integrate topic statistics (`#1072 <https://github.com/ros2/rclcpp/issues/1072>`_)
+* Fix rclcpp interface traits test (`#1086 <https://github.com/ros2/rclcpp/issues/1086>`_)
+* Generate node interfaces' getters and traits (`#1069 <https://github.com/ros2/rclcpp/issues/1069>`_)
+* Use composition for serialized message (`#1082 <https://github.com/ros2/rclcpp/issues/1082>`_)
+* Dnae adas/serialized message (`#1075 <https://github.com/ros2/rclcpp/issues/1075>`_)
+* Reflect changes in rclcpp API (`#1079 <https://github.com/ros2/rclcpp/issues/1079>`_)
+* Fix build regression (`#1078 <https://github.com/ros2/rclcpp/issues/1078>`_)
+* Add NodeDefault option for enabling topic statistics (`#1074 <https://github.com/ros2/rclcpp/issues/1074>`_)
+* Topic Statistics: Add SubscriptionTopicStatistics class (`#1050 <https://github.com/ros2/rclcpp/issues/1050>`_)
+* Add SubscriptionOptions for topic statistics (`#1057 <https://github.com/ros2/rclcpp/issues/1057>`_)
+* Remove warning message from failing to register default callback (`#1067 <https://github.com/ros2/rclcpp/issues/1067>`_)
+* Create a default warning for qos incompatibility (`#1051 <https://github.com/ros2/rclcpp/issues/1051>`_)
+* Add WaitSet class and modify entities to work without executor (`#1047 <https://github.com/ros2/rclcpp/issues/1047>`_)
+* Include what you use (`#1059 <https://github.com/ros2/rclcpp/issues/1059>`_)
+* Rename rosidl_generator_cpp namespace to rosidl_runtime_cpp (`#1060 <https://github.com/ros2/rclcpp/issues/1060>`_)
+* Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp (`#1014 <https://github.com/ros2/rclcpp/issues/1014>`_)
+* Use constexpr for endpoint type name (`#1055 <https://github.com/ros2/rclcpp/issues/1055>`_)
+* Add InvalidParameterTypeException (`#1027 <https://github.com/ros2/rclcpp/issues/1027>`_)
+* Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events (`#924 <https://github.com/ros2/rclcpp/issues/924>`_)
+* Fixup clang warning (`#1040 <https://github.com/ros2/rclcpp/issues/1040>`_)
+* Adding a "static" single threaded executor (`#1034 <https://github.com/ros2/rclcpp/issues/1034>`_)
+* Add equality operators for QoS profile (`#1032 <https://github.com/ros2/rclcpp/issues/1032>`_)
+* Remove extra vertical whitespace (`#1030 <https://github.com/ros2/rclcpp/issues/1030>`_)
+* Switch IntraProcessMessage to test_msgs/Empty (`#1017 <https://github.com/ros2/rclcpp/issues/1017>`_)
+* Add new type of exception that may be thrown during creation of publisher/subscription (`#1026 <https://github.com/ros2/rclcpp/issues/1026>`_)
+* Don't check lifespan on publisher QoS (`#1002 <https://github.com/ros2/rclcpp/issues/1002>`_)
+* Fix get_parameter_tyeps of AsyncPrameterClient results are always empty (`#1019 <https://github.com/ros2/rclcpp/issues/1019>`_)
+* Cleanup node interfaces includes (`#1016 <https://github.com/ros2/rclcpp/issues/1016>`_)
+* Add ifdefs to remove tracing-related calls if tracing is disabled (`#1001 <https://github.com/ros2/rclcpp/issues/1001>`_)
+* Include missing header in node_graph.cpp (`#994 <https://github.com/ros2/rclcpp/issues/994>`_)
+* Add missing includes of logging.hpp (`#995 <https://github.com/ros2/rclcpp/issues/995>`_)
+* Zero initialize publisher GID in subscription intra process callback (`#1011 <https://github.com/ros2/rclcpp/issues/1011>`_)
+* Removed ament_cmake dependency (`#989 <https://github.com/ros2/rclcpp/issues/989>`_)
+* Switch to using new rcutils_strerror (`#993 <https://github.com/ros2/rclcpp/issues/993>`_)
+* Ensure all rclcpp::Clock accesses are thread-safe
+* Use a PIMPL for rclcpp::Clock implementation
+* Replace rmw_implementation for rmw dependency in package.xml (`#990 <https://github.com/ros2/rclcpp/issues/990>`_)
+* Add missing service callback registration tracepoint (`#986 <https://github.com/ros2/rclcpp/issues/986>`_)
+* Rename rmw_topic_endpoint_info_array count to size (`#996 <https://github.com/ros2/rclcpp/issues/996>`_)
+* Implement functions to get publisher and subcription informations like QoS policies from topic name (`#960 <https://github.com/ros2/rclcpp/issues/960>`_)
+* Code style only: wrap after open parenthesis if not in one line (`#977 <https://github.com/ros2/rclcpp/issues/977>`_)
+* Accept taking an rvalue ref future in spin_until_future_complete (`#971 <https://github.com/ros2/rclcpp/issues/971>`_)
+* Allow node clock use in logging macros (`#969 <https://github.com/ros2/rclcpp/issues/969>`_) (`#970 <https://github.com/ros2/rclcpp/issues/970>`_)
+* Change order of deprecated and visibility attributes (`#968 <https://github.com/ros2/rclcpp/issues/968>`_)
+* Deprecated is_initialized() (`#967 <https://github.com/ros2/rclcpp/issues/967>`_)
+* Don't specify calling convention in std::_Binder template (`#952 <https://github.com/ros2/rclcpp/issues/952>`_)
+* Added missing include to logging.hpp (`#964 <https://github.com/ros2/rclcpp/issues/964>`_)
+* Assigning make_shared result to variables in test (`#963 <https://github.com/ros2/rclcpp/issues/963>`_)
+* Fix unused parameter warning (`#962 <https://github.com/ros2/rclcpp/issues/962>`_)
+* Stop retaining ownership of the rcl context in GraphListener (`#946 <https://github.com/ros2/rclcpp/issues/946>`_)
+* Clear sub contexts when starting another init-shutdown cycle (`#947 <https://github.com/ros2/rclcpp/issues/947>`_)
+* Avoid possible UB in Clock jump callbacks (`#954 <https://github.com/ros2/rclcpp/issues/954>`_)
+* Handle unknown global ROS arguments (`#951 <https://github.com/ros2/rclcpp/issues/951>`_)
+* Mark get_clock() as override to fix clang warnings (`#939 <https://github.com/ros2/rclcpp/issues/939>`_)
+* Create node clock calls const (try 2) (`#922 <https://github.com/ros2/rclcpp/issues/922>`_)
+* Fix asserts on shared_ptr::use_count; expects long, got uint32 (`#936 <https://github.com/ros2/rclcpp/issues/936>`_)
+* Use absolute topic name for parameter events (`#929 <https://github.com/ros2/rclcpp/issues/929>`_)
+* Add enable_rosout into NodeOptions. (`#900 <https://github.com/ros2/rclcpp/issues/900>`_)
+* Removing "virtual", adding "override" keywords (`#897 <https://github.com/ros2/rclcpp/issues/897>`_)
+* Use weak_ptr to store context in GraphListener (`#906 <https://github.com/ros2/rclcpp/issues/906>`_)
+* Complete published event message when declaring a parameter (`#928 <https://github.com/ros2/rclcpp/issues/928>`_)
+* Fix duration.cpp lint error (`#930 <https://github.com/ros2/rclcpp/issues/930>`_)
+* Intra-process subscriber should use RMW actual qos. (ros2`#913 <https://github.com/ros2/rclcpp/issues/913>`_) (`#914 <https://github.com/ros2/rclcpp/issues/914>`_)
+* Type conversions fixes (`#901 <https://github.com/ros2/rclcpp/issues/901>`_)
+* Add override keyword to functions
+* Remove unnecessary virtual keywords
+* Only check for new work once in spin_some (`#471 <https://github.com/ros2/rclcpp/issues/471>`_) (`#844 <https://github.com/ros2/rclcpp/issues/844>`_)
+* Add addition/subtraction assignment operators to Time (`#748 <https://github.com/ros2/rclcpp/issues/748>`_)
+* Contributors: Alberto Soragna, Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Christophe Bedard, Claire Wang, Dan Rose, DensoADAS, Devin Bonnie, Dino Hüllmann, Dirk Thomas, DongheeYe, Emerson Knapp, Ivan Santiago Paunovic, Jacob Perron, Jaison Titus, Karsten Knese, Matt Schickler, Miaofei Mei, Michel Hidalgo, Mikael Arguedas, Monika Idzik, Prajakta Gokhale, Roger Strain, Scott K Logan, Sean Kelly, Stephen Brawner, Steven Macenski, Steven! Ragnarök, Todd Malsbary, Tomoya Fujita, William Woodall, Zachary Michaels
+
 0.8.3 (2019-11-19)
 ------------------
 

rclcpp/CMakeLists.txt

@@ -26,8 +26,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-include_directories(include)
-
 set(${PROJECT_NAME}_SRCS
   src/rclcpp/any_executable.cpp
   src/rclcpp/callback_group.cpp
@@ -41,7 +39,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/detail/utilities.cpp
   src/rclcpp/duration.cpp
   src/rclcpp/event.cpp
-  src/rclcpp/exceptions.cpp
+  src/rclcpp/exceptions/exceptions.cpp
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
@@ -50,6 +48,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executors/single_threaded_executor.cpp
   src/rclcpp/executors/static_executor_entities_collector.cpp
   src/rclcpp/executors/static_single_threaded_executor.cpp
+  src/rclcpp/future_return_code.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp
   src/rclcpp/init_options.cpp
@@ -101,23 +100,71 @@ configure_file(
   COPYONLY
 )
 # generate header with logging macros
-set(python_code
+set(python_code_logging
   "import em"
   "em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")
-string(REPLACE ";" "$<SEMICOLON>" python_code "${python_code}")
+string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")
 add_custom_command(OUTPUT include/rclcpp/logging.hpp
   COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
-  COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code}"
+  COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code_logging}"
   DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
   COMMENT "Expanding logging.hpp.em"
   VERBATIM
 )
 list(APPEND ${PROJECT_NAME}_SRCS
   include/rclcpp/logging.hpp)
-include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")
+
+file(GLOB interface_files "include/rclcpp/node_interfaces/node_*_interface.hpp")
+foreach(interface_file ${interface_files})
+  get_filename_component(interface_name ${interface_file} NAME_WE)
+
+  # "watch" template for changes
+  configure_file(
+    "resource/interface_traits.hpp.em"
+    "${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
+    COPYONLY
+  )
+  set(python_${interface_name}_traits
+    "import em"
+    "em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/${interface_name}_traits.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/interface_traits.hpp.em'])")
+  string(REPLACE ";" "$<SEMICOLON>" python_${interface_name}_traits "${python_${interface_name}_traits}")
+  add_custom_command(OUTPUT include/rclcpp/node_interfaces/${interface_name}_traits.hpp
+    COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
+    COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_${interface_name}_traits}"
+    DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
+    COMMENT "Expanding interface_traits.hpp.em into ${interface_name}_traits.hpp"
+    VERBATIM
+  )
+  list(APPEND ${PROJECT_NAME}_SRCS
+    include/rclcpp/node_interfaces/${interface_name}_traits.hpp)
+
+  # "watch" template for changes
+  configure_file(
+    "resource/get_interface.hpp.em"
+    "get_${interface_name}.hpp.em.watch"
+    COPYONLY
+  )
+  set(python_get_${interface_name}
+    "import em"
+    "em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/get_${interface_name}.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/get_interface.hpp.em'])")
+  string(REPLACE ";" "$<SEMICOLON>" python_get_${interface_name} "${python_get_${interface_name}}")
+  add_custom_command(OUTPUT include/rclcpp/node_interfaces/get_${interface_name}.hpp
+    COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
+    COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_get_${interface_name}}"
+    DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/get_${interface_name}.hpp.em.watch"
+    COMMENT "Expanding get_interface.hpp.em into get_${interface_file}.hpp"
+    VERBATIM
+  )
+  list(APPEND ${PROJECT_NAME}_SRCS
+    include/rclcpp/node_interfaces/get_${interface_name}.hpp)
+endforeach()
 
 add_library(${PROJECT_NAME}
   ${${PROJECT_NAME}_SRCS})
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
   "libstatistics_collector"
@@ -139,7 +186,7 @@ target_compile_definitions(${PROJECT_NAME}
   PRIVATE "RCLCPP_BUILDING_LIBRARY")
 
 install(
-  TARGETS ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -148,6 +195,7 @@ install(
 # specific order: dependents before dependencies
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME})
 
 ament_export_dependencies(libstatistics_collector)
 ament_export_dependencies(rcl)
@@ -168,6 +216,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(rmw_implementation_cmake REQUIRED)
+  find_package(rosidl_default_generators REQUIRED)
 
   find_package(test_msgs REQUIRED)
 
@@ -175,6 +224,14 @@ if(BUILD_TESTING)
 
   add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/test/resources")
 
+  rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
+    test/msg/Header.msg
+    test/msg/MessageWithHeader.msg
+    DEPENDENCIES builtin_interfaces
+    LIBRARY_NAME ${PROJECT_NAME}
+    SKIP_INSTALL
+  )
+
   ament_add_gtest(test_client test/test_client.cpp)
   if(TARGET test_client)
     ament_target_dependencies(test_client
@@ -209,6 +266,7 @@ if(BUILD_TESTING)
   endif()
   ament_add_gtest(test_function_traits test/test_function_traits.cpp)
   if(TARGET test_function_traits)
+    target_include_directories(test_function_traits PUBLIC include)
     ament_target_dependencies(test_function_traits
       "rcl_interfaces"
       "rmw"
@@ -532,12 +590,21 @@ if(BUILD_TESTING)
     target_link_libraries(test_init ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(test_interface_traits test/test_interface_traits.cpp
+    APPEND_LIBRARY_DIRS "${append_library_dirs}")
+  if(TARGET test_interface_traits)
+    ament_target_dependencies(test_interface_traits
+      "rcl")
+    target_link_libraries(test_interface_traits ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(test_multi_threaded_executor test/executors/test_multi_threaded_executor.cpp
     APPEND_LIBRARY_DIRS "${append_library_dirs}")
   if(TARGET test_multi_threaded_executor)
     ament_target_dependencies(test_multi_threaded_executor
       "rcl")
     target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
+    ament_add_test_label(test_multi_threaded_executor xfail)
   endif()
 
   ament_add_gtest(test_guard_condition test/test_guard_condition.cpp
@@ -553,9 +620,12 @@ if(BUILD_TESTING)
     target_link_libraries(test_wait_set ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(test_subscription_topic_statistics test/topic_statistics/test_subscription_topic_statistics.cpp)
+  ament_add_gtest(test_subscription_topic_statistics test/topic_statistics/test_subscription_topic_statistics.cpp
+    APPEND_LIBRARY_DIRS "${append_library_dirs}"
+  )
   if(TARGET test_subscription_topic_statistics)
     ament_target_dependencies(test_subscription_topic_statistics
+      "builtin_interfaces"
       "libstatistics_collector"
       "rcl_interfaces"
       "rcutils"
@@ -564,6 +634,7 @@ if(BUILD_TESTING)
       "rosidl_typesupport_cpp"
       "statistics_msgs"
       "test_msgs")
+    rosidl_target_interfaces(test_subscription_topic_statistics ${PROJECT_NAME}_test_msgs "rosidl_typesupport_cpp")
     target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
   endif()
 

rclcpp/QUALITY_DECLARATION.md

@@ -0,0 +1,173 @@
+This document is a declaration of software quality for the `rclcpp` package, based on the guidelines in [REP-2004](https://github.com/ros-infrastructure/rep/blob/rep-2004/rep-2004.rst).
+
+# `rclcpp` Quality Declaration
+
+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://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://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning)
+
+### Version Stability [1.ii]
+
+`rclcpp` is not yet at a stable version, i.e. `>= 1.0.0`.
+The current version can be found in its [package.xml](package.xml), and its change history can be found in its [CHANGELOG](CHANGELOG.rst).
+
+### Public API Declaration [1.iii]
+
+All symbols in the installed headers are considered part of the public API.
+
+Except for the exclusions listed below, all installed headers are in the `include` directory of the package, headers in any other folders are not installed and considered private.
+Headers under the folder `experimental` are not considered part of the public API as they have not yet been stabilized. These symbols are namespaced `rclcpp::experimental`.
+Headers under the folder `detail` are not considered part of the public API and are subject to change without notice. These symbols are namespaced `rclcpp::detail`.
+
+### API Stability Policy [1.iv]
+
+`rclcpp` will not break public API within a released ROS distribution, i.e. no major releases once the ROS distribution is released.
+
+### ABI Stability Policy [1.v]
+
+`rclcpp` contains C++ code and therefore must be concerned with ABI stability, and will maintain ABI stability within a ROS distribution.
+
+### ABI and ABI Stability Within a Released ROS Distribution [1.vi]
+
+`rclcpp` will not break API nor ABI within a released ROS distribution, i.e. no major releases once the ROS distribution is released.
+
+## Change Control Process [2]
+
+`rclcpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process).
+
+### Change Requests [2.i]
+
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+
+### Contributor Origin [2.ii]
+
+This package uses DCO as its confirmation of contributor origin policy. More information can be found in [CONTRIBUTING](../CONTRIBUTING.md).
+
+### Peer Review Policy [2.iii]
+
+All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+
+### Continuous Integration [2.iv]
+
+All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+
+Currently nightly results can be seen here:
+
+* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rclcpp/)
+* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rclcpp/)
+* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rclcpp/)
+* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rclcpp/)
+
+###  Documentation Policy [2.v]
+
+All pull requests must resolve related documentation changes before merging.
+
+## Documentation [3]
+
+### Feature Documentation [3.i]
+
+`rclcpp` has a [feature list](http://docs.ros2.org/latest/api/rclcpp/) and each item in the list links to the corresponding feature documentation. There is documentation for all of the features, and new features require documentation before being added.
+
+### Public API Documentation [3.ii]
+
+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/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/Epr/job/Epr__rclcpp__ubuntu_bionic_amd64/lastBuild/testReport/rclcpp/copyright/).
+
+## Testing [4]
+
+### Feature Testing [4.i]
+
+Each feature in `rclcpp` has corresponding tests which simulate typical usage, and they are located in the [`test`](https://github.com/ros2/rclcpp/tree/master/test) directory.
+New features are required to have tests before being added.
+
+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/)
+* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rclcpp/)
+* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rclcpp/)
+* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rclcpp/)
+
+### Public API Testing [4.ii]
+
+Each part of the public API has tests, and new additions or changes to the public API require tests before being added.
+The tests aim to cover both typical usage and corner cases, but are quantified by contributing to code coverage.
+
+### Coverage [4.iii]
+
+`rclcpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage.
+
+This includes:
+
+- tracking and reporting line coverage statistics
+- achieving and maintaining a reasonable branch line coverage (90-100%)
+- no lines are manually skipped in coverage calculations
+
+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.
+
+### Performance [4.iv]
+
+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://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/)
+* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rclcpp/)
+* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rclcpp/)
+* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rclcpp/)
+
+## Dependencies [5]
+
+### Direct and Optional Runtime ROS Dependencies [5.i]/[5.ii]
+
+`rclcpp` has the following runtime ROS dependencies:
+  - libstatistics_collector
+  - rcl
+  - rcl_yaml_param_parser
+  - rcpputils
+  - rcutils
+  - rmw
+  - statistics_msgs
+  - tracetools
+
+It has several "buildtool" dependencies, which do not affect the resulting quality of the package, because they do not contribute to the public library API.
+It also has several test dependencies, which do not affect the resulting quality of the package, because they are only used to build and run the test code.
+
+### Direct Runtime non-ROS Dependency [5.iii]
+
+`rclcpp` has no run-time or build-time dependencies that need to be considered for this declaration.
+
+## Platform Support [6]
+
+`rclcpp` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+
+Currently nightly build status can be seen here:
+* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/rclcpp/)
+* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/rclcpp/)
+* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/rclcpp/)
+* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/rclcpp/)
+
+## Security
+
+### Vulnerability Disclosure Policy [7.i]
+
+This package does not yet have a Vulnerability Disclosure Policy

rclcpp/README.md

@@ -0,0 +1,7 @@
+# `rclcpp`
+
+The ROS client library in C++. Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components.
+
+## Quality Declaration
+
+This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

rclcpp/include/rclcpp/any_executable.hpp

@@ -29,8 +29,6 @@
 
 namespace rclcpp
 {
-namespace executor
-{
 
 struct AnyExecutable
 {
@@ -47,10 +45,15 @@ struct AnyExecutable
   rclcpp::ClientBase::SharedPtr client;
   rclcpp::Waitable::SharedPtr waitable;
   // These are used to keep the scope on the containing items
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
+  rclcpp::CallbackGroup::SharedPtr callback_group;
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
 };
 
