13.0.0

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

rclcpp/CHANGELOG.rst

@@ -2,6 +2,79 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+13.0.0 (2021-08-23)
+-------------------
+* Remove can_be_nullptr assignment check for QNX case. (`#1752 <https://github.com/ros2/rclcpp/issues/1752>`_)
+* Update client API to be able to remove pending requests. (`#1734 <https://github.com/ros2/rclcpp/issues/1734>`_)
+* Fix: Allow to add a node while spinning in the StaticSingleThreadedExecutor. (`#1690 <https://github.com/ros2/rclcpp/issues/1690>`_)
+* Add tracing instrumentation for executor and message taking. (`#1738 <https://github.com/ros2/rclcpp/issues/1738>`_)
+* Fix: Reset timer trigger time before execute in StaticSingleThreadedExecutor. (`#1739 <https://github.com/ros2/rclcpp/issues/1739>`_)
+* Use FindPython3 and make python3 dependency explicit. (`#1745 <https://github.com/ros2/rclcpp/issues/1745>`_)
+* Use rosidl_get_typesupport_target(). (`#1729 <https://github.com/ros2/rclcpp/issues/1729>`_)
+* Fix returning invalid namespace if sub_namespace is empty. (`#1658 <https://github.com/ros2/rclcpp/issues/1658>`_)
+* Add free function to wait for a subscription message. (`#1705 <https://github.com/ros2/rclcpp/issues/1705>`_)
+* Use rcpputils/scope_exit.hpp and remove rclcpp/scope_exit.hpp. (`#1727 <https://github.com/ros2/rclcpp/issues/1727>`_)
+* Contributors: Ahmed Sobhy, Christophe Bedard, Ivan Santiago Paunovic, Karsten Knese, M. Hofstätter, Mauro Passerino, Shane Loretz, mauropasse
+
+12.0.0 (2021-07-26)
+-------------------
+* Remove unsafe get_callback_groups API.
+  Callers should change to using for_each_callback_group(), or
+  store the callback groups they need internally.
+* Add in callback_groups_for_each.
+  The main reason to add this method in is to make accesses to the
+  callback_groups\_ vector thread-safe.  By having a
+  callback_groups_for_each that accepts a std::function, we can
+  just have the callers give us the callback they are interested
+  in, and we can take care of the locking.
+  The rest of this fairly large PR is cleaning up all of the places
+  that use get_callback_groups() to instead use
+  callback_groups_for_each().
+* Use a different mechanism to avoid timers being scheduled multiple times by the MultiThreadedExecutor (`#1692 <https://github.com/ros2/rclcpp/issues/1692>`_)
+* Fix windows CI (`#1726 <https://github.com/ros2/rclcpp/issues/1726>`_)
+  Fix bug in AnyServiceCallback introduced in `#1709 <https://github.com/ros2/rclcpp/issues/1709>`_.
+* Contributors: Chris Lalancette, Ivan Santiago Paunovic
+
+11.2.0 (2021-07-21)
+-------------------
+* Support to defer to send a response in services. (`#1709 <https://github.com/ros2/rclcpp/issues/1709>`_)
+  Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
+* Fix documentation bug. (`#1719 <https://github.com/ros2/rclcpp/issues/1719>`_)
+  Signed-off-by: William Woodall <william@osrfoundation.org>
+* Contributors: Ivan Santiago Paunovic, William Woodall
+
+11.1.0 (2021-07-13)
+-------------------
+* Removed left over ``is_initialized()`` implementation (`#1711 <https://github.com/ros2/rclcpp/issues/1711>`_)
+  Leftover from https://github.com/ros2/rclcpp/pull/1622
+* Fixed declare parameter methods for int and float vectors (`#1696 <https://github.com/ros2/rclcpp/issues/1696>`_)
+* Cleaned up implementation of the intra-process manager (`#1695 <https://github.com/ros2/rclcpp/issues/1695>`_)
+* Added the node name to an executor ``runtime_error`` (`#1686 <https://github.com/ros2/rclcpp/issues/1686>`_)
+* Fixed a typo "Attack" -> "Attach" (`#1687 <https://github.com/ros2/rclcpp/issues/1687>`_)
+* Removed use of std::allocator<>::rebind (`#1678 <https://github.com/ros2/rclcpp/issues/1678>`_)
+  rebind is deprecated in c++17 and removed in c++20
+* Contributors: Alberto Soragna, Chen Lihui, Chris Lalancette, Petter Nilsson, Steve Macenski, William Woodall
+
+11.0.0 (2021-05-18)
+-------------------
+* Allow declare uninitialized parameters (`#1673 <https://github.com/ros2/rclcpp/issues/1673>`_)
+* Fix syntax issue with gcc (`#1674 <https://github.com/ros2/rclcpp/issues/1674>`_)
+* [service] Don't use a weak_ptr to avoid leaking (`#1668 <https://github.com/ros2/rclcpp/issues/1668>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron, William Woodall
+
+10.0.0 (2021-05-11)
+-------------------
+* Fix doc typo (`#1663 <https://github.com/ros2/rclcpp/issues/1663>`_)
+* [rclcpp] Type Adaptation feature (`#1557 <https://github.com/ros2/rclcpp/issues/1557>`_)
+* Do not attempt to use void allocators for memory allocation. (`#1657 <https://github.com/ros2/rclcpp/issues/1657>`_)
+* Keep custom allocator in publisher and subscription options alive. (`#1647 <https://github.com/ros2/rclcpp/issues/1647>`_)
+* Fix get_publishers_subscriptions_info_by_topic test in test_node.cpp (`#1648 <https://github.com/ros2/rclcpp/issues/1648>`_)
+* Use OnShutdown callback handle instead of OnShutdown callback (`#1639 <https://github.com/ros2/rclcpp/issues/1639>`_)
+* use dynamic_pointer_cast to detect allocator mismatch in intra process manager (`#1643 <https://github.com/ros2/rclcpp/issues/1643>`_)
+* Increase cppcheck timeout to 500s (`#1634 <https://github.com/ros2/rclcpp/issues/1634>`_)
+* Clarify node parameters docs (`#1631 <https://github.com/ros2/rclcpp/issues/1631>`_)
+* Contributors: Audrow Nash, Barry Xu, Jacob Perron, Michel Hidalgo, Shane Loretz, William Woodall
+
 9.0.2 (2021-04-14)
 ------------------
 * Avoid returning loan when none was obtained. (`#1629 <https://github.com/ros2/rclcpp/issues/1629>`_)

rclcpp/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 
 project(rclcpp)
 