+namespace executor
+{
+
+using AnyExecutable [[deprecated("use rclcpp::AnyExecutable instead")]] = AnyExecutable;
+
 }  // namespace executor
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/callback_group.hpp

@@ -40,9 +40,6 @@ class NodeTopics;
 class NodeWaitables;
 }  // namespace node_interfaces
 
-namespace callback_group
-{
-
 enum class CallbackGroupType
 {
   MutuallyExclusive,
@@ -162,6 +159,12 @@ 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
 

rclcpp/include/rclcpp/client.hpp

@@ -84,22 +84,42 @@ public:
   bool
   take_type_erased_response(void * response_out, rmw_request_id_t & request_header_out);
 
+  /// Return the name of the service.
+  /** \return The name of the service. */
   RCLCPP_PUBLIC
   const char *
   get_service_name() const;
 
+  /// Return the rcl_client_t client handle in a std::shared_ptr.
+  /**
+   * This handle remains valid after the Client is destroyed.
+   * The actual rcl client is not finalized until it is out of scope everywhere.
+   */
   RCLCPP_PUBLIC
   std::shared_ptr<rcl_client_t>
   get_client_handle();
 
+  /// Return the rcl_client_t client handle in a std::shared_ptr.
+  /**
+   * This handle remains valid after the Client is destroyed.
+   * The actual rcl client is not finalized until it is out of scope everywhere.
+   */
   RCLCPP_PUBLIC
   std::shared_ptr<const rcl_client_t>
   get_client_handle() const;
 
+  /// Return if the service is ready.
+  /**
+   * \return `true` if the service is ready, `false` otherwise
+   */
   RCLCPP_PUBLIC
   bool
   service_is_ready() const;
 
+  /// Wait for a service to be ready.
+  /**
+   * \param timeout maximum time to wait
+   */
   template<typename RepT = int64_t, typename RatioT = std::milli>
   bool
   wait_for_service(

rclcpp/include/rclcpp/clock.hpp

@@ -89,6 +89,7 @@ public:
   bool
   ros_time_is_active();
 
+  /// Return the rcl_clock_t clock handle
   RCLCPP_PUBLIC
   rcl_clock_t *
   get_clock_handle() noexcept;
@@ -97,6 +98,7 @@ public:
   rcl_clock_type_t
   get_clock_type() const noexcept;
 
+  /// Get the clock's mutex
   RCLCPP_PUBLIC
   std::mutex &
   get_clock_mutex() noexcept;

rclcpp/include/rclcpp/context.hpp

@@ -338,6 +338,9 @@ private:
   rclcpp::InitOptions init_options_;
   std::string shutdown_reason_;
 
+  // Keep shared ownership of global logging configure mutex.
+  std::shared_ptr<std::mutex> logging_configure_mutex_;
+
   std::unordered_map<std::type_index, std::shared_ptr<void>> sub_contexts_;
   // This mutex is recursive so that the constructor of a sub context may
   // attempt to acquire another sub context.

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -22,8 +22,6 @@ namespace rclcpp
 {
 namespace contexts
 {
-namespace default_context
-{
 
 class DefaultContext : public rclcpp::Context
 {
@@ -38,6 +36,21 @@ 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_client.hpp

@@ -35,7 +35,7 @@ create_client(
   std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
   const std::string & service_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   rcl_client_options_t options = rcl_client_get_default_options();
   options.qos = qos_profile;

rclcpp/include/rclcpp/create_service.hpp

@@ -37,7 +37,7 @@ create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   rclcpp::AnyServiceCallback<ServiceT> any_service_callback;
   any_service_callback.set(std::forward<CallbackT>(callback));

rclcpp/include/rclcpp/create_subscription.hpp

@@ -15,15 +15,25 @@
 #ifndef RCLCPP__CREATE_SUBSCRIPTION_HPP_
 #define RCLCPP__CREATE_SUBSCRIPTION_HPP_
 
+#include <chrono>
+#include <functional>
 #include <memory>
 #include <string>
 #include <utility>
 
+#include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
+
+#include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
+
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/subscription_factory.hpp"
 #include "rclcpp/subscription_options.hpp"
-#include "rclcpp/qos.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
 #include "rmw/qos_profiles.h"
 
 namespace rclcpp
@@ -64,10 +74,46 @@ create_subscription(
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics = get_node_topics_interface(std::forward<NodeT>(node));
 
+  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()))
+  {
+    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
+    msg_mem_strat,
+    subscription_topic_stats
   );
 
   auto sub = node_topics->create_subscription(topic_name, factory, qos);

rclcpp/include/rclcpp/create_timer.hpp

@@ -15,6 +15,8 @@
 #ifndef RCLCPP__CREATE_TIMER_HPP_
 #define RCLCPP__CREATE_TIMER_HPP_
 
+#include <chrono>
+#include <exception>
 #include <memory>
 #include <string>
 #include <utility>
@@ -32,12 +34,12 @@ namespace rclcpp
 template<typename CallbackT>
 typename rclcpp::TimerBase::SharedPtr
 create_timer(
-  node_interfaces::NodeBaseInterface * node_base,
-  node_interfaces::NodeTimersInterface * node_timers,
+  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
+  std::shared_ptr<node_interfaces::NodeTimersInterface> node_timers,
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
   auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
     clock,
@@ -57,7 +59,7 @@ create_timer(
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
   return create_timer(
     rclcpp::node_interfaces::get_node_base_interface(node),
@@ -68,6 +70,46 @@ create_timer(
     group);
 }
 
+/// Convenience method to create a timer with node resources.
+/**
+ *
+ * \tparam DurationRepT
+ * \tparam DurationT
+ * \tparam CallbackT
+ * \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
+ */
+template<typename DurationRepT, typename DurationT, typename CallbackT>
+typename rclcpp::WallTimer<CallbackT>::SharedPtr
+create_wall_timer(
+  std::chrono::duration<DurationRepT, DurationT> period,
+  CallbackT callback,
+  rclcpp::CallbackGroup::SharedPtr group,
+  node_interfaces::NodeBaseInterface * node_base,
+  node_interfaces::NodeTimersInterface * node_timers)
+{
+  if (node_base == nullptr) {
+    throw std::invalid_argument{"input node_base cannot be null"};
+  }
+
+  if (node_timers == nullptr) {
+    throw std::invalid_argument{"input node_timers cannot be null"};
+  }
+
+  auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
+    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
+    std::move(callback),
+    node_base->get_context());
+  node_timers->add_timer(timer, group);
+  return timer;
+}
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CREATE_TIMER_HPP_

rclcpp/include/rclcpp/detail/resolve_enable_topic_statistics.hpp

@@ -42,7 +42,6 @@ resolve_enable_topic_statistics(const OptionsT & options, const NodeBaseT & node
       break;
     default:
       throw std::runtime_error("Unrecognized EnableTopicStatistics value");
-      break;
   }
 
   return topic_stats_enabled;

rclcpp/include/rclcpp/duration.hpp

@@ -26,11 +26,22 @@ namespace rclcpp
 class RCLCPP_PUBLIC Duration
 {
 public:
+  /// Duration constructor.
+  /**
+   * Initializes the time values for seconds and nanoseconds individually.
+   * Large values for nsecs are wrapped automatically with the remainder added to secs.
+   * Both inputs must be integers.
+   * Seconds can be negative.
+   *
+   * \param seconds time in seconds
+   * \param nanoseconds time in nanoseconds
+   */
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  // This constructor matches any numeric value - ints or floats
+  // This constructor matches any numeric value - ints or floats.
   explicit Duration(rcl_duration_value_t nanoseconds);
 
+  // This constructor matches std::chrono::nanoseconds.
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 
   // This constructor matches any std::chrono value other than nanoseconds
@@ -44,6 +55,10 @@ public:
   // cppcheck-suppress noExplicitConstructor
   Duration(const builtin_interfaces::msg::Duration & duration_msg);  // NOLINT(runtime/explicit)
 
+  /// Time constructor
+  /**
+   * \param duration rcl_duration_t structure to copy.
+   */
   explicit Duration(const rcl_duration_t & duration);
 
   Duration(const Duration & rhs);
@@ -80,6 +95,10 @@ public:
   Duration
   operator-(const rclcpp::Duration & rhs) const;
 
+  /// Get the maximum representable value.
+  /**
+   * \return the maximum representable value
+   */
   static
   Duration
   max();
@@ -87,19 +106,27 @@ public:
   Duration
   operator*(double scale) const;
 
+  /// Get duration in nanosecods
+  /**
+   * \return the duration in nanoseconds as a rcl_duration_value_t.
+   */
   rcl_duration_value_t
   nanoseconds() const;
 
-  /// \return the duration in seconds as a floating point number.
-  /// \warning Depending on sizeof(double) there could be significant precision loss.
-  /// When an exact time is required use nanoseconds() instead.
+  /// Get duration in seconds
+  /**
+   * \warning Depending on sizeof(double) there could be significant precision loss.
+   *   When an exact time is required use nanoseconds() instead.
+   * \return the duration in seconds as a floating point number.
+   */
   double
   seconds() const;
 
-  // Create a duration object from a floating point number representing seconds
+  /// Create a duration object from a floating point number representing seconds
   static Duration
   from_seconds(double seconds);
 
+  /// Convert Duration into a std::chrono::Duration.
   template<class DurationT>
   DurationT
   to_chrono() const
@@ -107,6 +134,7 @@ public:
     return std::chrono::duration_cast<DurationT>(std::chrono::nanoseconds(this->nanoseconds()));
   }
 
+  /// Convert Duration into rmw_time_t.
   rmw_time_t
   to_rmw_time() const;
 

rclcpp/include/rclcpp/exceptions.hpp

@@ -15,265 +15,6 @@
 #ifndef RCLCPP__EXCEPTIONS_HPP_
 #define RCLCPP__EXCEPTIONS_HPP_
 
-#include <stdexcept>
-#include <string>
-#include <vector>
-
-#include "rcl/error_handling.h"
-#include "rcl/types.h"
-#include "rclcpp/visibility_control.hpp"
-
-#include "rcpputils/join.hpp"
-
-namespace rclcpp
-{
-namespace exceptions
-{
-
-/// Thrown when a method is trying to use a node, but it is invalid.
-class InvalidNodeError : public std::runtime_error
-{
-public:
-  InvalidNodeError()
-  : std::runtime_error("node is invalid") {}
-};
-
-/// Thrown when a any kind of name (node, namespace, topic, etc.) is invalid.
-class NameValidationError : public std::invalid_argument
-{
-public:
-  NameValidationError(
-    const char * name_type_,
-    const char * name_,
-    const char * error_msg_,
-    size_t invalid_index_)
-  : std::invalid_argument(format_error(name_type_, name_, error_msg_, invalid_index_)),
-    name_type(name_type_), name(name_), error_msg(error_msg_), invalid_index(invalid_index_)
-  {}
-
-  static std::string
-  format_error(
-    const char * name_type,
-    const char * name,
-    const char * error_msg,
-    size_t invalid_index);
-
-  const std::string name_type;
-  const std::string name;
-  const std::string error_msg;
-  const size_t invalid_index;
-};
-
-/// Thrown when a node name is invalid.
-class InvalidNodeNameError : public NameValidationError
-{
-public:
-  InvalidNodeNameError(const char * node_name, const char * error_msg, size_t invalid_index)
-  : NameValidationError("node name", node_name, error_msg, invalid_index)
-  {}
-};
-
-/// Thrown when a node namespace is invalid.
-class InvalidNamespaceError : public NameValidationError
-{
-public:
-  InvalidNamespaceError(const char * namespace_, const char * error_msg, size_t invalid_index)
-  : NameValidationError("namespace", namespace_, error_msg, invalid_index)
-  {}
-};
-
-/// Thrown when a topic name is invalid.
-class InvalidTopicNameError : public NameValidationError
-{
-public:
-  InvalidTopicNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
-  : NameValidationError("topic name", namespace_, error_msg, invalid_index)
-  {}
-};
-
-/// Thrown when a service name is invalid.
-class InvalidServiceNameError : public NameValidationError
-{
-public:
-  InvalidServiceNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
-  : NameValidationError("service name", namespace_, error_msg, invalid_index)
-  {}
-};
-
-/// 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
- * to reset the error.
- *
- * \param ret the return code for the current error state
- * \param prefix string to prefix to the error if applicable (not all errors have custom messages)
- * \param error_state error state to create exception from, if nullptr rcl_get_error_state is used
- * \param reset_error function to be called before throwing which whill clear the error state
- * \throws std::invalid_argument if ret is RCL_RET_OK
- * \throws std::runtime_error if the rcl_get_error_state returns 0
- * \throws RCLErrorBase some child class exception based on ret
- */
-/* *INDENT-OFF* */  // Uncrustify cannot yet understand [[noreturn]] properly
-RCLCPP_PUBLIC
-void
-throw_from_rcl_error [[noreturn]] (
-  rcl_ret_t ret,
-  const std::string & prefix = "",
-  const rcl_error_state_t * error_state = nullptr,
-  void (* reset_error)() = rcl_reset_error);
-/* *INDENT-ON* */
-
-class RCLErrorBase
-{
-public:
-  RCLCPP_PUBLIC
-  RCLErrorBase(rcl_ret_t ret, const rcl_error_state_t * error_state);
-  virtual ~RCLErrorBase() {}
-
-  rcl_ret_t ret;
-  std::string message;
-  std::string file;
-  size_t line;
-  std::string formatted_message;
-};
-
-/// Created when the return code does not match one of the other specialized exceptions.
-class RCLError : public RCLErrorBase, public std::runtime_error
-{
-public:
-  RCLCPP_PUBLIC
-  RCLError(rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLError(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Created when the ret is RCL_RET_BAD_ALLOC.
-class RCLBadAlloc : public RCLErrorBase, public std::bad_alloc
-{
-public:
-  RCLCPP_PUBLIC
-  RCLBadAlloc(rcl_ret_t ret, const rcl_error_state_t * error_state);
-  RCLCPP_PUBLIC
-  explicit RCLBadAlloc(const RCLErrorBase & base_exc);
-};
-
-/// Created when the ret is RCL_RET_INVALID_ARGUMENT.
-class RCLInvalidArgument : public RCLErrorBase, public std::invalid_argument
-{
-public:
-  RCLCPP_PUBLIC
-  RCLInvalidArgument(
-    rcl_ret_t ret,
-    const rcl_error_state_t * error_state,
-    const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Created when the ret is RCL_RET_INVALID_ROS_ARGS.
-class RCLInvalidROSArgsError : public RCLErrorBase, public std::runtime_error
-{
-public:
-  RCLCPP_PUBLIC
-  RCLInvalidROSArgsError(
-    rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLInvalidROSArgsError(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Thrown when unparsed ROS specific arguments are found.
-class UnknownROSArgsError : public std::runtime_error
-{
-public:
-  explicit UnknownROSArgsError(std::vector<std::string> && unknown_ros_args_in)
-  : std::runtime_error(
-      "found unknown ROS arguments: '" + rcpputils::join(unknown_ros_args_in, "', '") + "'"),
-    unknown_ros_args(unknown_ros_args_in)
-  {
-  }
-
-  const std::vector<std::string> unknown_ros_args;
-};
-
-/// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
-class InvalidEventError : public std::runtime_error
-{
-public:
-  InvalidEventError()
-  : std::runtime_error("event is invalid") {}
-};
-
-/// Thrown when an unregistered rclcpp::Event is encountered where a registered one was expected.
-class EventNotRegisteredError : public std::runtime_error
-{
-public:
-  EventNotRegisteredError()
-  : std::runtime_error("event already registered") {}
-};
-
-/// Thrown if passed parameters are inconsistent or invalid
-class InvalidParametersException : public std::runtime_error
-{
-public:
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if passed parameter value is invalid.
-class InvalidParameterValueException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if requested parameter type is invalid.
-/**
- * Essentially the same as rclcpp::ParameterTypeException, but with parameter
- * name in the error message.
- */
-class InvalidParameterTypeException : public std::runtime_error
-{
-public:
-  /// Construct an instance.
-  /**
-   * \param[in] name the name of the parameter.
-   * \param[in] message custom exception message.
-   */
-  RCLCPP_PUBLIC
-  InvalidParameterTypeException(const std::string & name, const std::string message)
-  : std::runtime_error("parameter '" + name + "' has invalid type: " + message)
-  {}
-};
-
-/// Thrown if parameter is already declared.
-class ParameterAlreadyDeclaredException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if parameter is not declared, e.g. either set or get was called without first declaring.
-class ParameterNotDeclaredException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if parameter is immutable and therefore cannot be undeclared.
-class ParameterImmutableException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if parameter is modified while in a set callback.
-class ParameterModifiedInCallbackException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-}  // namespace exceptions
-}  // namespace rclcpp
+#include "rclcpp/exceptions/exceptions.hpp"
 