@@ -41,7 +41,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/clock.cpp
   src/rclcpp/context.cpp
   src/rclcpp/contexts/default_context.cpp
-  src/rclcpp/detail/mutex_two_priorities.cpp
   src/rclcpp/detail/resolve_parameter_overrides.cpp
   src/rclcpp/detail/rmw_implementation_specific_payload.cpp
   src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp
@@ -110,6 +109,8 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/waitable.cpp
 )
 
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
 # "watch" template for changes
 configure_file(
   "resource/logging.hpp.em"
@@ -123,7 +124,7 @@ set(python_code_logging
 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_logging}"
+  COMMAND Python3::Interpreter ARGS -c "${python_code_logging}"
   DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
   COMMENT "Expanding logging.hpp.em"
   VERBATIM
@@ -147,7 +148,7 @@ foreach(interface_file ${interface_files})
   string(REPLACE ";" "$<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_${interface_name}_traits}"
+    COMMAND Python3::Interpreter ARGS -c "${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
@@ -167,7 +168,7 @@ foreach(interface_file ${interface_files})
   string(REPLACE ";" "$<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_${interface_name}}"
+    COMMAND Python3::Interpreter ARGS -c "${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

rclcpp/include/rclcpp/allocator/allocator_deleter.hpp

@@ -95,7 +95,7 @@ void set_allocator_for_deleter(AllocatorDeleter<T> * deleter, Alloc * alloc)
 template<typename Alloc, typename T>
 using Deleter = typename std::conditional<
   std::is_same<typename std::allocator_traits<Alloc>::template rebind_alloc<T>,
-  typename std::allocator<void>::template rebind<T>::other>::value,
+  std::allocator<T>>::value,
   std::default_delete<T>,
   AllocatorDeleter<Alloc>
   >::type;

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -15,10 +15,12 @@
 #ifndef RCLCPP__ANY_SERVICE_CALLBACK_HPP_
 #define RCLCPP__ANY_SERVICE_CALLBACK_HPP_
 
+#include <variant>
 #include <functional>
 #include <memory>
 #include <stdexcept>
 #include <type_traits>
+#include <utility>
 
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -29,93 +31,204 @@
 namespace rclcpp
 {
 
+namespace detail
+{
+template<typename T, typename = void>
+struct can_be_nullptr : std::false_type {};
+
+// Some lambdas define a comparison with nullptr,
+// but we see a warning that they can never be null when using it.
+// We also test if `T &` can be assigned to `nullptr` to avoid the issue.
+template<typename T>
+#ifdef __QNXNTO__
+struct can_be_nullptr<T, std::void_t<
+    decltype(std::declval<T>() == nullptr)>>: std::true_type {};
+#else
+struct can_be_nullptr<T, std::void_t<
+    decltype(std::declval<T>() == nullptr), decltype(std::declval<T &>() = nullptr)>>
+  : std::true_type {};
+#endif
+}  // namespace detail
+
+// Forward declare
+template<typename ServiceT>
+class Service;
+
 template<typename ServiceT>
 class AnyServiceCallback
 {
-private:
-  using SharedPtrCallback = std::function<
-    void (
-      const std::shared_ptr<typename ServiceT::Request>,
-      std::shared_ptr<typename ServiceT::Response>
-    )>;
-  using SharedPtrWithRequestHeaderCallback = std::function<
-    void (
-      const std::shared_ptr<rmw_request_id_t>,
-      const std::shared_ptr<typename ServiceT::Request>,
-      std::shared_ptr<typename ServiceT::Response>
-    )>;
-
-  SharedPtrCallback shared_ptr_callback_;
-  SharedPtrWithRequestHeaderCallback shared_ptr_with_request_header_callback_;
-
 public:
   AnyServiceCallback()
-  : shared_ptr_callback_(nullptr), shared_ptr_with_request_header_callback_(nullptr)
+  : callback_(std::monostate{})
   {}
 
-  AnyServiceCallback(const AnyServiceCallback &) = default;
-
   template<
     typename CallbackT,
-    typename std::enable_if<
+    typename std::enable_if_t<!detail::can_be_nullptr<CallbackT>::value, int> = 0>
+  void
+  set(CallbackT && callback)
+  {
+    // Workaround Windows issue with std::bind
+    if constexpr (
       rclcpp::function_traits::same_arguments<
         CallbackT,
         SharedPtrCallback
-      >::value
-    >::type * = nullptr
-  >
-  void set(CallbackT callback)
-  {
-    shared_ptr_callback_ = callback;
+      >::value)
+    {
+      callback_.template emplace<SharedPtrCallback>(callback);
+    } else if constexpr (  // NOLINT, can't satisfy both cpplint and uncrustify
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrWithRequestHeaderCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallbackWithServiceHandle
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
+    } else {
+      // the else clause is not needed, but anyways we should only be doing this instead
+      // of all the above workaround ...
+      callback_ = std::forward<CallbackT>(callback);
+    }
   }
 
   template<
     typename CallbackT,
-    typename std::enable_if<
+    typename std::enable_if_t<detail::can_be_nullptr<CallbackT>::value, int> = 0>
+  void
+  set(CallbackT && callback)
+  {
+    if (!callback) {
+      throw std::invalid_argument("AnyServiceCallback::set(): callback cannot be nullptr");
+    }
+    // Workaround Windows issue with std::bind
+    if constexpr (
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrCallback>(callback);
+    } else if constexpr (  // NOLINT
       rclcpp::function_traits::same_arguments<
         CallbackT,
         SharedPtrWithRequestHeaderCallback
-      >::value
-    >::type * = nullptr
-  >
-  void set(CallbackT callback)
-  {
-    shared_ptr_with_request_header_callback_ = callback;
+      >::value)
+    {
+      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallbackWithServiceHandle
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
+    } else {
+      // the else clause is not needed, but anyways we should only be doing this instead
+      // of all the above workaround ...
+      callback_ = std::forward<CallbackT>(callback);
+    }
   }
 
-  void dispatch(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<typename ServiceT::Request> request,
-    std::shared_ptr<typename ServiceT::Response> response)
+  // template<typename Allocator = std::allocator<typename ServiceT::Response>>
+  std::shared_ptr<typename ServiceT::Response>
+  dispatch(
+    const std::shared_ptr<rclcpp::Service<ServiceT>> & service_handle,
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    std::shared_ptr<typename ServiceT::Request> request)
   {
     TRACEPOINT(callback_start, static_cast<const void *>(this), false);
-    if (shared_ptr_callback_ != nullptr) {
+    if (std::holds_alternative<std::monostate>(callback_)) {
+      // TODO(ivanpauno): Remove the set method, and force the users of this class
+      // to pass a callback at construnciton.
+      throw std::runtime_error{"unexpected request without any callback set"};
+    }
+    if (std::holds_alternative<SharedPtrDeferResponseCallback>(callback_)) {
+      const auto & cb = std::get<SharedPtrDeferResponseCallback>(callback_);
+      cb(request_header, std::move(request));
+      return nullptr;
+    }
+    if (std::holds_alternative<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_)) {
+      const auto & cb = std::get<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_);
+      cb(service_handle, request_header, std::move(request));
+      return nullptr;
+    }
+    // auto response = allocate_shared<typename ServiceT::Response, Allocator>();
+    auto response = std::make_shared<typename ServiceT::Response>();
+    if (std::holds_alternative<SharedPtrCallback>(callback_)) {
       (void)request_header;
-      shared_ptr_callback_(request, response);
-    } else if (shared_ptr_with_request_header_callback_ != nullptr) {
-      shared_ptr_with_request_header_callback_(request_header, request, response);
-    } else {
-      throw std::runtime_error("unexpected request without any callback set");
+      const auto & cb = std::get<SharedPtrCallback>(callback_);
+      cb(std::move(request), response);
+    } else if (std::holds_alternative<SharedPtrWithRequestHeaderCallback>(callback_)) {
+      const auto & cb = std::get<SharedPtrWithRequestHeaderCallback>(callback_);
+      cb(request_header, std::move(request), response);
     }
     TRACEPOINT(callback_end, static_cast<const void *>(this));
+    return response;
   }
 
   void register_callback_for_tracing()
   {
 #ifndef TRACETOOLS_DISABLED
-    if (shared_ptr_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        static_cast<const void *>(this),
-        tracetools::get_symbol(shared_ptr_callback_));
-    } else if (shared_ptr_with_request_header_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        static_cast<const void *>(this),
-        tracetools::get_symbol(shared_ptr_with_request_header_callback_));
-    }
+    std::visit(
+      [this](auto && arg) {
+        TRACEPOINT(
+          rclcpp_callback_register,
+          static_cast<const void *>(this),
+          tracetools::get_symbol(arg));
+      }, callback_);
 #endif  // TRACETOOLS_DISABLED
   }
+
+private:
+  using SharedPtrCallback = std::function<
+    void (
+      std::shared_ptr<typename ServiceT::Request>,
+      std::shared_ptr<typename ServiceT::Response>
+    )>;
+  using SharedPtrWithRequestHeaderCallback = std::function<
+    void (
+      std::shared_ptr<rmw_request_id_t>,
+      std::shared_ptr<typename ServiceT::Request>,
+      std::shared_ptr<typename ServiceT::Response>
+    )>;
+  using SharedPtrDeferResponseCallback = std::function<
+    void (
+      std::shared_ptr<rmw_request_id_t>,
+      std::shared_ptr<typename ServiceT::Request>
+    )>;
+  using SharedPtrDeferResponseCallbackWithServiceHandle = std::function<
+    void (
+      std::shared_ptr<rclcpp::Service<ServiceT>>,
+      std::shared_ptr<rmw_request_id_t>,
+      std::shared_ptr<typename ServiceT::Request>
+    )>;
+
+  std::variant<
+    std::monostate,
+    SharedPtrCallback,
+    SharedPtrWithRequestHeaderCallback,
+    SharedPtrDeferResponseCallback,
+    SharedPtrDeferResponseCallbackWithServiceHandle> callback_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -22,6 +22,7 @@
 #include <utility>
 #include <variant>  // NOLINT[build/include_order]
 
+#include "rosidl_runtime_cpp/traits.hpp"
 #include "tracetools/tracetools.h"
 #include "tracetools/utils.hpp"
 
@@ -29,6 +30,9 @@
 #include "rclcpp/detail/subscription_callback_type_helper.hpp"
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/message_info.hpp"
+#include "rclcpp/serialized_message.hpp"
+#include "rclcpp/type_adapter.hpp"
+
 
 template<class>
 inline constexpr bool always_false_v = false;
@@ -42,53 +46,189 @@ namespace detail
 template<typename MessageT, typename AllocatorT>
 struct MessageDeleterHelper
 {
-  using MessageAllocTraits = allocator::AllocRebind<MessageT, AllocatorT>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
+  using AllocTraits = allocator::AllocRebind<MessageT, AllocatorT>;
+  using Alloc = typename AllocTraits::allocator_type;
+  using Deleter = allocator::Deleter<Alloc, MessageT>;
 };
 