 #endif  // RCLCPP__EXCEPTIONS_HPP_

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -0,0 +1,279 @@
+// Copyright 2016 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__EXCEPTIONS__EXCEPTIONS_HPP_
+#define RCLCPP__EXCEPTIONS__EXCEPTIONS_HPP_
+
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+#include "rcl/error_handling.h"
+#include "rcl/types.h"
+#include "rclcpp/visibility_control.hpp"
+
+#include "rcpputils/join.hpp"
+
+namespace rclcpp
+{
+namespace exceptions
+{
+
+/// Thrown when a method is trying to use a node, but it is invalid.
+class InvalidNodeError : public std::runtime_error
+{
+public:
+  InvalidNodeError()
+  : std::runtime_error("node is invalid") {}
+};
+
+/// Thrown when a any kind of name (node, namespace, topic, etc.) is invalid.
+class NameValidationError : public std::invalid_argument
+{
+public:
+  NameValidationError(
+    const char * name_type_,
+    const char * name_,
+    const char * error_msg_,
+    size_t invalid_index_)
+  : std::invalid_argument(format_error(name_type_, name_, error_msg_, invalid_index_)),
+    name_type(name_type_), name(name_), error_msg(error_msg_), invalid_index(invalid_index_)
+  {}
+
+  static std::string
+  format_error(
+    const char * name_type,
+    const char * name,
+    const char * error_msg,
+    size_t invalid_index);
+
+  const std::string name_type;
+  const std::string name;
+  const std::string error_msg;
+  const size_t invalid_index;
+};
+
+/// Thrown when a node name is invalid.
+class InvalidNodeNameError : public NameValidationError
+{
+public:
+  InvalidNodeNameError(const char * node_name, const char * error_msg, size_t invalid_index)
+  : NameValidationError("node name", node_name, error_msg, invalid_index)
+  {}
+};
+
+/// Thrown when a node namespace is invalid.
+class InvalidNamespaceError : public NameValidationError
+{
+public:
+  InvalidNamespaceError(const char * namespace_, const char * error_msg, size_t invalid_index)
+  : NameValidationError("namespace", namespace_, error_msg, invalid_index)
+  {}
+};
+
+/// Thrown when a topic name is invalid.
+class InvalidTopicNameError : public NameValidationError
+{
+public:
+  InvalidTopicNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
+  : NameValidationError("topic name", namespace_, error_msg, invalid_index)
+  {}
+};
+
+/// Thrown when a service name is invalid.
+class InvalidServiceNameError : public NameValidationError
+{
+public:
+  InvalidServiceNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
+  : NameValidationError("service name", namespace_, error_msg, invalid_index)
+  {}
+};
+
+/// 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
+ * to reset the error.
+ *
+ * \param ret the return code for the current error state
+ * \param prefix string to prefix to the error if applicable (not all errors have custom messages)
+ * \param error_state error state to create exception from, if nullptr rcl_get_error_state is used
+ * \param reset_error function to be called before throwing which whill clear the error state
+ * \throws std::invalid_argument if ret is RCL_RET_OK
+ * \throws std::runtime_error if the rcl_get_error_state returns 0
+ * \throws RCLErrorBase some child class exception based on ret
+ */
+/* *INDENT-OFF* */  // Uncrustify cannot yet understand [[noreturn]] properly
+RCLCPP_PUBLIC
+void
+throw_from_rcl_error [[noreturn]] (
+  rcl_ret_t ret,
+  const std::string & prefix = "",
+  const rcl_error_state_t * error_state = nullptr,
+  void (* reset_error)() = rcl_reset_error);
+/* *INDENT-ON* */
+
+class RCLErrorBase
+{
+public:
+  RCLCPP_PUBLIC
+  RCLErrorBase(rcl_ret_t ret, const rcl_error_state_t * error_state);
+  virtual ~RCLErrorBase() {}
+
+  rcl_ret_t ret;
+  std::string message;
+  std::string file;
+  size_t line;
+  std::string formatted_message;
+};
+
+/// Created when the return code does not match one of the other specialized exceptions.
+class RCLError : public RCLErrorBase, public std::runtime_error
+{
+public:
+  RCLCPP_PUBLIC
+  RCLError(rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
+  RCLCPP_PUBLIC
+  RCLError(const RCLErrorBase & base_exc, const std::string & prefix);
+};
+
+/// Created when the ret is RCL_RET_BAD_ALLOC.
+class RCLBadAlloc : public RCLErrorBase, public std::bad_alloc
+{
+public:
+  RCLCPP_PUBLIC
+  RCLBadAlloc(rcl_ret_t ret, const rcl_error_state_t * error_state);
+  RCLCPP_PUBLIC
+  explicit RCLBadAlloc(const RCLErrorBase & base_exc);
+};
+
+/// Created when the ret is RCL_RET_INVALID_ARGUMENT.
+class RCLInvalidArgument : public RCLErrorBase, public std::invalid_argument
+{
+public:
+  RCLCPP_PUBLIC
+  RCLInvalidArgument(
+    rcl_ret_t ret,
+    const rcl_error_state_t * error_state,
+    const std::string & prefix);
+  RCLCPP_PUBLIC
+  RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix);
+};
+
+/// Created when the ret is RCL_RET_INVALID_ROS_ARGS.
+class RCLInvalidROSArgsError : public RCLErrorBase, public std::runtime_error
+{
+public:
+  RCLCPP_PUBLIC
+  RCLInvalidROSArgsError(
+    rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
+  RCLCPP_PUBLIC
+  RCLInvalidROSArgsError(const RCLErrorBase & base_exc, const std::string & prefix);
+};
+
+/// Thrown when unparsed ROS specific arguments are found.
+class UnknownROSArgsError : public std::runtime_error
+{
+public:
+  explicit UnknownROSArgsError(std::vector<std::string> && unknown_ros_args_in)
+  : std::runtime_error(
+      "found unknown ROS arguments: '" + rcpputils::join(unknown_ros_args_in, "', '") + "'"),
+    unknown_ros_args(unknown_ros_args_in)
+  {
+  }
+
+  const std::vector<std::string> unknown_ros_args;
+};
+
+/// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
+class InvalidEventError : public std::runtime_error
+{
+public:
+  InvalidEventError()
+  : std::runtime_error("event is invalid") {}
+};
+
+/// Thrown when an unregistered rclcpp::Event is encountered where a registered one was expected.
+class EventNotRegisteredError : public std::runtime_error
+{
+public:
+  EventNotRegisteredError()
+  : std::runtime_error("event already registered") {}
+};
+
+/// Thrown if passed parameters are inconsistent or invalid
+class InvalidParametersException : public std::runtime_error
+{
+public:
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if passed parameter value is invalid.
+class InvalidParameterValueException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if requested parameter type is invalid.
+/**
+ * Essentially the same as rclcpp::ParameterTypeException, but with parameter
+ * name in the error message.
+ */
+class InvalidParameterTypeException : public std::runtime_error
+{
+public:
+  /// Construct an instance.
+  /**
+   * \param[in] name the name of the parameter.
+   * \param[in] message custom exception message.
+   */
+  RCLCPP_PUBLIC
+  InvalidParameterTypeException(const std::string & name, const std::string message)
+  : std::runtime_error("parameter '" + name + "' has invalid type: " + message)
+  {}
+};
+
+/// Thrown if parameter is already declared.
+class ParameterAlreadyDeclaredException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is not declared, e.g. either set or get was called without first declaring.
+class ParameterNotDeclaredException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is immutable and therefore cannot be undeclared.
+class ParameterImmutableException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is modified while in a set callback.
+class ParameterModifiedInCallbackException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+}  // namespace exceptions
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXCEPTIONS__EXCEPTIONS_HPP_

rclcpp/include/rclcpp/executor.hpp

@@ -30,6 +30,8 @@
 #include "rcl/wait.h"
 
 #include "rclcpp/contexts/default_context.hpp"
+#include "rclcpp/executor_options.hpp"
+#include "rclcpp/future_return_code.hpp"
 #include "rclcpp/memory_strategies.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
@@ -42,48 +44,6 @@ namespace rclcpp
 // Forward declaration is used in convenience method signature.
 class Node;
 
-namespace executor
-{
-
-/// Return codes to be used with spin_until_future_complete.
-/**
- * SUCCESS: The future is complete and can be accessed with "get" without blocking.
- *          This does not indicate that the operation succeeded; "get" may still throw an exception.
- * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
- * TIMEOUT: Spinning timed out.
- */
-enum class FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
-
-RCLCPP_PUBLIC
-std::ostream &
-operator<<(std::ostream & os, const FutureReturnCode & future_return_code);
-
-RCLCPP_PUBLIC
-std::string
-to_string(const FutureReturnCode & future_return_code);
-
-///
-/**
- * Options to be passed to the executor constructor.
- */
-struct ExecutorArgs
-{
-  ExecutorArgs()
-  : memory_strategy(memory_strategies::create_default_strategy()),
-    context(rclcpp::contexts::default_context::get_global_default_context()),
-    max_conditions(0)
-  {}
-
-  memory_strategy::MemoryStrategy::SharedPtr memory_strategy;
-  std::shared_ptr<rclcpp::Context> context;
-  size_t max_conditions;
-};
-
-static inline ExecutorArgs create_default_executor_arguments()
-{
-  return ExecutorArgs();
-}
-
 /// Coordinate the order and timing of available communication tasks.
 /**
  * Executor provides spin functions (including spin_node_once and spin_some).
@@ -100,9 +60,11 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor)
 
   /// Default constructor.
-  // \param[in] ms The memory strategy to be used with this executor.
+  /**
+   * \param[in] options Options used to configure the executor.
+   */
   RCLCPP_PUBLIC
-  explicit Executor(const ExecutorArgs & args = ExecutorArgs());
+  explicit Executor(const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
 
   /// Default destructor.
   RCLCPP_PUBLIC
@@ -323,10 +285,10 @@ protected:
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-  get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group);
+  get_node_by_group(rclcpp::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
-  rclcpp::callback_group::CallbackGroup::SharedPtr
+  rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
   RCLCPP_PUBLIC
@@ -363,6 +325,11 @@ protected:
   std::list<const rcl_guard_condition_t *> guard_conditions_;
 };
 
+namespace executor
+{
+
+using Executor [[deprecated("use rclcpp::Executor instead")]] = rclcpp::Executor;
+
 }  // namespace executor
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/executor_options.hpp

@@ -0,0 +1,57 @@
+// Copyright 2014-2020 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__EXECUTOR_OPTIONS_HPP_
+#define RCLCPP__EXECUTOR_OPTIONS_HPP_
+
+#include "rclcpp/context.hpp"
+#include "rclcpp/contexts/default_context.hpp"
+#include "rclcpp/memory_strategies.hpp"
+#include "rclcpp/memory_strategy.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// Options to be passed to the executor constructor.
+struct ExecutorOptions
+{
+  ExecutorOptions()
+  : memory_strategy(rclcpp::memory_strategies::create_default_strategy()),
+    context(rclcpp::contexts::get_global_default_context()),
+    max_conditions(0)
+  {}
+
+  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy;
+  rclcpp::Context::SharedPtr context;
+  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

@@ -67,9 +67,9 @@ using rclcpp::executors::SingleThreadedExecutor;
  * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
  */
 template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::executor::FutureReturnCode
+rclcpp::FutureReturnCode
 spin_node_until_future_complete(
-  rclcpp::executor::Executor & executor,
+  rclcpp::Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
   const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
@@ -84,9 +84,9 @@ spin_node_until_future_complete(
 
 template<typename NodeT = rclcpp::Node, typename ResponseT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
-rclcpp::executor::FutureReturnCode
+rclcpp::FutureReturnCode
 spin_node_until_future_complete(
-  rclcpp::executor::Executor & executor,
+  rclcpp::Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
   const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
@@ -101,7 +101,7 @@ spin_node_until_future_complete(
 }  // namespace executors
 
 template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::executor::FutureReturnCode
+rclcpp::FutureReturnCode
 spin_until_future_complete(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
   const std::shared_future<FutureT> & future,
@@ -113,7 +113,7 @@ spin_until_future_complete(
 
 template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
-rclcpp::executor::FutureReturnCode
+rclcpp::FutureReturnCode
 spin_until_future_complete(
   std::shared_ptr<NodeT> node_ptr,
   const std::shared_future<FutureT> & future,

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -32,7 +32,7 @@ namespace rclcpp
 namespace executors
 {
 
-class MultiThreadedExecutor : public executor::Executor
+class MultiThreadedExecutor : public rclcpp::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor)
@@ -45,14 +45,14 @@ public:
    * This is useful for reproducing some bugs related to taking work more than
    * once.
    *
-   * \param args common arguments for all executors
+   * \param options common options for all executors
    * \param number_of_threads number of threads to have in the thread pool,
    *   the default 0 will use the number of cpu cores found instead
    * \param yield_before_execute if true std::this_thread::yield() is called
    */
   RCLCPP_PUBLIC
   MultiThreadedExecutor(
-    const executor::ExecutorArgs & args = executor::ExecutorArgs(),
+    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions(),
     size_t number_of_threads = 0,
     bool yield_before_execute = false,
     std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp

@@ -35,25 +35,31 @@ namespace rclcpp
 namespace executors
 {
 
-/// Single-threaded executor implementation
-// This is the default executor created by rclcpp::spin.
-class SingleThreadedExecutor : public executor::Executor
+/// Single-threaded executor implementation.
+/**
+ * This is the default executor created by rclcpp::spin.
+ */
+class SingleThreadedExecutor : public rclcpp::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor)
 
   /// Default constructor. See the default constructor for Executor.
   RCLCPP_PUBLIC
-  SingleThreadedExecutor(
-    const executor::ExecutorArgs & args = executor::ExecutorArgs());
+  explicit SingleThreadedExecutor(
+    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
 
-  /// Default destrcutor.
+  /// Default destructor.
   RCLCPP_PUBLIC
   virtual ~SingleThreadedExecutor();
 
   /// Single-threaded implementation of spin.
-  // This function will block until work comes in, execute it, and keep blocking.
-  // It will only be interrupt by a CTRL-C (managed by the global signal handler).
+  /**
+   * This function will block until work comes in, execute it, and then repeat
+   * the process until canceled.
+   * It may be interrupt by a call to rclcpp::Executor::cancel() or by ctrl-c
+   * if the associated context is configured to shutdown on SIGINT.
+   */
   RCLCPP_PUBLIC
   void
   spin() override;

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -22,7 +22,7 @@
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
 
-#include "rclcpp/executable_list.hpp"
+#include "rclcpp/experimental/executable_list.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -159,7 +159,7 @@ private:
   rcl_wait_set_t * p_wait_set_ = nullptr;
 
   /// Executable list: timers, subscribers, clients, services and waitables
-  rclcpp::executor::ExecutableList exec_list_;
+  rclcpp::experimental::ExecutableList exec_list_;
 };
 
 }  // namespace executors

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -23,9 +23,9 @@
 
 #include "rmw/rmw.h"
 
-#include "rclcpp/executable_list.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/executors/static_executor_entities_collector.hpp"
+#include "rclcpp/experimental/executable_list.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/memory_strategies.hpp"
 #include "rclcpp/node.hpp"
@@ -54,7 +54,7 @@ namespace executors
  * exec.spin();
  * exec.remove_node(node);
  */
-class StaticSingleThreadedExecutor : public executor::Executor
+class StaticSingleThreadedExecutor : public rclcpp::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(StaticSingleThreadedExecutor)
@@ -62,7 +62,7 @@ public:
   /// Default constructor. See the default constructor for Executor.
   RCLCPP_PUBLIC
   explicit StaticSingleThreadedExecutor(
-    const executor::ExecutorArgs & args = executor::ExecutorArgs());
+    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
 
   /// Default destrcutor.
   RCLCPP_PUBLIC
@@ -131,14 +131,14 @@ public:
    *  exec.spin_until_future_complete(future);
    */
   template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-  rclcpp::executor::FutureReturnCode
+  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::executor::FutureReturnCode::SUCCESS;
+      return rclcpp::FutureReturnCode::SUCCESS;
     }
 
     auto end_time = std::chrono::steady_clock::now();
@@ -159,7 +159,7 @@ public:
       // 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::executor::FutureReturnCode::SUCCESS;
+        return rclcpp::FutureReturnCode::SUCCESS;
       }
       // If the original timeout is < 0, then this is blocking, never TIMEOUT.
       if (timeout_ns < std::chrono::nanoseconds::zero()) {
@@ -168,14 +168,14 @@ public:
       // 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::executor::FutureReturnCode::TIMEOUT;
+        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::executor::FutureReturnCode::INTERRUPTED;
+    return rclcpp::FutureReturnCode::INTERRUPTED;
   }
 
 protected:

rclcpp/include/rclcpp/experimental/executable_list.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__EXECUTABLE_LIST_HPP_
-#define RCLCPP__EXECUTABLE_LIST_HPP_
+#ifndef RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_
+#define RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_
 
 #include <memory>
 #include <vector>
@@ -27,7 +27,7 @@
 
 namespace rclcpp
 {
-namespace executor
+namespace experimental
 {
 
 /// This class contains subscriptionbase, timerbase, etc. which can be used to run callbacks.
@@ -86,7 +86,7 @@ public:
   size_t number_of_waitables;
 };
 