+/// Struct which contains all possible callback signatures, with or without a TypeAdapter.s
 template<typename MessageT, typename AllocatorT>
-struct AnySubscriptionCallbackHelper
+struct AnySubscriptionCallbackPossibleTypes
 {
-  using MessageDeleter = typename MessageDeleterHelper<MessageT, AllocatorT>::MessageDeleter;
+  /// MessageT::custom_type if MessageT is a TypeAdapter, otherwise just MessageT.
+  using SubscribedType = typename rclcpp::TypeAdapter<MessageT>::custom_type;
+  /// MessageT::ros_message_type if MessageT is a TypeAdapter, otherwise just MessageT.
+  using ROSMessageType = typename rclcpp::TypeAdapter<MessageT>::ros_message_type;
+
+  using SubscribedMessageDeleter =
+    typename MessageDeleterHelper<SubscribedType, AllocatorT>::Deleter;
+  using ROSMessageDeleter =
+    typename MessageDeleterHelper<ROSMessageType, AllocatorT>::Deleter;
+  using SerializedMessageDeleter =
+    typename MessageDeleterHelper<rclcpp::SerializedMessage, AllocatorT>::Deleter;
 
   using ConstRefCallback =
-    std::function<void (const MessageT &)>;
+    std::function<void (const SubscribedType &)>;
+  using ConstRefROSMessageCallback =
+    std::function<void (const ROSMessageType &)>;
   using ConstRefWithInfoCallback =
-    std::function<void (const MessageT &, const rclcpp::MessageInfo &)>;
+    std::function<void (const SubscribedType &, const rclcpp::MessageInfo &)>;
+  using ConstRefWithInfoROSMessageCallback =
+    std::function<void (const ROSMessageType &, const rclcpp::MessageInfo &)>;
+  using ConstRefSerializedMessageCallback =
+    std::function<void (const rclcpp::SerializedMessage &)>;
+  using ConstRefSerializedMessageWithInfoCallback =
+    std::function<void (const rclcpp::SerializedMessage &, const rclcpp::MessageInfo &)>;
 
   using UniquePtrCallback =
-    std::function<void (std::unique_ptr<MessageT, MessageDeleter>)>;
+    std::function<void (std::unique_ptr<SubscribedType, SubscribedMessageDeleter>)>;
+  using UniquePtrROSMessageCallback =
+    std::function<void (std::unique_ptr<ROSMessageType, ROSMessageDeleter>)>;
   using UniquePtrWithInfoCallback =
-    std::function<void (std::unique_ptr<MessageT, MessageDeleter>, const rclcpp::MessageInfo &)>;
+    std::function<void (
+        std::unique_ptr<SubscribedType, SubscribedMessageDeleter>,
+        const rclcpp::MessageInfo &)>;
+  using UniquePtrWithInfoROSMessageCallback =
+    std::function<void (
+        std::unique_ptr<ROSMessageType, ROSMessageDeleter>,
+        const rclcpp::MessageInfo &)>;
+  using UniquePtrSerializedMessageCallback =
+    std::function<void (std::unique_ptr<rclcpp::SerializedMessage, SerializedMessageDeleter>)>;
+  using UniquePtrSerializedMessageWithInfoCallback =
+    std::function<void (
+        std::unique_ptr<rclcpp::SerializedMessage, SerializedMessageDeleter>,
+        const rclcpp::MessageInfo &)>;
 
   using SharedConstPtrCallback =
-    std::function<void (std::shared_ptr<const MessageT>)>;
+    std::function<void (std::shared_ptr<const SubscribedType>)>;
+  using SharedConstPtrROSMessageCallback =
+    std::function<void (std::shared_ptr<const ROSMessageType>)>;
   using SharedConstPtrWithInfoCallback =
-    std::function<void (std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>;
+    std::function<void (
+        std::shared_ptr<const SubscribedType>,
+        const rclcpp::MessageInfo &)>;
+  using SharedConstPtrWithInfoROSMessageCallback =
+    std::function<void (
+        std::shared_ptr<const ROSMessageType>,
+        const rclcpp::MessageInfo &)>;
+  using SharedConstPtrSerializedMessageCallback =
+    std::function<void (std::shared_ptr<const rclcpp::SerializedMessage>)>;
+  using SharedConstPtrSerializedMessageWithInfoCallback =
+    std::function<void (
+        std::shared_ptr<const rclcpp::SerializedMessage>,
+        const rclcpp::MessageInfo &)>;
 
   using ConstRefSharedConstPtrCallback =
-    std::function<void (const std::shared_ptr<const MessageT> &)>;
+    std::function<void (const std::shared_ptr<const SubscribedType> &)>;
+  using ConstRefSharedConstPtrROSMessageCallback =
+    std::function<void (const std::shared_ptr<const ROSMessageType> &)>;
   using ConstRefSharedConstPtrWithInfoCallback =
-    std::function<void (const std::shared_ptr<const MessageT> &, const rclcpp::MessageInfo &)>;
+    std::function<void (
+        const std::shared_ptr<const SubscribedType> &,
+        const rclcpp::MessageInfo &)>;
+  using ConstRefSharedConstPtrWithInfoROSMessageCallback =
+    std::function<void (
+        const std::shared_ptr<const ROSMessageType> &,
+        const rclcpp::MessageInfo &)>;
+  using ConstRefSharedConstPtrSerializedMessageCallback =
+    std::function<void (const std::shared_ptr<const rclcpp::SerializedMessage> &)>;
+  using ConstRefSharedConstPtrSerializedMessageWithInfoCallback =
+    std::function<void (
+        const std::shared_ptr<const rclcpp::SerializedMessage> &,
+        const rclcpp::MessageInfo &)>;
 
   // Deprecated signatures:
   using SharedPtrCallback =
-    std::function<void (std::shared_ptr<MessageT>)>;
+    std::function<void (std::shared_ptr<SubscribedType>)>;
+  using SharedPtrROSMessageCallback =
+    std::function<void (std::shared_ptr<ROSMessageType>)>;
   using SharedPtrWithInfoCallback =
-    std::function<void (std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>;
+    std::function<void (std::shared_ptr<SubscribedType>, const rclcpp::MessageInfo &)>;
+  using SharedPtrWithInfoROSMessageCallback =
+    std::function<void (
+        std::shared_ptr<ROSMessageType>,
+        const rclcpp::MessageInfo &)>;
+  using SharedPtrSerializedMessageCallback =
+    std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>;
+  using SharedPtrSerializedMessageWithInfoCallback =
+    std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &)>;
+};
+
+/// Template helper to select the variant type based on whether or not MessageT is a TypeAdapter.
+template<
+  typename MessageT,
+  typename AllocatorT,
+  bool is_adapted_type = rclcpp::TypeAdapter<MessageT>::is_specialized::value
+>
+struct AnySubscriptionCallbackHelper;
+
+/// Specialization for when MessageT is not a TypeAdapter.
+template<typename MessageT, typename AllocatorT>
+struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, false>
+{
+  using CallbackTypes = AnySubscriptionCallbackPossibleTypes<MessageT, AllocatorT>;
 
   using variant_type = std::variant<
-    ConstRefCallback,
-    ConstRefWithInfoCallback,
-    UniquePtrCallback,
-    UniquePtrWithInfoCallback,
-    SharedConstPtrCallback,
-    SharedConstPtrWithInfoCallback,
-    ConstRefSharedConstPtrCallback,
-    ConstRefSharedConstPtrWithInfoCallback,
-    SharedPtrCallback,
-    SharedPtrWithInfoCallback
+    typename CallbackTypes::ConstRefCallback,
+    typename CallbackTypes::ConstRefWithInfoCallback,
+    typename CallbackTypes::ConstRefSerializedMessageCallback,
+    typename CallbackTypes::ConstRefSerializedMessageWithInfoCallback,
+    typename CallbackTypes::UniquePtrCallback,
+    typename CallbackTypes::UniquePtrWithInfoCallback,
+    typename CallbackTypes::UniquePtrSerializedMessageCallback,
+    typename CallbackTypes::UniquePtrSerializedMessageWithInfoCallback,
+    typename CallbackTypes::SharedConstPtrCallback,
+    typename CallbackTypes::SharedConstPtrWithInfoCallback,
+    typename CallbackTypes::SharedConstPtrSerializedMessageCallback,
+    typename CallbackTypes::SharedConstPtrSerializedMessageWithInfoCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrWithInfoCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageWithInfoCallback,
+    typename CallbackTypes::SharedPtrCallback,
+    typename CallbackTypes::SharedPtrWithInfoCallback,
+    typename CallbackTypes::SharedPtrSerializedMessageCallback,
+    typename CallbackTypes::SharedPtrSerializedMessageWithInfoCallback
+  >;
+};
+
+/// Specialization for when MessageT is a TypeAdapter.
+template<typename MessageT, typename AllocatorT>
+struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, true>
+{
+  using CallbackTypes = AnySubscriptionCallbackPossibleTypes<MessageT, AllocatorT>;
+
+  using variant_type = std::variant<
+    typename CallbackTypes::ConstRefCallback,
+    typename CallbackTypes::ConstRefROSMessageCallback,
+    typename CallbackTypes::ConstRefWithInfoCallback,
+    typename CallbackTypes::ConstRefWithInfoROSMessageCallback,
+    typename CallbackTypes::ConstRefSerializedMessageCallback,
+    typename CallbackTypes::ConstRefSerializedMessageWithInfoCallback,
+    typename CallbackTypes::UniquePtrCallback,
+    typename CallbackTypes::UniquePtrROSMessageCallback,
+    typename CallbackTypes::UniquePtrWithInfoCallback,
+    typename CallbackTypes::UniquePtrWithInfoROSMessageCallback,
+    typename CallbackTypes::UniquePtrSerializedMessageCallback,
+    typename CallbackTypes::UniquePtrSerializedMessageWithInfoCallback,
+    typename CallbackTypes::SharedConstPtrCallback,
+    typename CallbackTypes::SharedConstPtrROSMessageCallback,
+    typename CallbackTypes::SharedConstPtrWithInfoCallback,
+    typename CallbackTypes::SharedConstPtrWithInfoROSMessageCallback,
+    typename CallbackTypes::SharedConstPtrSerializedMessageCallback,
+    typename CallbackTypes::SharedConstPtrSerializedMessageWithInfoCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrROSMessageCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrWithInfoCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrWithInfoROSMessageCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageWithInfoCallback,
+    typename CallbackTypes::SharedPtrCallback,
+    typename CallbackTypes::SharedPtrROSMessageCallback,
+    typename CallbackTypes::SharedPtrWithInfoCallback,
+    typename CallbackTypes::SharedPtrWithInfoROSMessageCallback,
+    typename CallbackTypes::SharedPtrSerializedMessageCallback,
+    typename CallbackTypes::SharedPtrSerializedMessageWithInfoCallback
   >;
 };
 
@@ -101,49 +241,124 @@ template<
 class AnySubscriptionCallback
 {
 private:
+  /// MessageT::custom_type if MessageT is a TypeAdapter, otherwise just MessageT.
+  using SubscribedType = typename rclcpp::TypeAdapter<MessageT>::custom_type;
+  /// MessageT::ros_message_type if MessageT is a TypeAdapter, otherwise just MessageT.
+  using ROSMessageType = typename rclcpp::TypeAdapter<MessageT>::ros_message_type;
+
   using HelperT = typename rclcpp::detail::AnySubscriptionCallbackHelper<MessageT, AllocatorT>;
-  using MessageDeleterHelper = rclcpp::detail::MessageDeleterHelper<MessageT, AllocatorT>;
 
-  using MessageAllocTraits = typename MessageDeleterHelper::MessageAllocTraits;
-  using MessageAlloc = typename MessageDeleterHelper::MessageAlloc;
-  using MessageDeleter = typename MessageDeleterHelper::MessageDeleter;
+  using SubscribedTypeDeleterHelper =
+    rclcpp::detail::MessageDeleterHelper<SubscribedType, AllocatorT>;
+  using SubscribedTypeAllocatorTraits = typename SubscribedTypeDeleterHelper::AllocTraits;
+  using SubscribedTypeAllocator = typename SubscribedTypeDeleterHelper::Alloc;
+  using SubscribedTypeDeleter = typename SubscribedTypeDeleterHelper::Deleter;
 