-}  // namespace executor
+}  // namespace experimental
 }  // namespace rclcpp
 
-#endif  // RCLCPP__EXECUTABLE_LIST_HPP_
+#endif  // RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_

rclcpp/include/rclcpp/future_return_code.hpp

@@ -0,0 +1,61 @@
+// Copyright 2014 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__FUTURE_RETURN_CODE_HPP_
+#define RCLCPP__FUTURE_RETURN_CODE_HPP_
+
+#include <iostream>
+#include <string>
+
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// Return codes to be used with spin_until_future_complete.
+/**
+ * SUCCESS: The future is complete and can be accessed with "get" without blocking.
+ *          This does not indicate that the operation succeeded; "get" may still throw an exception.
+ * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
+ * TIMEOUT: Spinning timed out.
+ */
+enum class FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
+
+/// Stream operator for FutureReturnCode.
+RCLCPP_PUBLIC
+std::ostream &
+operator<<(std::ostream & os, const FutureReturnCode & future_return_code);
+
+/// String conversion function for FutureReturnCode.
+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/guard_condition.hpp

@@ -47,7 +47,7 @@ public:
   RCLCPP_PUBLIC
   explicit GuardCondition(
     rclcpp::Context::SharedPtr context =
-    rclcpp::contexts::default_context::get_global_default_context());
+    rclcpp::contexts::get_global_default_context());
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/init_options.hpp

@@ -42,6 +42,16 @@ public:
   RCLCPP_PUBLIC
   InitOptions(const InitOptions & other);
 
+  /// Return `true` if logging should be initialized when `rclcpp::Context::init` is called.
+  RCLCPP_PUBLIC
+  bool
+  auto_initialize_logging() const;
+
+  /// Set flag indicating if logging should be initialized or not.
+  RCLCPP_PUBLIC
+  InitOptions &
+  auto_initialize_logging(bool initialize_logging);
+
   /// Assignment operator.
   RCLCPP_PUBLIC
   InitOptions &
@@ -62,6 +72,7 @@ protected:
 
 private:
   std::unique_ptr<rcl_init_options_t> init_options_;
+  bool initialize_logging_{true};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -67,27 +67,27 @@ public:
 
   virtual void
   get_next_subscription(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_service(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_client(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_timer(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_waitable(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual rcl_allocator_t
@@ -115,30 +115,30 @@ public:
 
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
-    rclcpp::callback_group::CallbackGroup::SharedPtr group,
+    rclcpp::CallbackGroup::SharedPtr group,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_service(
     rclcpp::ServiceBase::SharedPtr service,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_client(
     rclcpp::ClientBase::SharedPtr client,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(
     rclcpp::TimerBase::SharedPtr timer,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_waitable(
     rclcpp::Waitable::SharedPtr waitable,
     const WeakNodeList & weak_nodes);

rclcpp/include/rclcpp/message_memory_strategy.hpp

@@ -23,6 +23,7 @@
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/serialized_message.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 #include "rcutils/logging_macros.h"
@@ -46,10 +47,10 @@ public:
   using MessageAlloc = typename MessageAllocTraits::allocator_type;
   using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
 
-  using SerializedMessageAllocTraits = allocator::AllocRebind<rcl_serialized_message_t, Alloc>;
+  using SerializedMessageAllocTraits = allocator::AllocRebind<rclcpp::SerializedMessage, Alloc>;
   using SerializedMessageAlloc = typename SerializedMessageAllocTraits::allocator_type;
   using SerializedMessageDeleter =
-    allocator::Deleter<SerializedMessageAlloc, rcl_serialized_message_t>;
+    allocator::Deleter<SerializedMessageAlloc, rclcpp::SerializedMessage>;
 
   using BufferAllocTraits = allocator::AllocRebind<char, Alloc>;
   using BufferAlloc = typename BufferAllocTraits::allocator_type;
@@ -86,31 +87,12 @@ public:
     return std::allocate_shared<MessageT, MessageAlloc>(*message_allocator_.get());
   }
 
-  virtual std::shared_ptr<rcl_serialized_message_t> borrow_serialized_message(size_t capacity)
+  virtual std::shared_ptr<rclcpp::SerializedMessage> borrow_serialized_message(size_t capacity)
   {
-    auto msg = new rcl_serialized_message_t;
-    *msg = rmw_get_zero_initialized_serialized_message();
-    auto ret = rmw_serialized_message_init(msg, capacity, &rcutils_allocator_);
-    if (ret != RCL_RET_OK) {
-      rclcpp::exceptions::throw_from_rcl_error(ret);
-    }
-
-    auto serialized_msg = std::shared_ptr<rcl_serialized_message_t>(
-      msg,
-      [](rmw_serialized_message_t * msg) {
-        auto fini_ret = rmw_serialized_message_fini(msg);
-        delete msg;
-        if (fini_ret != RCL_RET_OK) {
-          RCUTILS_LOG_ERROR_NAMED(
-            "rclcpp",
-            "failed to destroy serialized message: %s", rcl_get_error_string().str);
-        }
-      });
-
-    return serialized_msg;
+    return std::make_shared<rclcpp::SerializedMessage>(capacity);
   }
 
-  virtual std::shared_ptr<rcl_serialized_message_t> borrow_serialized_message()
+  virtual std::shared_ptr<rclcpp::SerializedMessage> borrow_serialized_message()
   {
     return borrow_serialized_message(default_buffer_capacity_);
   }
@@ -127,7 +109,8 @@ public:
     msg.reset();
   }
 
-  virtual void return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & serialized_msg)
+  virtual void return_serialized_message(
+    std::shared_ptr<rclcpp::SerializedMessage> & serialized_msg)
   {
     serialized_msg.reset();
   }

rclcpp/include/rclcpp/node.hpp

@@ -135,12 +135,12 @@ public:
 
   /// Create and return a callback group.
   RCLCPP_PUBLIC
-  rclcpp::callback_group::CallbackGroup::SharedPtr
-  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
+  rclcpp::CallbackGroup::SharedPtr
+  create_callback_group(rclcpp::CallbackGroupType group_type);
 
   /// Return the list of callback groups in the node.
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
   get_callback_groups() const;
 
   /// Create and return a Publisher.
@@ -186,8 +186,8 @@ public:
   /// Create and return a Subscription.
   /**
    * \param[in] topic_name The topic to subscribe on.
+   * \param[in] qos QoS profile for Subcription.
    * \param[in] callback The user-defined callback function to receive a message
-   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
    * \param[in] options Additional options for the creation of the Subscription.
    * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
    * \return Shared pointer to the created subscription.
@@ -227,24 +227,37 @@ public:
   create_wall_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
-  /* Create and return a Client. */
+  /// Create and return a Client.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created client.
+   */
   template<typename ServiceT>
   typename rclcpp::Client<ServiceT>::SharedPtr
   create_client(
     const std::string & service_name,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
-  /* Create and return a Service. */
+  /// Create and return a Service.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] callback User-defined callback function.
+   * \param[in] rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created service.
+   */
   template<typename ServiceT, typename CallbackT>
   typename rclcpp::Service<ServiceT>::SharedPtr
   create_service(
     const std::string & service_name,
     CallbackT && callback,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Declare and initialize a parameter, return the effective value.
   /**
@@ -1111,19 +1124,6 @@ public:
   const rclcpp::NodeOptions &
   get_node_options() const;
 
-  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
-  /**
-   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator
-   * of this node may manually call `assert_liveliness` at some point in time to signal to the rest
-   * of the system that this Node is still alive.
-   *
-   * \return `true` if the liveliness was asserted successfully, otherwise `false`
-   */
-  RCLCPP_PUBLIC
-  RCUTILS_WARN_UNUSED
-  bool
-  assert_liveliness() const;
-
 protected:
   /// Construct a sub-node, which will extend the namespace of all entities created with it.
   /**
@@ -1142,7 +1142,7 @@ private:
 
   RCLCPP_PUBLIC
   bool
-  group_in_node(callback_group::CallbackGroup::SharedPtr group);
+  group_in_node(CallbackGroup::SharedPtr group);
 
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;

rclcpp/include/rclcpp/node_impl.hpp

@@ -19,6 +19,7 @@
 #include <rmw/rmw.h>
 
 #include <algorithm>
+#include <chrono>
 #include <cstdlib>
 #include <iostream>
 #include <limits>
@@ -37,10 +38,12 @@
 #include "rclcpp/create_client.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.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"
+#include "rclcpp/timer.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -106,14 +109,14 @@ typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
-  auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
-    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
+  return rclcpp::create_wall_timer(
+    period,
     std::move(callback),
-    this->node_base_->get_context());
-  node_timers_->add_timer(timer, group);
-  return timer;
+    group,
+    this->node_base_.get(),
+    this->node_timers_.get());
 }
 
 template<typename ServiceT>
@@ -121,7 +124,7 @@ typename Client<ServiceT>::SharedPtr
 Node::create_client(
   const std::string & service_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_client<ServiceT>(
     node_base_,
@@ -138,7 +141,7 @@ Node::create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_service<ServiceT, CallbackT>(
     node_base_,

rclcpp/include/rclcpp/node_interfaces/get_node_base_interface.hpp

@@ -1,149 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
-#define RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
-
-#include <memory>
-#include <utility>
-#include <type_traits>
-
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-
-/// This header provides the get_node_base_interface() template function.
-/**
- * This function is useful for getting the NodeBaseInterface pointer from
- * various kinds of Node-like classes.
- *
- * It's able to get the NodeBaseInterface pointer so long as the class
- * has a method called ``get_node_base_interface()`` which returns
- * either a pointer (const or not) to a NodeBaseInterface or a
- * std::shared_ptr to a NodeBaseInterface.
- */
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-
-namespace detail
-{
-
-// This is a meta-programming checker for if a given Node-like object has a
-// getter called get_node_base_interface() which returns various types,
-// e.g. const pointer or a shared pointer.
-template<typename NodeType, typename ReturnType>
-struct has_get_node_base_interface
-{
-private:
-  template<typename T>
-  static constexpr
-  auto
-  check(T *)->typename std::is_same<
-    decltype(std::declval<T>().get_node_base_interface()),
-    ReturnType
-  >::type;
-
-  template<typename>
-  static constexpr
-  std::false_type
-  check(...);
-
-public:
-  using type = decltype(check<NodeType>(nullptr));
-  static constexpr bool value = type::value;
-};
-
-// If NodeType is a pointer to NodeBaseInterface already (just normal function overload).
-inline
-rclcpp::node_interfaces::NodeBaseInterface *
-get_node_base_interface_from_pointer(rclcpp::node_interfaces::NodeBaseInterface * pointer)
-{
-  return pointer;
-}
-
-// If NodeType has a method called get_node_base_interface() which returns a shared pointer.
-template<
-  typename NodeType,
-  typename std::enable_if<has_get_node_base_interface<
-    typename std::remove_pointer<NodeType>::type,
-    std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>
-  >::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeBaseInterface *
-get_node_base_interface_from_pointer(NodeType node_pointer)
-{
-  return node_pointer->get_node_base_interface().get();
-}
-
-// If NodeType has a method called get_node_base_interface() which returns a pointer.
-template<
-  typename NodeType,
-  typename std::enable_if<has_get_node_base_interface<
-    typename std::remove_pointer<NodeType>::type,
-    rclcpp::node_interfaces::NodeBaseInterface *
-  >::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeBaseInterface *
-get_node_base_interface_from_pointer(NodeType node_pointer)
-{
-  return node_pointer->get_node_base_interface();
-}
-
-// Forward shared_ptr's to const node pointer signatures.
-template<
-  typename NodeType,
-  typename std::enable_if<std::is_same<
-    NodeType,
-    typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
-  >::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeBaseInterface *
-get_node_base_interface_from_pointer(NodeType node_shared_pointer)
-{
-  return get_node_base_interface_from_pointer(node_shared_pointer->get());
-}
-
-}  // namespace detail
-
-/// Get the NodeBaseInterface as a pointer from a pointer to a "Node like" object.
-template<
-  typename NodeType,
-  typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeBaseInterface *
-get_node_base_interface(NodeType node_pointer)
-{
-  // Forward pointers to detail implmentation directly.
-  return detail::get_node_base_interface_from_pointer(node_pointer);
-}
-
-/// Get the NodeBaseInterface as a pointer from a "Node like" object.
-template<
-  typename NodeType,
-  typename std::enable_if<
-    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
-  >::type = 0
->
-rclcpp::node_interfaces::NodeBaseInterface *
-get_node_base_interface(NodeType && node_reference)
-{
-  // Forward references to detail implmentation as a pointer.
-  return detail::get_node_base_interface_from_pointer(&node_reference);
-}
-
-}  // namespace node_interfaces
-}  // namespace rclcpp
-
-#endif  // RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/get_node_timers_interface.hpp

@@ -1,149 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
-#define RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
-
-#include <memory>
-#include <utility>
-#include <type_traits>
-
-#include "rclcpp/node_interfaces/node_timers_interface.hpp"
-
-/// This header provides the get_node_timers_interface() template function.
-/**
- * This function is useful for getting the NodeTimersInterface pointer from
- * various kinds of Node-like classes.
- *
- * It's able to get the NodeTimersInterface pointer so long as the class
- * has a method called ``get_node_timers_interface()`` which returns
- * either a pointer (const or not) to a NodeTimersInterface or a
- * std::shared_ptr to a NodeTimersInterface.
- */
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-
-namespace detail
-{
-
-// This is a meta-programming checker for if a given Node-like object has a
-// getter called get_node_timers_interface() which returns various types,
-// e.g. const pointer or a shared pointer.
-template<typename NodeType, typename ReturnType>
-struct has_get_node_timers_interface
-{
-private:
-  template<typename T>
-  static constexpr
-  auto
-  check(T *)->typename std::is_same<
-    decltype(std::declval<T>().get_node_timers_interface()),
-    ReturnType
-  >::type;
-
-  template<typename>
-  static constexpr
-  std::false_type
-  check(...);
-
-public:
-  using type = decltype(check<NodeType>(nullptr));
-  static constexpr bool value = type::value;
-};
-
-// If NodeType is a pointer to NodeTimersInterface already (just normal function overload).
-inline
-rclcpp::node_interfaces::NodeTimersInterface *
-get_node_timers_interface_from_pointer(rclcpp::node_interfaces::NodeTimersInterface * pointer)
-{
-  return pointer;
-}
-
-// If NodeType has a method called get_node_timers_interface() which returns a shared pointer.
-template<
-  typename NodeType,
-  typename std::enable_if<has_get_node_timers_interface<
-    typename std::remove_pointer<NodeType>::type,
-    std::shared_ptr<rclcpp::node_interfaces::NodeTimersInterface>
-  >::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeTimersInterface *
-get_node_timers_interface_from_pointer(NodeType node_pointer)
-{
-  return node_pointer->get_node_timers_interface().get();
-}
-
-// If NodeType has a method called get_node_timers_interface() which returns a pointer.
-template<
-  typename NodeType,
-  typename std::enable_if<has_get_node_timers_interface<
-    typename std::remove_pointer<NodeType>::type,
-    rclcpp::node_interfaces::NodeTimersInterface *
-  >::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeTimersInterface *
-get_node_timers_interface_from_pointer(NodeType node_pointer)
-{
-  return node_pointer->get_node_timers_interface();
-}
-
-// Forward shared_ptr's to const node pointer signatures.
-template<
-  typename NodeType,
-  typename std::enable_if<std::is_same<
-    NodeType,
-    typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
-  >::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeTimersInterface *
-get_node_timers_interface_from_pointer(NodeType node_shared_pointer)
-{
-  return get_node_timers_interface_from_pointer(node_shared_pointer->get());
-}
-
-}  // namespace detail
-
-/// Get the NodeTimersInterface as a pointer from a pointer to a "Node like" object.
-template<
-  typename NodeType,
-  typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeTimersInterface *
-get_node_timers_interface(NodeType node_pointer)
-{
-  // Forward pointers to detail implmentation directly.
-  return detail::get_node_timers_interface_from_pointer(node_pointer);
-}
-
-/// Get the NodeTimersInterface as a pointer from a "Node like" object.
-template<
-  typename NodeType,
-  typename std::enable_if<
-    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
-  >::type = 0
->
-rclcpp::node_interfaces::NodeTimersInterface *
-get_node_timers_interface(NodeType && node_reference)
-{
-  // Forward references to detail implmentation as a pointer.
-  return detail::get_node_timers_interface_from_pointer(&node_reference);
-}
-
-}  // namespace node_interfaces
-}  // namespace rclcpp
-
-#endif  // RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/get_node_topics_interface.hpp

@@ -1,149 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
-#define RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_
-
-#include <memory>
-#include <utility>
-#include <type_traits>
-
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
-
-/// This header provides the get_node_topics_interface() template function.
-/**
- * This function is useful for getting the NodeTopicsInterface pointer from
- * various kinds of Node-like classes.
- *
- * It's able to get the NodeTopicsInterface pointer so long as the class
- * has a method called ``get_node_topics_interface()`` which returns
- * either a pointer (const or not) to a NodeTopicsInterface or a
- * std::shared_ptr to a NodeTopicsInterface.
- */
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-
-namespace detail
-{
-
-// This is a meta-programming checker for if a given Node-like object has a
-// getter called get_node_topics_interface() which returns various types,
-// e.g. const pointer or a shared pointer.
-template<typename NodeType, typename ReturnType>
-struct has_get_node_topics_interface
-{
-private:
-  template<typename T>
-  static constexpr
-  auto
-  check(T *)->typename std::is_same<
-    decltype(std::declval<T>().get_node_topics_interface()),
-    ReturnType
-  >::type;
-
-  template<typename>
-  static constexpr
-  std::false_type
-  check(...);
-
-public:
-  using type = decltype(check<NodeType>(nullptr));
-  static constexpr bool value = type::value;
-};
-
-// If NodeType is a pointer to NodeTopicsInterface already (just normal function overload).
-inline
-rclcpp::node_interfaces::NodeTopicsInterface *
-get_node_topics_interface_from_pointer(rclcpp::node_interfaces::NodeTopicsInterface * pointer)
-{
-  return pointer;
-}
-
-// If NodeType has a method called get_node_topics_interface() which returns a shared pointer.
-template<
-  typename NodeType,
-  typename std::enable_if<has_get_node_topics_interface<
-    typename std::remove_pointer<NodeType>::type,
-    std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>
-  >::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeTopicsInterface *
-get_node_topics_interface_from_pointer(NodeType node_pointer)
-{
-  return node_pointer->get_node_topics_interface().get();
-}
-
-// If NodeType has a method called get_node_topics_interface() which returns a pointer.
-template<
-  typename NodeType,
-  typename std::enable_if<has_get_node_topics_interface<
-    typename std::remove_pointer<NodeType>::type,
-    rclcpp::node_interfaces::NodeTopicsInterface *
-  >::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeTopicsInterface *
-get_node_topics_interface_from_pointer(NodeType node_pointer)
-{
-  return node_pointer->get_node_topics_interface();
-}
-
-// Forward shared_ptr's to const node pointer signatures.
-template<
-  typename NodeType,
-  typename std::enable_if<std::is_same<
-    NodeType,
-    typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
-  >::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeTopicsInterface *
-get_node_topics_interface_from_pointer(NodeType node_shared_pointer)
-{
-  return get_node_topics_interface_from_pointer(node_shared_pointer->get());
-}
-
-}  // namespace detail
-
-/// Get the NodeTopicsInterface as a pointer from a pointer to a "Node like" object.
-template<
-  typename NodeType,
-  typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
->
-rclcpp::node_interfaces::NodeTopicsInterface *
-get_node_topics_interface(NodeType node_pointer)
-{
-  // Forward pointers to detail implmentation directly.
-  return detail::get_node_topics_interface_from_pointer(node_pointer);
-}
-
-/// Get the NodeTopicsInterface as a pointer from a "Node like" object.
-template<
-  typename NodeType,
-  typename std::enable_if<
-    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
-  >::type = 0
->
-rclcpp::node_interfaces::NodeTopicsInterface *
-get_node_topics_interface(NodeType && node_reference)
-{
-  // Forward references to detail implmentation as a pointer.
-  return detail::get_node_topics_interface_from_pointer(&node_reference);
-}
-
-}  // namespace node_interfaces
-}  // namespace rclcpp
-
-#endif  // RCLCPP__NODE_INTERFACES__GET_NODE_TOPICS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -91,27 +91,22 @@ public:
 