-  // See AnySubscriptionCallbackHelper for the types of these.
-  using ConstRefCallback = typename HelperT::ConstRefCallback;
-  using ConstRefWithInfoCallback = typename HelperT::ConstRefWithInfoCallback;
+  using ROSMessageTypeDeleterHelper =
+    rclcpp::detail::MessageDeleterHelper<ROSMessageType, AllocatorT>;
+  using ROSMessageTypeAllocatorTraits = typename ROSMessageTypeDeleterHelper::AllocTraits;
+  using ROSMessageTypeAllocator = typename ROSMessageTypeDeleterHelper::Alloc;
+  using ROSMessageTypeDeleter = typename ROSMessageTypeDeleterHelper::Deleter;
 
-  using UniquePtrCallback = typename HelperT::UniquePtrCallback;
-  using UniquePtrWithInfoCallback = typename HelperT::UniquePtrWithInfoCallback;
+  using SerializedMessageDeleterHelper =
+    rclcpp::detail::MessageDeleterHelper<rclcpp::SerializedMessage, AllocatorT>;
+  using SerializedMessageAllocatorTraits = typename SerializedMessageDeleterHelper::AllocTraits;
+  using SerializedMessageAllocator = typename SerializedMessageDeleterHelper::Alloc;
+  using SerializedMessageDeleter = typename SerializedMessageDeleterHelper::Deleter;
 
-  using SharedConstPtrCallback = typename HelperT::SharedConstPtrCallback;
-  using SharedConstPtrWithInfoCallback = typename HelperT::SharedConstPtrWithInfoCallback;
+  // See AnySubscriptionCallbackPossibleTypes for the types of these.
+  using CallbackTypes = detail::AnySubscriptionCallbackPossibleTypes<MessageT, AllocatorT>;
 
+  using ConstRefCallback =
+    typename CallbackTypes::ConstRefCallback;
+  using ConstRefROSMessageCallback =
+    typename CallbackTypes::ConstRefROSMessageCallback;
+  using ConstRefWithInfoCallback =
+    typename CallbackTypes::ConstRefWithInfoCallback;
+  using ConstRefWithInfoROSMessageCallback =
+    typename CallbackTypes::ConstRefWithInfoROSMessageCallback;
+  using ConstRefSerializedMessageCallback =
+    typename CallbackTypes::ConstRefSerializedMessageCallback;
+  using ConstRefSerializedMessageWithInfoCallback =
+    typename CallbackTypes::ConstRefSerializedMessageWithInfoCallback;
+  using UniquePtrCallback =
+    typename CallbackTypes::UniquePtrCallback;
+  using UniquePtrROSMessageCallback =
+    typename CallbackTypes::UniquePtrROSMessageCallback;
+  using UniquePtrWithInfoCallback =
+    typename CallbackTypes::UniquePtrWithInfoCallback;
+  using UniquePtrWithInfoROSMessageCallback =
+    typename CallbackTypes::UniquePtrWithInfoROSMessageCallback;
+  using UniquePtrSerializedMessageCallback =
+    typename CallbackTypes::UniquePtrSerializedMessageCallback;
+  using UniquePtrSerializedMessageWithInfoCallback =
+    typename CallbackTypes::UniquePtrSerializedMessageWithInfoCallback;
+  using SharedConstPtrCallback =
+    typename CallbackTypes::SharedConstPtrCallback;
+  using SharedConstPtrROSMessageCallback =
+    typename CallbackTypes::SharedConstPtrROSMessageCallback;
+  using SharedConstPtrWithInfoCallback =
+    typename CallbackTypes::SharedConstPtrWithInfoCallback;
+  using SharedConstPtrWithInfoROSMessageCallback =
+    typename CallbackTypes::SharedConstPtrWithInfoROSMessageCallback;
+  using SharedConstPtrSerializedMessageCallback =
+    typename CallbackTypes::SharedConstPtrSerializedMessageCallback;
+  using SharedConstPtrSerializedMessageWithInfoCallback =
+    typename CallbackTypes::SharedConstPtrSerializedMessageWithInfoCallback;
   using ConstRefSharedConstPtrCallback =
-    typename HelperT::ConstRefSharedConstPtrCallback;
+    typename CallbackTypes::ConstRefSharedConstPtrCallback;
+  using ConstRefSharedConstPtrROSMessageCallback =
+    typename CallbackTypes::ConstRefSharedConstPtrROSMessageCallback;
   using ConstRefSharedConstPtrWithInfoCallback =
-    typename HelperT::ConstRefSharedConstPtrWithInfoCallback;
+    typename CallbackTypes::ConstRefSharedConstPtrWithInfoCallback;
+  using ConstRefSharedConstPtrWithInfoROSMessageCallback =
+    typename CallbackTypes::ConstRefSharedConstPtrWithInfoROSMessageCallback;
+  using ConstRefSharedConstPtrSerializedMessageCallback =
+    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageCallback;
+  using ConstRefSharedConstPtrSerializedMessageWithInfoCallback =
+    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageWithInfoCallback;
+  using SharedPtrCallback =
+    typename CallbackTypes::SharedPtrCallback;
+  using SharedPtrROSMessageCallback =
+    typename CallbackTypes::SharedPtrROSMessageCallback;
+  using SharedPtrWithInfoCallback =
+    typename CallbackTypes::SharedPtrWithInfoCallback;
+  using SharedPtrWithInfoROSMessageCallback =
+    typename CallbackTypes::SharedPtrWithInfoROSMessageCallback;
+  using SharedPtrSerializedMessageCallback =
+    typename CallbackTypes::SharedPtrSerializedMessageCallback;
+  using SharedPtrSerializedMessageWithInfoCallback =
+    typename CallbackTypes::SharedPtrSerializedMessageWithInfoCallback;
 
-  using SharedPtrCallback = typename HelperT::SharedPtrCallback;
-  using SharedPtrWithInfoCallback = typename HelperT::SharedPtrWithInfoCallback;
+  template<typename T>
+  struct NotNull
+  {
+    NotNull(const T * pointer_in, const char * msg)
+    : pointer(pointer_in)
+    {
+      if (pointer == nullptr) {
+        throw std::invalid_argument(msg);
+      }
+    }
+
+    const T * pointer;
+  };
 
 public:
   explicit
   AnySubscriptionCallback(const AllocatorT & allocator = AllocatorT())  // NOLINT[runtime/explicit]
+  : subscribed_type_allocator_(allocator),
+    ros_message_type_allocator_(allocator)
   {
-    message_allocator_ = allocator;
-    allocator::set_allocator_for_deleter(&message_deleter_, &message_allocator_);
+    allocator::set_allocator_for_deleter(&subscribed_type_deleter_, &subscribed_type_allocator_);
+    allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
   }
 
   [[deprecated("use AnySubscriptionCallback(const AllocatorT & allocator) instead")]]
   explicit
   AnySubscriptionCallback(std::shared_ptr<AllocatorT> allocator)  // NOLINT[runtime/explicit]
-  {
-    if (allocator == nullptr) {
-      throw std::runtime_error("invalid allocator");
-    }
-    message_allocator_ = *allocator;
-    allocator::set_allocator_for_deleter(&message_deleter_, &message_allocator_);
-  }
+  : AnySubscriptionCallback(*NotNull<AllocatorT>(allocator.get(), "invalid allocator").pointer)
+  {}
 
   AnySubscriptionCallback(const AnySubscriptionCallback &) = default;
 
@@ -190,40 +405,79 @@ public:
   }
 
   /// Function for shared_ptr to non-const MessageT, which is deprecated.
+  template<typename SetT>
   // TODO(wjwwood): enable this deprecation after Galactic
   // [[deprecated(
   //   "use 'void (std::shared_ptr<const MessageT>)' instead"
   // )]]
   void
-  set_deprecated(std::function<void(std::shared_ptr<MessageT>)> callback)
-  // set(CallbackT callback)
+  set_deprecated(std::function<void(std::shared_ptr<SetT>)> callback)
   {
     callback_variant_ = callback;
   }
 
   /// Function for shared_ptr to non-const MessageT with MessageInfo, which is deprecated.
+  template<typename SetT>
   // TODO(wjwwood): enable this deprecation after Galactic
   // [[deprecated(
   //   "use 'void (std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
   // )]]
   void
-  set_deprecated(
-    std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)> callback)
+  set_deprecated(std::function<void(std::shared_ptr<SetT>, const rclcpp::MessageInfo &)> callback)
   {
     callback_variant_ = callback;
   }
 
-  std::unique_ptr<MessageT, MessageDeleter>
-  create_unique_ptr_from_shared_ptr_message(const std::shared_ptr<const MessageT> & message)
+  std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>
+  create_ros_unique_ptr_from_ros_shared_ptr_message(
+    const std::shared_ptr<const ROSMessageType> & message)
   {
-    auto ptr = MessageAllocTraits::allocate(message_allocator_, 1);
-    MessageAllocTraits::construct(message_allocator_, ptr, *message);
-    return std::unique_ptr<MessageT, MessageDeleter>(ptr, message_deleter_);
+    auto ptr = ROSMessageTypeAllocatorTraits::allocate(ros_message_type_allocator_, 1);
+    ROSMessageTypeAllocatorTraits::construct(ros_message_type_allocator_, ptr, *message);
+    return std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, ros_message_type_deleter_);
   }
 
+  std::unique_ptr<rclcpp::SerializedMessage, SerializedMessageDeleter>
+  create_serialized_message_unique_ptr_from_shared_ptr(
+    const std::shared_ptr<const rclcpp::SerializedMessage> & serialized_message)
+  {
+    auto ptr = SerializedMessageAllocatorTraits::allocate(serialized_message_allocator_, 1);
+    SerializedMessageAllocatorTraits::construct(
+      serialized_message_allocator_, ptr, *serialized_message);
+    return std::unique_ptr<
+      rclcpp::SerializedMessage,
+      SerializedMessageDeleter
+    >(ptr, serialized_message_deleter_);
+  }
+
+  std::unique_ptr<SubscribedType, SubscribedTypeDeleter>
+  create_custom_unique_ptr_from_custom_shared_ptr_message(
+    const std::shared_ptr<const SubscribedType> & message)
+  {
+    auto ptr = SubscribedTypeAllocatorTraits::allocate(subscribed_type_allocator_, 1);
+    SubscribedTypeAllocatorTraits::construct(subscribed_type_allocator_, ptr, *message);
+    return std::unique_ptr<SubscribedType, SubscribedTypeDeleter>(ptr, subscribed_type_deleter_);
+  }
+
+  std::unique_ptr<SubscribedType, SubscribedTypeDeleter>
+  convert_ros_message_to_custom_type_unique_ptr(const ROSMessageType & msg)
+  {
+    if constexpr (rclcpp::TypeAdapter<MessageT>::is_specialized::value) {
+      auto ptr = SubscribedTypeAllocatorTraits::allocate(subscribed_type_allocator_, 1);
+      SubscribedTypeAllocatorTraits::construct(subscribed_type_allocator_, ptr);
+      rclcpp::TypeAdapter<MessageT>::convert_to_custom(msg, *ptr);
+      return std::unique_ptr<SubscribedType, SubscribedTypeDeleter>(ptr, subscribed_type_deleter_);
+    } else {
+      throw std::runtime_error(
+              "convert_ros_message_to_custom_type_unique_ptr "
+              "unexpectedly called without TypeAdapter");
+    }
+  }
+
+  // Dispatch when input is a ros message and the output could be anything.
   void
   dispatch(
-    std::shared_ptr<MessageT> message,
+    std::shared_ptr<ROSMessageType> message,
     const rclcpp::MessageInfo & message_info)
   {
     TRACEPOINT(callback_start, static_cast<const void *>(this), false);
@@ -238,28 +492,162 @@ public:
     std::visit(
       [&message, &message_info, this](auto && callback) {
         using T = std::decay_t<decltype(callback)>;
+        static constexpr bool is_ta = rclcpp::TypeAdapter<MessageT>::is_specialized::value;
 