   RCLCPP_PUBLIC
 
-  bool
-  assert_liveliness() const override;
+  rclcpp::CallbackGroup::SharedPtr
+  create_callback_group(rclcpp::CallbackGroupType group_type) override;
 
   RCLCPP_PUBLIC
 
-  rclcpp::callback_group::CallbackGroup::SharedPtr
-  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type) override;
-
-  RCLCPP_PUBLIC
-
-  rclcpp::callback_group::CallbackGroup::SharedPtr
+  rclcpp::CallbackGroup::SharedPtr
   get_default_callback_group() override;
 
   RCLCPP_PUBLIC
 
   bool
-  callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group) override;
+  callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override;
 
   RCLCPP_PUBLIC
 
-  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
   get_callback_groups() const override;
 
   RCLCPP_PUBLIC
@@ -146,8 +141,8 @@ private:
 
   std::shared_ptr<rcl_node_t> node_handle_;
 
-  rclcpp::callback_group::CallbackGroup::SharedPtr default_callback_group_;
-  std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> callback_groups_;
+  rclcpp::CallbackGroup::SharedPtr default_callback_group_;
+  std::vector<rclcpp::CallbackGroup::WeakPtr> callback_groups_;
 
   std::atomic_bool associated_with_executor_;
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -102,34 +102,28 @@ public:
   std::shared_ptr<const rcl_node_t>
   get_shared_rcl_node_handle() const = 0;
 
-  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  assert_liveliness() const = 0;
-
   /// Create and return a callback group.
   RCLCPP_PUBLIC
   virtual
-  rclcpp::callback_group::CallbackGroup::SharedPtr
-  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type) = 0;
+  rclcpp::CallbackGroup::SharedPtr
+  create_callback_group(rclcpp::CallbackGroupType group_type) = 0;
 
   /// Return the default callback group.
   RCLCPP_PUBLIC
   virtual
-  rclcpp::callback_group::CallbackGroup::SharedPtr
+  rclcpp::CallbackGroup::SharedPtr
   get_default_callback_group() = 0;
 
   /// Return true if the given callback group is associated with this node.
   RCLCPP_PUBLIC
   virtual
   bool
-  callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
+  callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) = 0;
 
   /// Return list of callback groups associated with this node.
   RCLCPP_PUBLIC
   virtual
-  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
   get_callback_groups() const = 0;
 
   /// Return the atomic bool which is used to ensure only one executor is used.

rclcpp/include/rclcpp/node_interfaces/node_services.hpp

@@ -46,14 +46,14 @@ public:
   void
   add_client(
     rclcpp::ClientBase::SharedPtr client_base_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) override;
+    rclcpp::CallbackGroup::SharedPtr group) override;
 
   RCLCPP_PUBLIC
 
   void
   add_service(
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) override;
+    rclcpp::CallbackGroup::SharedPtr group) override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeServices)

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

@@ -41,14 +41,14 @@ public:
   void
   add_client(
     rclcpp::ClientBase::SharedPtr client_base_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
+    rclcpp::CallbackGroup::SharedPtr group) = 0;
 
   RCLCPP_PUBLIC
   virtual
   void
   add_service(
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
+    rclcpp::CallbackGroup::SharedPtr group) = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_timers.hpp

@@ -46,7 +46,7 @@ public:
   void
   add_timer(
     rclcpp::TimerBase::SharedPtr timer,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
+    rclcpp::CallbackGroup::SharedPtr callback_group) override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeTimers)

rclcpp/include/rclcpp/node_interfaces/node_timers_interface.hpp

@@ -41,7 +41,7 @@ public:
   void
   add_timer(
     rclcpp::TimerBase::SharedPtr timer,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
+    rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -22,6 +22,7 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 #include "rclcpp/publisher.hpp"
 #include "rclcpp/publisher_factory.hpp"
@@ -39,7 +40,9 @@ public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTopicsInterface)
 
   RCLCPP_PUBLIC
-  explicit NodeTopics(rclcpp::node_interfaces::NodeBaseInterface * node_base);
+  NodeTopics(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    rclcpp::node_interfaces::NodeTimersInterface * node_timers);
 
   RCLCPP_PUBLIC
   ~NodeTopics() override;
@@ -55,7 +58,7 @@ public:
   void
   add_publisher(
     rclcpp::PublisherBase::SharedPtr publisher,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
+    rclcpp::CallbackGroup::SharedPtr callback_group) override;
 
   RCLCPP_PUBLIC
   rclcpp::SubscriptionBase::SharedPtr
@@ -68,16 +71,21 @@ public:
   void
   add_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
+    rclcpp::CallbackGroup::SharedPtr callback_group) override;
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface *
   get_node_base_interface() const override;
 
+  RCLCPP_PUBLIC
+  rclcpp::node_interfaces::NodeTimersInterface *
+  get_node_timers_interface() const override;
+
 private:
   RCLCPP_DISABLE_COPY(NodeTopics)
 
   rclcpp::node_interfaces::NodeBaseInterface * node_base_;
+  rclcpp::node_interfaces::NodeTimersInterface * node_timers_;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -25,6 +25,7 @@
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/publisher.hpp"
 #include "rclcpp/publisher_factory.hpp"
 #include "rclcpp/subscription.hpp"
@@ -59,7 +60,7 @@ public:
   void
   add_publisher(
     rclcpp::PublisherBase::SharedPtr publisher,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
+    rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
 
   RCLCPP_PUBLIC
   virtual
@@ -74,12 +75,17 @@ public:
   void
   add_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
+    rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
 
   RCLCPP_PUBLIC
   virtual
   rclcpp::node_interfaces::NodeBaseInterface *
   get_node_base_interface() const = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::node_interfaces::NodeTimersInterface *
+  get_node_timers_interface() const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_waitables.hpp

@@ -45,14 +45,14 @@ public:
   void
   add_waitable(
     rclcpp::Waitable::SharedPtr waitable_base_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) override;
+    rclcpp::CallbackGroup::SharedPtr group) override;
 
   RCLCPP_PUBLIC
 
   void
   remove_waitable(
     rclcpp::Waitable::SharedPtr waitable_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) noexcept override;
+    rclcpp::CallbackGroup::SharedPtr group) noexcept override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeWaitables)

rclcpp/include/rclcpp/node_interfaces/node_waitables_interface.hpp

@@ -40,7 +40,7 @@ public:
   void
   add_waitable(
     rclcpp::Waitable::SharedPtr waitable_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
+    rclcpp::CallbackGroup::SharedPtr group) = 0;
 
   /// \note this function should not throw because it may be called in destructors
   RCLCPP_PUBLIC
@@ -48,7 +48,7 @@ public:
   void
   remove_waitable(
     rclcpp::Waitable::SharedPtr waitable_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) noexcept = 0;
+    rclcpp::CallbackGroup::SharedPtr group) noexcept = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_options.hpp

@@ -38,7 +38,7 @@ public:
   /**
    * Default values for the node options:
    *
-   *   - context = rclcpp::contexts::default_context::get_global_default_context()
+   *   - context = rclcpp::contexts::get_global_default_context()
    *   - arguments = {}
    *   - parameter_overrides = {}
    *   - use_global_arguments = true
@@ -338,7 +338,7 @@ private:
   // documentation in this class.
 
   rclcpp::Context::SharedPtr context_ {
-    rclcpp::contexts::default_context::get_global_default_context()};
+    rclcpp::contexts::get_global_default_context()};
 
   std::vector<std::string> arguments_ {};
 

rclcpp/include/rclcpp/parameter.hpp

@@ -83,18 +83,22 @@ public:
   bool
   operator!=(const Parameter & rhs) const;
 
+  /// Get the type of the parameter
   RCLCPP_PUBLIC
   ParameterType
   get_type() const;
 
+  /// Get the type name of the parameter
   RCLCPP_PUBLIC
   std::string
   get_type_name() const;
 
+  /// Get the name of the parameter
   RCLCPP_PUBLIC
   const std::string &
   get_name() const;
 
+  /// Get value of parameter as a parameter message.
   RCLCPP_PUBLIC
   rcl_interfaces::msg::ParameterValue
   get_value_message() const;
@@ -105,6 +109,9 @@ public:
   get_parameter_value() const;
 
   /// Get value of parameter using rclcpp::ParameterType as template argument.
+  /**
+   * \throws rclcpp::exceptions::InvalidParameterTypeException if the type doesn't match
+   */
   template<ParameterType ParamT>
   decltype(auto)
   get_value() const
@@ -117,50 +124,89 @@ public:
   decltype(auto)
   get_value() const;
 
+  /// Get value of parameter as boolean.
+  /**
+   * \throws rclcpp::ParameterTypeException if the type doesn't match
+   */
   RCLCPP_PUBLIC
   bool
   as_bool() const;
 
+  /// Get value of parameter as integer.
+  /**
+   * \throws rclcpp::ParameterTypeException if the type doesn't match
+   */
   RCLCPP_PUBLIC
   int64_t
   as_int() const;
 
+  /// Get value of parameter as double.
+  /**
+   * \throws rclcpp::ParameterTypeException if the type doesn't match
+   */
   RCLCPP_PUBLIC
   double
   as_double() const;
 
+  /// Get value of parameter as string.
+  /**
+   * \throws rclcpp::ParameterTypeException if the type doesn't match
+   */
   RCLCPP_PUBLIC
   const std::string &
   as_string() const;
 
+  /// Get value of parameter as byte array (vector<uint8_t>).
+  /**
+   * \throws rclcpp::ParameterTypeException if the type doesn't match
+   */
   RCLCPP_PUBLIC
   const std::vector<uint8_t> &
   as_byte_array() const;
 
+  /// Get value of parameter as bool array (vector<bool>).
+  /**
+   * \throws rclcpp::ParameterTypeException if the type doesn't match
+   */
   RCLCPP_PUBLIC
   const std::vector<bool> &
   as_bool_array() const;
 
+  /// Get value of parameter as integer array (vector<int64_t>).
+  /**
+   * \throws rclcpp::ParameterTypeException if the type doesn't match
+   */
   RCLCPP_PUBLIC
   const std::vector<int64_t> &
   as_integer_array() const;
 
+  /// Get value of parameter as double array (vector<double>).
+  /**
+   * \throws rclcpp::ParameterTypeException if the type doesn't match
+   */
   RCLCPP_PUBLIC
   const std::vector<double> &
   as_double_array() const;
 
+  /// Get value of parameter as string array (vector<std::string>).
+  /**
+   * \throws rclcpp::ParameterTypeException if the type doesn't match
+   */
   RCLCPP_PUBLIC
   const std::vector<std::string> &
   as_string_array() const;
 
+  /// Convert a parameter message in a Parameter class object.
   RCLCPP_PUBLIC
   static Parameter
   from_parameter_msg(const rcl_interfaces::msg::Parameter & parameter);
 
+  /// Convert the class in a parameter message.
   RCLCPP_PUBLIC
   rcl_interfaces::msg::Parameter
   to_parameter_msg() const;
 
+  /// Get value of parameter as a string.
   RCLCPP_PUBLIC
   std::string
   value_to_string() const;

rclcpp/include/rclcpp/parameter_client.hpp

@@ -54,21 +54,21 @@ public:
     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,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   AsyncParametersClient(
     rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::Parameter>>
@@ -205,7 +205,7 @@ public:
 
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::executor::Executor::SharedPtr executor,
+    rclcpp::Executor::SharedPtr executor,
     rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
@@ -218,14 +218,14 @@ public:
 
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::executor::Executor::SharedPtr executor,
+    rclcpp::Executor::SharedPtr executor,
     rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::executor::Executor::SharedPtr executor,
+    rclcpp::Executor::SharedPtr executor,
     const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
     const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
     const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
@@ -339,7 +339,7 @@ public:
   }
 
 private:
-  rclcpp::executor::Executor::SharedPtr executor_;
+  rclcpp::Executor::SharedPtr executor_;
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
   AsyncParametersClient::SharedPtr async_parameters_client_;
 };

rclcpp/include/rclcpp/publisher.hpp

@@ -59,6 +59,17 @@ public:
 
   RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, AllocatorT>)
 
+  /// Default constructor.
+  /**
+   * The constructor for a Publisher is almost never called directly.
+   * Instead, subscriptions should be instantiated through the function
+   * rclcpp::create_publisher().
+   *
+   * \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.
+   */
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
@@ -217,6 +228,12 @@ public:
     return this->do_serialized_publish(&serialized_msg);
   }
 
+  void
+  publish(const SerializedMessage & serialized_msg)
+  {
+    return this->do_serialized_publish(&serialized_msg.get_rcl_serialized_message());
+  }
+
   /// Publish an instance of a LoanedMessage.
   /**
    * When publishing a loaned message, the memory for this ROS message will be deallocated

rclcpp/include/rclcpp/publisher_options.hpp

@@ -30,10 +30,7 @@
 namespace rclcpp
 {
 
-namespace callback_group
-{
 class CallbackGroup;
-}  // namespace callback_group
 
 /// Non-templated part of PublisherOptionsWithAllocator<Allocator>.
 struct PublisherOptionsBase
@@ -48,7 +45,7 @@ struct PublisherOptionsBase
   bool use_default_callbacks = true;
 
   /// Callback group in which the waitable items from the publisher should be placed.
-  std::shared_ptr<rclcpp::callback_group::CallbackGroup> callback_group;
+  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>

rclcpp/include/rclcpp/qos.hpp

@@ -161,6 +161,18 @@ bool operator==(const QoS & left, const QoS & right);
 RCLCPP_PUBLIC
 bool operator!=(const QoS & left, const QoS & right);
 
+/**
+ * Sensor Data QoS class
+ *    - History: Keep last,
+ *    - Depth: 5,
+ *    - Reliability: Best effort,
+ *    - Durability: Volatile,
+ *    - Deadline: Default,
+ *    - Lifespan: Default,
+ *    - Liveliness: System default,
+ *    - Liveliness lease duration: default,
+ *    - avoid ros namespace conventions: false
+ */
 class RCLCPP_PUBLIC SensorDataQoS : public QoS
 {
 public:
@@ -171,6 +183,18 @@ public:
   ));
 };
 
+/**
+ * Parameters QoS class
+ *    - History: Keep last,
+ *    - Depth: 1000,
+ *    - Reliability: Reliable,
+ *    - Durability: Volatile,
+ *    - Deadline: Default,
+ *    - Lifespan: Default,
+ *    - Liveliness: System default,
+ *    - Liveliness lease duration: default,
+ *    - Avoid ros namespace conventions: false
+ */
 class RCLCPP_PUBLIC ParametersQoS : public QoS
 {
 public:
@@ -181,6 +205,18 @@ public:
   ));
 };
 
+/**
+ * Services QoS class
+ *    - History: Keep last,
+ *    - Depth: 10,
+ *    - Reliability: Reliable,
+ *    - Durability: Volatile,
+ *    - Deadline: Default,
+ *    - Lifespan: Default,
+ *    - Liveliness: System default,
+ *    - Liveliness lease duration: default,
+ *    - Avoid ros namespace conventions: false
+ */
 class RCLCPP_PUBLIC ServicesQoS : public QoS
 {
 public:
@@ -191,6 +227,18 @@ public:
   ));
 };
 
+/**
+ * Parameter events QoS class
+ *    - History: Keep last,
+ *    - Depth: 1000,
+ *    - Reliability: Reliable,
+ *    - Durability: Volatile,
+ *    - Deadline: Default,
+ *    - Lifespan: Default,
+ *    - Liveliness: System default,
+ *    - Liveliness lease duration: default,
+ *    - Avoid ros namespace conventions: false
+ */
 class RCLCPP_PUBLIC ParameterEventsQoS : public QoS
 {
 public:
@@ -201,6 +249,18 @@ public:
   ));
 };
 
+/**
+ * System defaults QoS class
+ *    - History: System default,
+ *    - Depth: System default,
+ *    - Reliability: System default,
+ *    - Durability: System default,
+ *    - Deadline: Default,
+ *    - Lifespan: Default,
+ *    - Liveliness: System default,
+ *    - Liveliness lease duration: System default,
+ *    - Avoid ros namespace conventions: false
+ */
 class RCLCPP_PUBLIC SystemDefaultsQoS : public QoS
 {
 public:

rclcpp/include/rclcpp/rclcpp.hpp

@@ -81,7 +81,7 @@
  *   - rclcpp/executors/multi_threaded_executor.hpp
  * - CallbackGroups (mechanism for enforcing concurrency rules for callbacks):
  *   - rclcpp::Node::create_callback_group()
- *   - rclcpp::callback_group::CallbackGroup
+ *   - rclcpp::CallbackGroup
  *   - rclcpp/callback_group.hpp
  *
  * Additionally, there are some methods for introspecting the ROS graph:
@@ -128,6 +128,7 @@
  *   - rclcpp/context.hpp
  *   - rclcpp/contexts/default_context.hpp
  * - Various utilities:
+ *   - rclcpp/duration.hpp
  *   - rclcpp/function_traits.hpp
  *   - rclcpp/macros.hpp
  *   - rclcpp/scope_exit.hpp

rclcpp/include/rclcpp/serialization.hpp

@@ -39,10 +39,6 @@ template<typename T>
 struct is_serialized_message_class : std::false_type
 {};
 
-template<>
-struct is_serialized_message_class<rcl_serialized_message_t>: std::true_type
-{};
-
 template<>
 struct is_serialized_message_class<SerializedMessage>: std::true_type
 {};

rclcpp/include/rclcpp/serialized_message.hpp

@@ -98,6 +98,20 @@ public:
    */
   size_t capacity() const;
 
+  /// Allocate memory in the data buffer
+  /**
+   * The data buffer of the underlying rcl_serialized_message_t will be resized.
+   * This might change the data layout and invalidates all pointers to the data.
+   */
+  void reserve(size_t capacity);
+
+  /// Release the underlying rcl_serialized_message_t
+  /**
+   * The memory (i.e. the data buffer) of the serialized message will no longer
+   * be managed by this instance and the memory won't be deallocated on destruction.
+   */
+  rcl_serialized_message_t release_rcl_serialized_message();
+
 private:
   rcl_serialized_message_t serialized_message_;
 };

rclcpp/include/rclcpp/service.hpp

@@ -50,14 +50,26 @@ public:
   RCLCPP_PUBLIC
   virtual ~ServiceBase();
 
+  /// Return the name of the service.
+  /** \return The name of the service. */
   RCLCPP_PUBLIC
   const char *
   get_service_name();
 
+  /// Return the rcl_service_t service handle in a std::shared_ptr.
+  /**
+   * This handle remains valid after the Service is destroyed.
+   * The actual rcl service is not finalized until it is out of scope everywhere.
+   */
   RCLCPP_PUBLIC
   std::shared_ptr<rcl_service_t>
   get_service_handle();
 
+  /// Return the rcl_service_t service handle in a std::shared_ptr.
+  /**
+   * This handle remains valid after the Service is destroyed.
+   * The actual rcl service is not finalized until it is out of scope everywhere.
+   */
   RCLCPP_PUBLIC
   std::shared_ptr<const rcl_service_t>
   get_service_handle() const;

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -263,7 +263,7 @@ public:
 
   void
   get_next_subscription(
-    executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) override
   {
     auto it = subscription_handles_.begin();
@@ -298,7 +298,7 @@ public:
 
   void
   get_next_service(
-    executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) override
   {
     auto it = service_handles_.begin();
@@ -332,7 +332,7 @@ public:
   }
 
   void
-  get_next_client(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
+  get_next_client(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = client_handles_.begin();
     while (it != client_handles_.end()) {
@@ -366,7 +366,7 @@ public:
 
   void
   get_next_timer(
-    executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) override
   {
     auto it = timer_handles_.begin();
@@ -400,7 +400,7 @@ public:
   }
 
   void
-  get_next_waitable(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
+  get_next_waitable(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = waitable_handles_.begin();
     while (it != waitable_handles_.end()) {

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

@@ -17,6 +17,8 @@
 
 #include <memory>
 
+#include "rosidl_runtime_cpp/traits.hpp"
+
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"

rclcpp/include/rclcpp/subscription.hpp

@@ -18,6 +18,7 @@
 #include <rmw/error_handling.h>
 #include <rmw/rmw.h>
 
+#include <chrono>
 #include <functional>
 #include <iostream>
 #include <memory>
@@ -25,7 +26,6 @@
 #include <string>
 #include <utility>
 
-
 #include "rcl/error_handling.h"
 #include "rcl/subscription.h"
 
@@ -47,6 +47,7 @@
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/waitable.hpp"
+#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
 #include "tracetools/tracetools.h"
 
 namespace rclcpp
@@ -75,6 +76,8 @@ public:
   using MessageDeleter = allocator::Deleter<MessageAllocator, CallbackMessageT>;
   using ConstMessageSharedPtr = std::shared_ptr<const CallbackMessageT>;
   using MessageUniquePtr = std::unique_ptr<CallbackMessageT, MessageDeleter>;
+  using SubscriptionTopicStatisticsSharedPtr =
+    std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>;
 
   RCLCPP_SMART_PTR_DEFINITIONS(Subscription)
 
@@ -87,9 +90,14 @@ public:
    * \param[in] node_base NodeBaseInterface pointer that is used in part 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] 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] message_memory_strategy The memory strategy to be used for managing message memory.
+   * \param[in] subscription_topic_statistics pointer to a topic statistics subcription.
+   * \throws std::invalid_argument if the QoS is uncompatible with intra-process (if one
+   *   of the following conditions are true: qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL,
+   *   qos_profile.depth == 0 or qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE).
    */
   Subscription(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
@@ -98,7 +106,8 @@ public:
     const rclcpp::QoS & qos,
     AnySubscriptionCallback<CallbackMessageT, AllocatorT> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-    typename MessageMemoryStrategyT::SharedPtr message_memory_strategy)
+    typename MessageMemoryStrategyT::SharedPtr message_memory_strategy,
+    SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics = nullptr)
   : SubscriptionBase(
       node_base,
       type_support_handle,
@@ -180,6 +189,10 @@ public:
       this->setup_intra_process(intra_process_subscription_id, ipm);
     }
 
+    if (subscription_topic_statistics != nullptr) {
+      this->subscription_topic_statistics_ = std::move(subscription_topic_statistics);
+    }
+
     TRACEPOINT(
       rclcpp_subscription_init,
       (const void *)get_subscription_handle().get(),
@@ -242,7 +255,7 @@ public:
     return message_memory_strategy_->borrow_message();
   }
 
-  std::shared_ptr<rcl_serialized_message_t>
+  std::shared_ptr<rclcpp::SerializedMessage>
   create_serialized_message() override
   {
     return message_memory_strategy_->borrow_serialized_message();
@@ -260,6 +273,13 @@ public:
     }
     auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
     any_callback_.dispatch(typed_message, message_info);
+
+    if (subscription_topic_statistics_) {
+      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);
+    }
   }
 
   void
@@ -284,7 +304,7 @@ public:
   }
 
   void
-  return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) override
+  return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override
   {
     message_memory_strategy_->return_serialized_message(message);
   }
@@ -307,6 +327,8 @@ private:
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> options_;
   typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, AllocatorT>::SharedPtr
     message_memory_strategy_;
+  /// Component which computes and publishes topic statistics for this subscriber
+  SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/subscription_base.hpp

@@ -33,6 +33,7 @@
 #include "rclcpp/message_info.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
+#include "rclcpp/serialized_message.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -151,7 +152,7 @@ public:
    */
   RCLCPP_PUBLIC
   bool
-  take_serialized(rcl_serialized_message_t & message_out, rclcpp::MessageInfo & message_info_out);
+  take_serialized(rclcpp::SerializedMessage & message_out, rclcpp::MessageInfo & message_info_out);
 
   /// Borrow a new message.
   /** \return Shared pointer to the fresh message. */
@@ -164,7 +165,7 @@ public:
   /** \return Shared pointer to a rcl_message_serialized_t. */
   RCLCPP_PUBLIC
   virtual
-  std::shared_ptr<rcl_serialized_message_t>
+  std::shared_ptr<rclcpp::SerializedMessage>
   create_serialized_message() = 0;
 
   /// Check if we need to handle the message, and execute the callback if we do.
@@ -194,7 +195,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   void
-  return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) = 0;
+  return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) = 0;
 
   RCLCPP_PUBLIC
   const rosidl_message_type_support_t &

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -32,6 +32,7 @@
 #include "rclcpp/subscription_options.hpp"
 #include "rclcpp/subscription_traits.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
 
 namespace rclcpp
 {
@@ -78,7 +79,10 @@ SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat,
+  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
+  subscription_topic_stats = nullptr
+)
 {
   auto allocator = options.get_allocator();
 
@@ -88,7 +92,7 @@ create_subscription_factory(
 
   SubscriptionFactory factory {
     // factory function that creates a MessageT specific SubscriptionT
-    [options, msg_mem_strat, any_subscription_callback](
+    [options, msg_mem_strat, any_subscription_callback, subscription_topic_stats](
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
       const rclcpp::QoS & qos
@@ -104,7 +108,8 @@ create_subscription_factory(
         qos,
         any_subscription_callback,
         options,
-        msg_mem_strat);
+        msg_mem_strat,
+        subscription_topic_stats);
       // This is used for setting up things like intra process comms which
       // require this->shared_from_this() which cannot be called from
       // the constructor.

rclcpp/include/rclcpp/subscription_options.hpp

@@ -45,7 +45,7 @@ struct SubscriptionOptionsBase
   bool ignore_local_publications = false;
 
   /// The callback group for this subscription. NULL to use the default callback group.
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group = nullptr;
+  rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
 
   /// Setting to explicitly set intraprocess communications.
   IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;
@@ -89,6 +89,10 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
   {}
 
   /// Convert this class, with a rclcpp::QoS, into an rcl_subscription_options_t.
+  /**
+   * \param qos QoS profile for subcription.
+   * \return rcl_subscription_options_t structure based on the rclcpp::QoS
+   */
   template<typename MessageT>
   rcl_subscription_options_t
   to_rcl_subscription_options(const rclcpp::QoS & qos) const

rclcpp/include/rclcpp/subscription_traits.hpp

@@ -42,15 +42,6 @@ template<typename T>
 struct is_serialized_subscription_argument : std::false_type
 {};
 
-template<>
-struct is_serialized_subscription_argument<rcl_serialized_message_t>: std::true_type
-{};
-
-template<>
-struct is_serialized_subscription_argument<std::shared_ptr<rcl_serialized_message_t>>
-  : std::true_type
-{};
-
 template<>
 struct is_serialized_subscription_argument<SerializedMessage>: std::true_type
 {};

rclcpp/include/rclcpp/time.hpp

@@ -31,26 +31,54 @@ class Clock;
 class Time
 {
 public:
+  /// Time constructor
+  /**
+   * Initializes the time values for seconds and nanoseconds individually.
+   * Large values for nanoseconds are wrapped automatically with the remainder added to seconds.
+   * Both inputs must be integers.
+   *
+   * \param seconds part of the time in seconds since time epoch
+   * \param nanoseconds part of the time in nanoseconds since time epoch
+   * \param clock_type clock type
+   */
   RCLCPP_PUBLIC
   Time(int32_t seconds, uint32_t nanoseconds, rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
 
+  /// Time constructor
+  /**
+   * \param nanoseconds since time epoch
+   * \param clock_type clock type
+   */
   RCLCPP_PUBLIC
   explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock = RCL_SYSTEM_TIME);
 
+  /// Copy constructor
   RCLCPP_PUBLIC
   Time(const Time & rhs);
 
+  /// Time constructor
+  /**
+   * \param time_msg builtin_interfaces time message to copy
+   * \param clock_type clock type
+   */
   RCLCPP_PUBLIC
   Time(
     const builtin_interfaces::msg::Time & time_msg,
     rcl_clock_type_t ros_time = RCL_ROS_TIME);
 
+  /// Time constructor
+  /**
+   * \param time_point rcl_time_point_t structure to copy
+   * \param clock_type clock type
+   */
   RCLCPP_PUBLIC
   explicit Time(const rcl_time_point_t & time_point);
 
+  /// Time destructor
   RCLCPP_PUBLIC
   virtual ~Time();
 
+  /// Return a builtin_interfaces::msg::Time object based
   RCLCPP_PUBLIC
   operator builtin_interfaces::msg::Time() const;
 
@@ -106,21 +134,37 @@ public:
   Time &
   operator-=(const rclcpp::Duration & rhs);
 
+  /// Get the nanoseconds since epoch
+  /**
+   * \return the nanoseconds since epoch as a rcl_time_point_value_t structure.
+   */
   RCLCPP_PUBLIC
   rcl_time_point_value_t
   nanoseconds() const;
 
+  /// Get the maximum representable value.
+  /**
+   * \return the maximum representable value
+   */
   RCLCPP_PUBLIC
   static Time
   max();
 
-  /// \return the seconds since epoch as a floating point number.
-  /// \warning Depending on sizeof(double) there could be significant precision loss.
-  /// When an exact time is required use nanoseconds() instead.
+  /// Get the seconds since epoch
+  /**
+   * \warning Depending on sizeof(double) there could be significant precision loss.
+   * When an exact time is required use nanoseconds() instead.
+   *
+   * \return the seconds since epoch as a floating point number.
+   */
   RCLCPP_PUBLIC
   double
   seconds() const;
 
+  /// Get the clock type
+  /**
+   * \return the clock type
+   */
   RCLCPP_PUBLIC
   rcl_clock_type_t
   get_clock_type() const;

rclcpp/include/rclcpp/time_source.hpp

@@ -35,15 +35,42 @@ class Clock;
 class TimeSource
 {
 public:
+  /// Constructor
+  /**
+   * The node will be attached to the time source.
+   *
+   * \param node std::shared pointer to a initialized node
+   */
   RCLCPP_PUBLIC
   explicit TimeSource(rclcpp::Node::SharedPtr node);
 
+  /// Empty constructor
+  /**
+   * An Empty TimeSource class
+   */
   RCLCPP_PUBLIC
   TimeSource();
 
+  /// Attack node to the time source.
+  /**
+   * \param node std::shared pointer to a initialized node
+   */
   RCLCPP_PUBLIC
   void attachNode(rclcpp::Node::SharedPtr node);
 
+  /// Attack node to the time source.
+  /**
+   * If the parameter `use_sim_time` is `true` then the source time is the simulation time,
+   * otherwise the source time is defined by the system.
+   *
+   * \param node_base_interface Node base interface.
+   * \param node_topics_interface Node topic base interface.
+   * \param node_graph_interface Node graph interface.
+   * \param node_services_interface Node service interface.
+   * \param node_logging_interface Node logging interface.
+   * \param node_clock_interface Node clock interface.
+   * \param node_parameters_interface Node parameters interface.
+   */
   RCLCPP_PUBLIC
   void attachNode(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
@@ -54,19 +81,22 @@ public:
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface,
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_interface);
 
+  /// Detach the node from the time source
   RCLCPP_PUBLIC
   void detachNode();
 
   /// Attach a clock to the time source to be updated
   /**
-   * \throws std::invalid_argument if node is nullptr
+   * \throws std::invalid_argument the time source must be a RCL_ROS_TIME otherwise throws an exception
    */
   RCLCPP_PUBLIC
   void attachClock(rclcpp::Clock::SharedPtr clock);
 
+  /// Detach a clock to the time source
   RCLCPP_PUBLIC
   void detachClock(rclcpp::Clock::SharedPtr clock);
 
+  /// TimeSource Destructor
   RCLCPP_PUBLIC
   ~TimeSource();
 

rclcpp/include/rclcpp/timer.hpp

@@ -48,15 +48,26 @@ class TimerBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimerBase)
 
+  /// TimerBase constructor
+  /**
+   * \param clock A clock to use for time and sleeping
+   * \param period The interval at which the timer fires
+   * \param context node context
+   */
   RCLCPP_PUBLIC
   explicit TimerBase(
     Clock::SharedPtr clock,
     std::chrono::nanoseconds period,
     rclcpp::Context::SharedPtr context);
 
+  /// TimerBase destructor
   RCLCPP_PUBLIC
   ~TimerBase();
 
+  /// Cancel the timer.
+  /**
+   * \throws std::runtime_error if the rcl_timer_cancel returns a failure
+   */
   RCLCPP_PUBLIC
   void
   cancel();
@@ -71,10 +82,15 @@ public:
   bool
   is_canceled();
 
+  /// Reset the timer.
+  /**
+   * \throws std::runtime_error if the rcl_timer_reset returns a failure
+   */
   RCLCPP_PUBLIC
   void
   reset();
 
+  /// Call the callback function when the timer signal is emitted.
   RCLCPP_PUBLIC
   virtual void
   execute_callback() = 0;
@@ -209,6 +225,8 @@ public:
     callback_(*this);
   }
 
+  /// Is the clock steady (i.e. is the time between ticks constant?)
+  /** \return True if the clock used by this timer is steady. */
   bool
   is_steady() override
   {
@@ -233,6 +251,12 @@ class WallTimer : public GenericTimer<FunctorT>
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(WallTimer)
 
+  /// Wall timer constructor
+  /**
+   * \param period The interval at which the timer fires
+   * \param callback The callback function to execute every interval
+   * \param context node context
+   */
   WallTimer(
     std::chrono::nanoseconds period,
     FunctorT && callback,

rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp

@@ -23,6 +23,7 @@
 #include "libstatistics_collector/collector/generate_statistics_message.hpp"
 #include "libstatistics_collector/moving_average_statistics/types.hpp"
 #include "libstatistics_collector/topic_statistics_collector/constants.hpp"
+#include "libstatistics_collector/topic_statistics_collector/received_message_age.hpp"
 #include "libstatistics_collector/topic_statistics_collector/received_message_period.hpp"
 
 #include "rcl/time.h"
@@ -56,6 +57,9 @@ class SubscriptionTopicStatistics
   using TopicStatsCollector =
     libstatistics_collector::topic_statistics_collector::TopicStatisticsCollector<
     CallbackMessageT>;
+  using ReceivedMessageAge =
+    libstatistics_collector::topic_statistics_collector::ReceivedMessageAgeCollector<
+    CallbackMessageT>;
   using ReceivedMessagePeriod =
     libstatistics_collector::topic_statistics_collector::ReceivedMessagePeriodCollector<
     CallbackMessageT>;
@@ -94,6 +98,8 @@ public:
 
   /// Handle a message received by the subscription to collect statistics.
   /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   *
    * \param received_message the message received by the subscription
    * \param now_nanoseconds current time in nanoseconds
    */
@@ -101,6 +107,7 @@ public:
     const CallbackMessageT & received_message,
     const rclcpp::Time now_nanoseconds) const
   {
+    std::lock_guard<std::mutex> lock(mutex_);
     for (const auto & collector : subscriber_statistics_collectors_) {
       collector->OnMessageReceived(received_message, now_nanoseconds.nanoseconds());
     }
@@ -116,21 +123,32 @@ public:
   }
 
   /// Publish a populated MetricsStatisticsMessage.
+  /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   */
   virtual void publish_message()
   {
+    std::vector<MetricsMessage> msgs;
     rclcpp::Time window_end{get_current_nanoseconds_since_epoch()};
 
-    for (auto & collector : subscriber_statistics_collectors_) {
-      const auto collected_stats = collector->GetStatisticsResults();
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      for (auto & collector : subscriber_statistics_collectors_) {
+        const auto collected_stats = collector->GetStatisticsResults();
 
-      auto message = libstatistics_collector::collector::GenerateStatisticMessage(
-        node_name_,
-        collector->GetMetricName(),
-        collector->GetMetricUnit(),
-        window_start_,
-        window_end,
-        collected_stats);
-      publisher_->publish(message);
+        auto message = libstatistics_collector::collector::GenerateStatisticMessage(
+          node_name_,
+          collector->GetMetricName(),
+          collector->GetMetricUnit(),
+          window_start_,
+          window_end,
+          collected_stats);
+        msgs.push_back(message);
+      }
+    }
+
+    for (auto & msg : msgs) {
+      publisher_->publish(msg);
     }
     window_start_ = window_end;
   }
@@ -138,11 +156,14 @@ public:
 protected:
   /// Return a vector of all the currently collected data.
   /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   *
    * \return a vector of all the collected data
    */
   std::vector<StatisticData> get_current_collector_data() const
   {
     std::vector<StatisticData> data;
+    std::lock_guard<std::mutex> lock(mutex_);
     for (const auto & collector : subscriber_statistics_collectors_) {
       data.push_back(collector->GetStatisticsResults());
     }
@@ -151,23 +172,39 @@ protected:
 
 private:
   /// Construct and start all collectors and set window_start_.
+  /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   */
   void bring_up()
   {
+    auto received_message_age = std::make_unique<ReceivedMessageAge>();
+    received_message_age->Start();
+    subscriber_statistics_collectors_.emplace_back(std::move(received_message_age));
+
     auto received_message_period = std::make_unique<ReceivedMessagePeriod>();
     received_message_period->Start();
-    subscriber_statistics_collectors_.emplace_back(std::move(received_message_period));
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      subscriber_statistics_collectors_.emplace_back(std::move(received_message_period));
+    }
 
     window_start_ = rclcpp::Time(get_current_nanoseconds_since_epoch());
   }
 
   /// Stop all collectors, clear measurements, stop publishing timer, and reset publisher.
+  /**
+   * This method acquires a lock to prevent race conditions to collectors list.
+   */
   void tear_down()
   {
-    for (auto & collector : subscriber_statistics_collectors_) {
-      collector->Stop();
-    }
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      for (auto & collector : subscriber_statistics_collectors_) {
+        collector->Stop();
+      }
 
-    subscriber_statistics_collectors_.clear();
+      subscriber_statistics_collectors_.clear();
+    }
 
     if (publisher_timer_) {
       publisher_timer_->cancel();
@@ -187,6 +224,8 @@ private:
     return std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()).count();
   }
 
+  /// Mutex to protect the subsequence vectors
+  mutable std::mutex mutex_;
   /// Collection of statistics collectors
   std::vector<std::unique_ptr<TopicStatsCollector>> subscriber_statistics_collectors_{};
   /// Node name used to generate topic statistics messages to be published

rclcpp/include/rclcpp/utilities.hpp

@@ -45,7 +45,7 @@ namespace rclcpp
 /// Initialize communications via the rmw implementation and set up a global signal handler.
 /**
  * Initializes the global context which is accessible via the function
- * rclcpp::contexts::default_context::get_global_default_context().
+ * rclcpp::contexts::get_global_default_context().
  * Also, installs the global signal handlers with the function
  * rclcpp::install_signal_handlers().
  *

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -74,7 +74,7 @@ public:
     const typename StoragePolicy::ServicesIterable & services = {},
     const typename StoragePolicy::WaitablesIterable & waitables = {},
     rclcpp::Context::SharedPtr context =
-    rclcpp::contexts::default_context::get_global_default_context())
+    rclcpp::contexts::get_global_default_context())
   : SynchronizationPolicy(context),
     StoragePolicy(
       subscriptions,

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>0.8.3</version>
+  <version>1.0.0</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
@@ -37,6 +37,7 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
+  <test_depend>rosidl_default_generators</test_depend>
   <test_depend>test_msgs</test_depend>
 
   <export>

rclcpp/resource/get_interface.hpp.em

@@ -0,0 +1,111 @@
+// 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.
+
+@{
+uppercase_interface_name = interface_name.upper()
+}@
+
+#ifndef RCLCPP__NODE_INTERFACES__GET_@(uppercase_interface_name)_HPP_
+#define RCLCPP__NODE_INTERFACES__GET_@(uppercase_interface_name)_HPP_
+
+#include <memory>
+#include <utility>
+#include <type_traits>
+
+#include "rcpputils/pointer_traits.hpp"
+
+#include "rclcpp/node_interfaces/@(interface_name).hpp"
+#include "rclcpp/node_interfaces/@(interface_name)_traits.hpp"
+
+@{
+interface_typename = ''.join([part.capitalize() for part in interface_name.split('_')])
+}@
+
+/// This header provides the get_@(interface_name)() template function.
+/**
+ * This function is useful for getting the @(interface_typename) pointer from
+ * various kinds of Node-like classes.
+ *
+ * It's able to get a std::shared_ptr to a @(interface_typename) so long as the class
+ * has a method called ``get_@(interface_name)()`` which returns one.
+ */
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+namespace detail
+{
+
+// If NodeType has a method called get_@(interface_name)() which returns a shared pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_@(interface_name)<
+    typename rcpputils::remove_pointer<NodeType>::type
+  >::value, int>::type = 0
+>
+std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>
+get_@(interface_name)_from_pointer(NodeType node_pointer)
+{
+  if (!node_pointer) {
+    throw std::invalid_argument("node cannot be nullptr");
+  }
+  return node_pointer->get_@(interface_name)();
+}
+
+}  // namespace detail
+
+/// Get the @(interface_typename) as a shared pointer from a pointer to a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<
+    rcpputils::is_pointer<NodeType>::value, int
+  >::type = 0
+>
+inline
+std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>
+get_@(interface_name)(NodeType && node)
+{
+  // Forward pointers to detail implementation directly.
+  return detail::get_@(interface_name)_from_pointer(node);
+}
+
+/// Get the @(interface_typename) as a shared pointer from a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<
+    !rcpputils::is_pointer<NodeType>::value, int
+  >::type = 0
+>
+inline
+std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>
+get_@(interface_name)(NodeType && node)
+{
+  // Forward references to detail implementation as a pointer.
+  return detail::get_@(interface_name)_from_pointer(&node);
+}
+
+/// Keep the @(interface_typename) a shared pointer.
+inline
+std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>
+get_@(interface_name)(
+  std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)> & node_interface)
+{
+  return node_interface;
+}
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__GET_@(uppercase_interface_name)_HPP_

rclcpp/resource/interface_traits.hpp.em

@@ -0,0 +1,47 @@
+// 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.
+@{
+uppercase_interface_name = interface_name.upper()
+interface_typename = ''.join([part.capitalize() for part in interface_name.split('_')])
+}@
+
+#ifndef RCLCPP__NODE_INTERFACES__@(uppercase_interface_name)_TRAITS_HPP_
+#define RCLCPP__NODE_INTERFACES__@(uppercase_interface_name)_TRAITS_HPP_
+
+#include <functional>
+#include <type_traits>
+
+#include "rclcpp/node_interfaces/@(interface_name).hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+template<class T, typename = void>
+struct has_@(interface_name) : std::false_type
+{};
+
+template<class T>
+struct has_@(interface_name)<
+  T, typename std::enable_if<
+    std::is_same<
+      std::shared_ptr<rclcpp::node_interfaces::@(interface_typename)>,
+      decltype(std::declval<T>().get_@(interface_name)())>::value>::type> : std::true_type
+{};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__@(uppercase_interface_name)_TRAITS_HPP_

rclcpp/src/rclcpp/any_executable.cpp

@@ -14,7 +14,7 @@
 
 #include "rclcpp/any_executable.hpp"
 
-using rclcpp::executor::AnyExecutable;
+using rclcpp::AnyExecutable;
 
 AnyExecutable::AnyExecutable()
 : subscription(nullptr),

rclcpp/src/rclcpp/callback_group.cpp

@@ -16,8 +16,8 @@
 
 #include <vector>
 
-using rclcpp::callback_group::CallbackGroup;
-using rclcpp::callback_group::CallbackGroupType;
+using rclcpp::CallbackGroup;
+using rclcpp::CallbackGroupType;
 
 CallbackGroup::CallbackGroup(CallbackGroupType group_type)
 : type_(group_type), can_be_taken_from_(true)

rclcpp/src/rclcpp/context.cpp

@@ -22,6 +22,7 @@
 #include <utility>
 
 #include "rcl/init.h"
+#include "rcl/logging.h"
 #include "rclcpp/detail/utilities.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/logging.hpp"
@@ -34,8 +35,27 @@ static std::vector<std::weak_ptr<rclcpp::Context>> g_contexts;
 
 using rclcpp::Context;
 
+static
+std::shared_ptr<std::mutex>
+get_global_logging_configure_mutex()
+{
+  static auto mutex = std::make_shared<std::mutex>();
+  return mutex;
+}
+
+static
+size_t &
+get_logging_reference_count()
+{
+  static size_t ref_count = 0;
+  return ref_count;
+}
+
 Context::Context()
-: rcl_context_(nullptr), shutdown_reason_("") {}
+: rcl_context_(nullptr),
+  shutdown_reason_(""),
+  logging_configure_mutex_(nullptr)
+{}
 
 Context::~Context()
 {
@@ -94,6 +114,30 @@ Context::init(
     rcl_context_.reset();
     rclcpp::exceptions::throw_from_rcl_error(ret, "failed to initialize rcl");
   }
+
+  if (init_options.auto_initialize_logging()) {
+    logging_configure_mutex_ = get_global_logging_configure_mutex();
+    if (!logging_configure_mutex_) {
+      throw std::runtime_error("global logging configure mutex is 'nullptr'");
+    }
+    std::lock_guard<std::mutex> guard(*logging_configure_mutex_);
+    size_t & count = get_logging_reference_count();
+    if (0u == count) {
+      ret = rcl_logging_configure(
+        &rcl_context_->global_arguments,
+        rcl_init_options_get_allocator(init_options_.get_rcl_init_options()));
+      if (RCL_RET_OK != ret) {
+        rcl_context_.reset();
+        rclcpp::exceptions::throw_from_rcl_error(ret, "failed to configure logging");
+      }
+    } else {
+      RCLCPP_WARN(
+        rclcpp::get_logger("rclcpp"),
+        "logging was initialized more than once");
+    }
+    ++count;
+  }
+
   try {
     std::vector<std::string> unparsed_ros_arguments = detail::get_unparsed_ros_arguments(
       argc, argv, &(rcl_context_->global_arguments), rcl_get_default_allocator());
@@ -183,6 +227,22 @@ Context::shutdown(const std::string & reason)
       ++it;
     }
   }
+  // shutdown logger
+  if (logging_configure_mutex_) {
+    // logging was initialized by this context
+    std::lock_guard<std::mutex> guard(*logging_configure_mutex_);
+    size_t & count = get_logging_reference_count();
+    if (0u == --count) {
+      rcl_ret_t rcl_ret = rcl_logging_fini();
+      if (RCL_RET_OK != rcl_ret) {
+        RCUTILS_SAFE_FWRITE_TO_STDERR(
+          RCUTILS_STRINGIFY(__file__) ":"
+          RCUTILS_STRINGIFY(__LINE__)
+          " failed to fini logging");
+        rcl_reset_error();
+      }
+    }
+  }
   return true;
 }
 

rclcpp/src/rclcpp/contexts/default_context.cpp

@@ -14,13 +14,13 @@
 
 #include "rclcpp/contexts/default_context.hpp"
 
-using rclcpp::contexts::default_context::DefaultContext;
+using rclcpp::contexts::DefaultContext;
 
 DefaultContext::DefaultContext()
 {}
 
 DefaultContext::SharedPtr
-rclcpp::contexts::default_context::get_global_default_context()
+rclcpp::contexts::get_global_default_context()
 {
   static DefaultContext::SharedPtr default_context = DefaultContext::make_shared();
   return default_context;

rclcpp/src/rclcpp/executable_list.cpp

@@ -14,9 +14,9 @@
 
 #include <utility>
 
-#include "rclcpp/executable_list.hpp"
+#include "rclcpp/experimental/executable_list.hpp"
 
-using rclcpp::executor::ExecutableList;
+using rclcpp::experimental::ExecutableList;
 
 ExecutableList::ExecutableList()
 : number_of_subscriptions(0),

rclcpp/src/rclcpp/executor.cpp

@@ -29,18 +29,18 @@
 #include "rcutils/logging_macros.h"
 
 using rclcpp::exceptions::throw_from_rcl_error;
-using rclcpp::executor::AnyExecutable;
-using rclcpp::executor::Executor;
-using rclcpp::executor::ExecutorArgs;
-using rclcpp::executor::FutureReturnCode;
+using rclcpp::AnyExecutable;
+using rclcpp::Executor;
+using rclcpp::ExecutorOptions;
+using rclcpp::FutureReturnCode;
 
-Executor::Executor(const ExecutorArgs & args)
+Executor::Executor(const rclcpp::ExecutorOptions & options)
 : spinning(false),
-  memory_strategy_(args.memory_strategy)
+  memory_strategy_(options.memory_strategy)
 {
   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_, args.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");
   }
@@ -49,14 +49,14 @@ Executor::Executor(const ExecutorArgs & args)
   // and one for the executor's guard cond (interrupt_guard_condition_)
 
   // Put the global ctrl-c guard condition in
-  memory_strategy_->add_guard_condition(args.context->get_interrupt_guard_condition(&wait_set_));
+  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_ = args.context;
+  context_ = options.context;
 
   ret = rcl_wait_set_init(
     &wait_set_,
@@ -350,8 +350,7 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
   if (subscription->is_serialized()) {
     // This is the case where a copy of the serialized message is taken from
     // the middleware via inter-process communication.
-    std::shared_ptr<rcl_serialized_message_t> serialized_msg =
-      subscription->create_serialized_message();
+    std::shared_ptr<SerializedMessage> serialized_msg = subscription->create_serialized_message();
     take_and_do_error_handling(
       "taking a serialized message from topic",
       subscription->get_topic_name(),
@@ -503,7 +502,7 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-Executor::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+Executor::get_node_by_group(rclcpp::CallbackGroup::SharedPtr group)
 {
   if (!group) {
     return nullptr;
@@ -523,7 +522,7 @@ Executor::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr gro
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
 {
   for (auto & weak_node : weak_nodes_) {
@@ -545,7 +544,7 @@ Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
       }
     }
   }
-  return rclcpp::callback_group::CallbackGroup::SharedPtr();
+  return rclcpp::CallbackGroup::SharedPtr();
 }
 
 bool
@@ -603,7 +602,7 @@ Executor::get_next_ready_executable(AnyExecutable & any_executable)
       any_executable.callback_group->can_be_taken_from().store(false);
     }
   }
-  // If there is no ready executable, return a null ptr
+  // If there is no ready executable, return false
   return success;
 }
 
@@ -626,29 +625,3 @@ Executor::get_next_executable(AnyExecutable & any_executable, std::chrono::nanos
   }
   return success;
 }
-
-std::ostream &
-rclcpp::executor::operator<<(std::ostream & os, const FutureReturnCode & future_return_code)
-{
-  return os << to_string(future_return_code);
-}
-
-std::string
-rclcpp::executor::to_string(const FutureReturnCode & future_return_code)
-{
-  using enum_type = std::underlying_type<FutureReturnCode>::type;
-  std::string prefix = "Unknown enum value (";
-  std::string ret_as_string = std::to_string(static_cast<enum_type>(future_return_code));
-  switch (future_return_code) {
-    case FutureReturnCode::SUCCESS:
-      prefix = "SUCCESS (";
-      break;
-    case FutureReturnCode::INTERRUPTED:
-      prefix = "INTERRUPTED (";
-      break;
-    case FutureReturnCode::TIMEOUT:
-      prefix = "TIMEOUT (";
-      break;
-  }
-  return prefix + ret_as_string + ")";
-}

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -25,11 +25,11 @@
 using rclcpp::executors::MultiThreadedExecutor;
 
 MultiThreadedExecutor::MultiThreadedExecutor(
-  const rclcpp::executor::ExecutorArgs & args,
+  const rclcpp::ExecutorOptions & options,
   size_t number_of_threads,
   bool yield_before_execute,
   std::chrono::nanoseconds next_exec_timeout)
-: executor::Executor(args),
+: rclcpp::Executor(options),
   yield_before_execute_(yield_before_execute),
   next_exec_timeout_(next_exec_timeout)
 {
@@ -74,7 +74,7 @@ void
 MultiThreadedExecutor::run(size_t)
 {
   while (rclcpp::ok(this->context_) && spinning.load()) {
-    executor::AnyExecutable any_exec;
+    rclcpp::AnyExecutable any_exec;
     {
       std::lock_guard<std::mutex> wait_lock(wait_mutex_);
       if (!rclcpp::ok(this->context_) || !spinning.load()) {

rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

@@ -18,8 +18,8 @@
 
 using rclcpp::executors::SingleThreadedExecutor;
 
-SingleThreadedExecutor::SingleThreadedExecutor(const rclcpp::executor::ExecutorArgs & args)
-: executor::Executor(args) {}
+SingleThreadedExecutor::SingleThreadedExecutor(const rclcpp::ExecutorOptions & options)
+: rclcpp::Executor(options) {}
 
 SingleThreadedExecutor::~SingleThreadedExecutor() {}
 
@@ -31,7 +31,7 @@ SingleThreadedExecutor::spin()
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
   while (rclcpp::ok(this->context_) && spinning.load()) {
-    rclcpp::executor::AnyExecutable any_executable;
+    rclcpp::AnyExecutable any_executable;
     if (get_next_executable(any_executable)) {
       execute_any_executable(any_executable);
     }

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -46,7 +46,7 @@ StaticExecutorEntitiesCollector::init(
   rcl_guard_condition_t * executor_guard_condition)
 {
   // Empty initialize executable list
-  exec_list_ = executor::ExecutableList();
+  exec_list_ = rclcpp::experimental::ExecutableList();
   // Get executor's wait_set_ pointer
   p_wait_set_ = p_wait_set;
   // Get executor's memory strategy ptr

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -19,11 +19,11 @@
 #include "rclcpp/scope_exit.hpp"
 
 using rclcpp::executors::StaticSingleThreadedExecutor;
-using rclcpp::executor::ExecutableList;
+using rclcpp::experimental::ExecutableList;
 
 StaticSingleThreadedExecutor::StaticSingleThreadedExecutor(
-  const rclcpp::executor::ExecutorArgs & args)
-: executor::Executor(args)
+  const rclcpp::ExecutorOptions & options)
+: rclcpp::Executor(options)
 {
   entities_collector_ = std::make_shared<StaticExecutorEntitiesCollector>();
 }

rclcpp/src/rclcpp/future_return_code.cpp

@@ -0,0 +1,50 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <iostream>
+#include <string>
+#include <type_traits>
+
+#include "rclcpp/future_return_code.hpp"
+
+namespace rclcpp
+{
+
+std::ostream &
+operator<<(std::ostream & os, const rclcpp::FutureReturnCode & future_return_code)
+{
+  return os << to_string(future_return_code);
+}
+
+std::string
+to_string(const rclcpp::FutureReturnCode & future_return_code)
+{
+  using enum_type = std::underlying_type<FutureReturnCode>::type;
+  std::string prefix = "Unknown enum value (";
+  std::string ret_as_string = std::to_string(static_cast<enum_type>(future_return_code));
+  switch (future_return_code) {
+    case FutureReturnCode::SUCCESS:
+      prefix = "SUCCESS (";
+      break;
+    case FutureReturnCode::INTERRUPTED:
+      prefix = "INTERRUPTED (";
+      break;
+    case FutureReturnCode::TIMEOUT:
+      prefix = "TIMEOUT (";
+      break;
+  }
+  return prefix + ret_as_string + ")";
+}
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/init_options.cpp

@@ -46,6 +46,19 @@ InitOptions::InitOptions(const InitOptions & other)
   shutdown_on_sigint = other.shutdown_on_sigint;
 }
 
+bool
+InitOptions::auto_initialize_logging() const
+{
+  return initialize_logging_;
+}
+
+InitOptions &
+InitOptions::auto_initialize_logging(bool initialize_logging)
+{
+  initialize_logging_ = initialize_logging;
+  return *this;
+}
+
 InitOptions &
 InitOptions::operator=(const InitOptions & other)
 {

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -127,7 +127,7 @@ MemoryStrategy::get_timer_by_handle(
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 MemoryStrategy::get_node_by_group(
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  rclcpp::CallbackGroup::SharedPtr group,
   const WeakNodeList & weak_nodes)
 {
   if (!group) {
@@ -148,7 +148,7 @@ MemoryStrategy::get_node_by_group(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_subscription(
   rclcpp::SubscriptionBase::SharedPtr subscription,
   const WeakNodeList & weak_nodes)
@@ -175,7 +175,7 @@ MemoryStrategy::get_group_by_subscription(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_service(
   rclcpp::ServiceBase::SharedPtr service,
   const WeakNodeList & weak_nodes)
@@ -202,7 +202,7 @@ MemoryStrategy::get_group_by_service(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_client(
   rclcpp::ClientBase::SharedPtr client,
   const WeakNodeList & weak_nodes)
@@ -229,7 +229,7 @@ MemoryStrategy::get_group_by_client(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_timer(
   rclcpp::TimerBase::SharedPtr timer,
   const WeakNodeList & weak_nodes)
@@ -256,7 +256,7 @@ MemoryStrategy::get_group_by_timer(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_waitable(
   rclcpp::Waitable::SharedPtr waitable,
   const WeakNodeList & weak_nodes)

rclcpp/src/rclcpp/node.cpp

@@ -108,7 +108,7 @@ Node::Node(
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
   node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
-  node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),
+  node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get(), node_timers_.get())),
   node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
   node_clock_(new rclcpp::node_interfaces::NodeClock(
       node_base_,
@@ -210,15 +210,14 @@ Node::get_logger() const
   return node_logging_->get_logger();
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
-Node::create_callback_group(
-  rclcpp::callback_group::CallbackGroupType group_type)
+rclcpp::CallbackGroup::SharedPtr
+Node::create_callback_group(rclcpp::CallbackGroupType group_type)
 {
   return node_base_->create_callback_group(group_type);
 }
 
 bool
-Node::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+Node::group_in_node(rclcpp::CallbackGroup::SharedPtr group)
 {
   return node_base_->callback_group_in_node(group);
 }
@@ -377,7 +376,7 @@ Node::get_subscriptions_info_by_topic(const std::string & topic_name, bool no_ma
   return node_graph_->get_subscriptions_info_by_topic(topic_name, no_mangle);
 }
 
-const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+const std::vector<rclcpp::CallbackGroup::WeakPtr> &
 Node::get_callback_groups() const
 {
   return node_base_->get_callback_groups();
@@ -500,9 +499,3 @@ Node::get_node_options() const
 {
   return this->node_options_;
 }
-
-bool
-Node::assert_liveliness() const
-{
-  return node_base_->assert_liveliness();
-}

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -133,7 +133,7 @@ NodeBase::NodeBase(
     });
 
   // Create the default callback group.
-  using rclcpp::callback_group::CallbackGroupType;
+  using rclcpp::CallbackGroupType;
   default_callback_group_ = create_callback_group(CallbackGroupType::MutuallyExclusive);
 
   // Indicate the notify_guard_condition is now valid.
@@ -202,30 +202,24 @@ NodeBase::get_shared_rcl_node_handle() const
   return node_handle_;
 }
 
-bool
-NodeBase::assert_liveliness() const
+rclcpp::CallbackGroup::SharedPtr
+NodeBase::create_callback_group(rclcpp::CallbackGroupType group_type)
 {
-  return RCL_RET_OK == rcl_node_assert_liveliness(get_rcl_node_handle());
-}
-
-rclcpp::callback_group::CallbackGroup::SharedPtr
-NodeBase::create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)
-{
-  using rclcpp::callback_group::CallbackGroup;
-  using rclcpp::callback_group::CallbackGroupType;
+  using rclcpp::CallbackGroup;
+  using rclcpp::CallbackGroupType;
   auto group = CallbackGroup::SharedPtr(new CallbackGroup(group_type));
   callback_groups_.push_back(group);
   return group;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 NodeBase::get_default_callback_group()
 {
   return default_callback_group_;
 }
 
 bool
-NodeBase::callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+NodeBase::callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group)
 {
   bool group_belongs_to_this_node = false;
   for (auto & weak_group : this->callback_groups_) {
@@ -237,7 +231,7 @@ NodeBase::callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPt
   return group_belongs_to_this_node;
 }
 
-const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+const std::vector<rclcpp::CallbackGroup::WeakPtr> &
 NodeBase::get_callback_groups() const
 {
   return callback_groups_;

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -107,11 +107,14 @@ NodeParameters::NodeParameters(
           rcl_yaml_node_struct_fini(params);
         });
       rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params);
-      for (auto iter = initial_map.begin(); initial_map.end() != iter; iter++) {
-        // TODO(cottsay) implement further wildcard matching
-        if (iter->first == "/**" || iter->first == combined_name_) {
+
+      // Enforce wildcard matching precedence
+      // TODO(cottsay) implement further wildcard matching
+      const std::vector<std::string> node_matching_names{"/**", combined_name_};
+      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 (auto & param : iter->second) {
+          for (const rclcpp::Parameter & param : initial_map.at(node_name)) {
             parameter_overrides_[param.get_name()] =
               rclcpp::ParameterValue(param.get_value_message());
           }

rclcpp/src/rclcpp/node_interfaces/node_services.cpp

@@ -28,7 +28,7 @@ NodeServices::~NodeServices()
 void
 NodeServices::add_service(
   rclcpp::ServiceBase::SharedPtr service_base_ptr,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {
@@ -55,7 +55,7 @@ NodeServices::add_service(
 void
 NodeServices::add_client(
   rclcpp::ClientBase::SharedPtr client_base_ptr,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -28,7 +28,7 @@ NodeTimers::~NodeTimers()
 void
 NodeTimers::add_timer(
   rclcpp::TimerBase::SharedPtr timer,
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
+  rclcpp::CallbackGroup::SharedPtr callback_group)
 {
   if (callback_group) {
     if (!node_base_->callback_group_in_node(callback_group)) {

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -22,8 +22,10 @@ using rclcpp::exceptions::throw_from_rcl_error;
 
 using rclcpp::node_interfaces::NodeTopics;
 
-NodeTopics::NodeTopics(rclcpp::node_interfaces::NodeBaseInterface * node_base)
-: node_base_(node_base)
+NodeTopics::NodeTopics(
+  rclcpp::node_interfaces::NodeBaseInterface * node_base,
+  rclcpp::node_interfaces::NodeTimersInterface * node_timers)
+: node_base_(node_base), node_timers_(node_timers)
 {}
 
 NodeTopics::~NodeTopics()
@@ -42,7 +44,7 @@ NodeTopics::create_publisher(
 void
 NodeTopics::add_publisher(
   rclcpp::PublisherBase::SharedPtr publisher,
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
+  rclcpp::CallbackGroup::SharedPtr callback_group)
 {
   // Assign to a group.
   if (callback_group) {
@@ -81,7 +83,7 @@ NodeTopics::create_subscription(
 void
 NodeTopics::add_subscription(
   rclcpp::SubscriptionBase::SharedPtr subscription,
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
+  rclcpp::CallbackGroup::SharedPtr callback_group)
 {
   // Assign to a group.
   if (callback_group) {
@@ -121,3 +123,9 @@ NodeTopics::get_node_base_interface() const
 {
   return node_base_;
 }
+
+rclcpp::node_interfaces::NodeTimersInterface *
+NodeTopics::get_node_timers_interface() const
+{
+  return node_timers_;
+}

rclcpp/src/rclcpp/node_interfaces/node_waitables.cpp

@@ -28,7 +28,7 @@ NodeWaitables::~NodeWaitables()
 void
 NodeWaitables::add_waitable(
   rclcpp::Waitable::SharedPtr waitable_ptr,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {
@@ -55,7 +55,7 @@ NodeWaitables::add_waitable(
 void
 NodeWaitables::remove_waitable(
   rclcpp::Waitable::SharedPtr waitable_ptr,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group) noexcept
+  rclcpp::CallbackGroup::SharedPtr group) noexcept
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {

rclcpp/src/rclcpp/parameter_client.cpp

@@ -31,7 +31,7 @@ AsyncParametersClient::AsyncParametersClient(
   const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 : node_topics_interface_(node_topics_interface)
 {
   if (remote_node_name != "") {
@@ -103,7 +103,7 @@ AsyncParametersClient::AsyncParametersClient(
   const rclcpp::Node::SharedPtr node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 : AsyncParametersClient(
     node->get_node_base_interface(),
     node->get_node_topics_interface(),
@@ -118,7 +118,7 @@ AsyncParametersClient::AsyncParametersClient(
   rclcpp::Node * node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 : AsyncParametersClient(
     node->get_node_base_interface(),
     node->get_node_topics_interface(),
@@ -349,7 +349,7 @@ SyncParametersClient::SyncParametersClient(
 {}
 
 SyncParametersClient::SyncParametersClient(
-  rclcpp::executor::Executor::SharedPtr executor,
+  rclcpp::Executor::SharedPtr executor,
   rclcpp::Node::SharedPtr node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile)
@@ -375,7 +375,7 @@ SyncParametersClient::SyncParametersClient(
 {}
 
 SyncParametersClient::SyncParametersClient(
-  rclcpp::executor::Executor::SharedPtr executor,
+  rclcpp::Executor::SharedPtr executor,
   rclcpp::Node * node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile)
@@ -390,7 +390,7 @@ SyncParametersClient::SyncParametersClient(
 {}
 
 SyncParametersClient::SyncParametersClient(
-  rclcpp::executor::Executor::SharedPtr executor,
+  rclcpp::Executor::SharedPtr executor,
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
   const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
   const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
@@ -417,7 +417,7 @@ SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -443,7 +443,7 @@ SyncParametersClient::get_parameter_types(const std::vector<std::string> & param
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -460,7 +460,7 @@ SyncParametersClient::set_parameters(
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -477,7 +477,7 @@ SyncParametersClient::set_parameters_atomically(
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -496,7 +496,7 @@ SyncParametersClient::list_parameters(
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }

rclcpp/src/rclcpp/publisher_base.cpp

@@ -35,6 +35,7 @@
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp/qos_event.hpp"
 
 using rclcpp::PublisherBase;
 
@@ -246,7 +247,8 @@ PublisherBase::setup_intra_process(
 }
 
 void
-PublisherBase::default_incompatible_qos_callback(QOSOfferedIncompatibleQoSInfo & event) const
+PublisherBase::default_incompatible_qos_callback(
+  rclcpp::QOSOfferedIncompatibleQoSInfo & event) const
 {
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(

rclcpp/src/rclcpp/serialization.cpp

@@ -55,8 +55,11 @@ void SerializationBase::deserialize_message(
   rcpputils::check_true(nullptr != type_support_, "Typesupport is nullpointer.");
   rcpputils::check_true(nullptr != serialized_message, "Serialized message is nullpointer.");
   rcpputils::check_true(
-    0 != serialized_message->capacity() && 0 != serialized_message->size(),
-    "Serialized message is wrongly initialized.");
+    0u != serialized_message->capacity(),
+    "Wrongly initialized. Serialized message has a capacity of zero.");
+  rcpputils::check_true(
+    0u != serialized_message->size(),
+    "Wrongly initialized. Serialized message has a size of zero.");
   rcpputils::check_true(nullptr != ros_message, "ROS message is a nullpointer.");
 
   const auto ret = rmw_deserialize(

rclcpp/src/rclcpp/serialized_message.cpp

@@ -66,50 +66,51 @@ SerializedMessage::SerializedMessage(const rcl_serialized_message_t & other)
 }
 
 SerializedMessage::SerializedMessage(SerializedMessage && other)
-: SerializedMessage(other.serialized_message_)
-{
-  other.serialized_message_ = rmw_get_zero_initialized_serialized_message();
-}
+: serialized_message_(
+    std::exchange(other.serialized_message_, rmw_get_zero_initialized_serialized_message()))
+{}
 
 SerializedMessage::SerializedMessage(rcl_serialized_message_t && other)
-: serialized_message_(other)
-{
-  // reset buffer to prevent double free
-  other = rmw_get_zero_initialized_serialized_message();
-}
+: serialized_message_(
+    std::exchange(other, rmw_get_zero_initialized_serialized_message()))
+{}
 
 SerializedMessage & SerializedMessage::operator=(const SerializedMessage & other)
 {
-  serialized_message_ = rmw_get_zero_initialized_serialized_message();
-  copy_rcl_message(other.serialized_message_, serialized_message_);
+  if (this != &other) {
+    serialized_message_ = rmw_get_zero_initialized_serialized_message();
+    copy_rcl_message(other.serialized_message_, serialized_message_);
+  }
 
   return *this;
 }
 
 SerializedMessage & SerializedMessage::operator=(const rcl_serialized_message_t & other)
 {
-  serialized_message_ = rmw_get_zero_initialized_serialized_message();
-  copy_rcl_message(other, serialized_message_);
+  if (&serialized_message_ != &other) {
+    serialized_message_ = rmw_get_zero_initialized_serialized_message();
+    copy_rcl_message(other, serialized_message_);
+  }
 
   return *this;
 }
 
 SerializedMessage & SerializedMessage::operator=(SerializedMessage && other)
 {
-  *this = other.serialized_message_;
-  other.serialized_message_ = rmw_get_zero_initialized_serialized_message();
+  if (this != &other) {
+    serialized_message_ =
+      std::exchange(other.serialized_message_, rmw_get_zero_initialized_serialized_message());
+  }
 
   return *this;
 }
 
 SerializedMessage & SerializedMessage::operator=(rcl_serialized_message_t && other)
 {
-  serialized_message_ = rmw_get_zero_initialized_serialized_message();
-  serialized_message_ = other;
-
-  // reset original to prevent double free
-  other = rmw_get_zero_initialized_serialized_message();
-
+  if (&serialized_message_ != &other) {
+    serialized_message_ =
+      std::exchange(other, rmw_get_zero_initialized_serialized_message());
+  }
   return *this;
 }
 
@@ -144,4 +145,20 @@ size_t SerializedMessage::capacity() const
 {
   return serialized_message_.buffer_capacity;
 }
+
+void SerializedMessage::reserve(size_t capacity)
+{
+  auto ret = rmw_serialized_message_resize(&serialized_message_, capacity);
+  if (RCL_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(ret);
+  }
+}
+
+rcl_serialized_message_t SerializedMessage::release_rcl_serialized_message()
+{
+  auto ret = serialized_message_;
+  serialized_message_ = rmw_get_zero_initialized_serialized_message();
+
+  return ret;
+}
 }  // namespace rclcpp

rclcpp/src/rclcpp/service.cpp

@@ -41,7 +41,7 @@ ServiceBase::take_type_erased_request(void * request_out, rmw_request_id_t & req
     this->get_service_handle().get(),
     &request_id_out,
     request_out);
-  if (RCL_RET_CLIENT_TAKE_FAILED == ret) {
+  if (RCL_RET_SERVICE_TAKE_FAILED == ret) {
     return false;
   } else if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);

rclcpp/src/rclcpp/subscription_base.cpp

@@ -24,6 +24,7 @@
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/qos_event.hpp"
 
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -159,12 +160,12 @@ SubscriptionBase::take_type_erased(void * message_out, rclcpp::MessageInfo & mes
 
 bool
 SubscriptionBase::take_serialized(
-  rcl_serialized_message_t & message_out,
+  rclcpp::SerializedMessage & message_out,
   rclcpp::MessageInfo & message_info_out)
 {
   rcl_ret_t ret = rcl_take_serialized_message(
     this->get_subscription_handle().get(),
-    &message_out,
+    &message_out.get_rcl_serialized_message(),
     &message_info_out.get_rmw_message_info(),
     nullptr);
   if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
@@ -238,7 +239,8 @@ SubscriptionBase::get_intra_process_waitable() const
 }
 
 void
-SubscriptionBase::default_incompatible_qos_callback(QOSRequestedIncompatibleQoSInfo & event) const
+SubscriptionBase::default_incompatible_qos_callback(
+  rclcpp::QOSRequestedIncompatibleQoSInfo & event) const
 {
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(