-        if constexpr (std::is_same_v<T, ConstRefCallback>) {
-          callback(*message);
-        } else if constexpr (std::is_same_v<T, ConstRefWithInfoCallback>) {
-          callback(*message, message_info);
-        } else if constexpr (std::is_same_v<T, UniquePtrCallback>) {
-          callback(create_unique_ptr_from_shared_ptr_message(message));
-        } else if constexpr (std::is_same_v<T, UniquePtrWithInfoCallback>) {
-          callback(create_unique_ptr_from_shared_ptr_message(message), message_info);
+        // conditions for output is custom message
+        if constexpr (is_ta && std::is_same_v<T, ConstRefCallback>) {
+          // TODO(wjwwood): consider avoiding heap allocation for small messages
+          //   maybe something like:
+          // if constexpr (rosidl_generator_traits::has_fixed_size<T> && sizeof(T) < N) {
+          //   ... on stack
+          // }
+          auto local_message = convert_ros_message_to_custom_type_unique_ptr(*message);
+          callback(*local_message);
+        } else if constexpr (is_ta && std::is_same_v<T, ConstRefWithInfoCallback>) {  // NOLINT
+          auto local_message = convert_ros_message_to_custom_type_unique_ptr(*message);
+          callback(*local_message, message_info);
+        } else if constexpr (is_ta && std::is_same_v<T, UniquePtrCallback>) {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message));
+        } else if constexpr (is_ta && std::is_same_v<T, UniquePtrWithInfoCallback>) {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message), message_info);
         } else if constexpr (  // NOLINT[readability/braces]
-          std::is_same_v<T, SharedConstPtrCallback>||
-          std::is_same_v<T, ConstRefSharedConstPtrCallback>||
-          std::is_same_v<T, SharedPtrCallback>)
+          is_ta && (
+            std::is_same_v<T, SharedConstPtrCallback>||
+            std::is_same_v<T, ConstRefSharedConstPtrCallback>||
+            std::is_same_v<T, SharedPtrCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message));
+        } else if constexpr (  // NOLINT[readability/braces]
+          is_ta && (
+            std::is_same_v<T, SharedConstPtrWithInfoCallback>||
+            std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>||
+            std::is_same_v<T, SharedPtrWithInfoCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message), message_info);
+        }
+        // conditions for output is ros message
+        else if constexpr (std::is_same_v<T, ConstRefROSMessageCallback>) {  // NOLINT
+          callback(*message);
+        } else if constexpr (std::is_same_v<T, ConstRefWithInfoROSMessageCallback>) {
+          callback(*message, message_info);
+        } else if constexpr (std::is_same_v<T, UniquePtrROSMessageCallback>) {
+          callback(create_ros_unique_ptr_from_ros_shared_ptr_message(message));
+        } else if constexpr (std::is_same_v<T, UniquePtrWithInfoROSMessageCallback>) {
+          callback(create_ros_unique_ptr_from_ros_shared_ptr_message(message), message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, SharedConstPtrROSMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrROSMessageCallback>||
+          std::is_same_v<T, SharedPtrROSMessageCallback>)
         {
           callback(message);
         } else if constexpr (  // NOLINT[readability/braces]
-          std::is_same_v<T, SharedConstPtrWithInfoCallback>||
-          std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>||
-          std::is_same_v<T, SharedPtrWithInfoCallback>)
+          std::is_same_v<T, SharedConstPtrWithInfoROSMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrWithInfoROSMessageCallback>||
+          std::is_same_v<T, SharedPtrWithInfoROSMessageCallback>)
         {
           callback(message, message_info);
-        } else {
+        }
+        // condition to catch SerializedMessage types
+        else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, ConstRefSerializedMessageCallback>||
+          std::is_same_v<T, ConstRefSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, UniquePtrSerializedMessageCallback>||
+          std::is_same_v<T, UniquePtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, SharedConstPtrSerializedMessageCallback>||
+          std::is_same_v<T, SharedConstPtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrSerializedMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, SharedPtrSerializedMessageCallback>||
+          std::is_same_v<T, SharedPtrSerializedMessageWithInfoCallback>)
+        {
+          throw std::runtime_error(
+            "Cannot dispatch std::shared_ptr<ROSMessageType> message "
+            "to rclcpp::SerializedMessage");
+        }
+        // condition to catch unhandled callback types
+        else {  // NOLINT[readability/braces]
+          static_assert(always_false_v<T>, "unhandled callback type");
+        }
+      }, callback_variant_);
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
+  }
+
+  // Dispatch when input is a serialized message and the output could be anything.
+  void
+  dispatch(
+    std::shared_ptr<rclcpp::SerializedMessage> serialized_message,
+    const rclcpp::MessageInfo & message_info)
+  {
+    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    // Check if the variant is "unset", throw if it is.
+    if (callback_variant_.index() == 0) {
+      if (std::get<0>(callback_variant_) == nullptr) {
+        // This can happen if it is default initialized, or if it is assigned nullptr.
+        throw std::runtime_error("dispatch called on an unset AnySubscriptionCallback");
+      }
+    }
+    // Dispatch.
+    std::visit(
+      [&serialized_message, &message_info, this](auto && callback) {
+        using T = std::decay_t<decltype(callback)>;
+
+        // condition to catch SerializedMessage types
+        if constexpr (std::is_same_v<T, ConstRefSerializedMessageCallback>) {
+          callback(*serialized_message);
+        } else if constexpr (std::is_same_v<T, ConstRefSerializedMessageWithInfoCallback>) {
+          callback(*serialized_message, message_info);
+        } else if constexpr (std::is_same_v<T, UniquePtrSerializedMessageCallback>) {
+          callback(create_serialized_message_unique_ptr_from_shared_ptr(serialized_message));
+        } else if constexpr (std::is_same_v<T, UniquePtrSerializedMessageWithInfoCallback>) {
+          callback(
+            create_serialized_message_unique_ptr_from_shared_ptr(serialized_message),
+            message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, SharedConstPtrSerializedMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrSerializedMessageCallback>||
+          std::is_same_v<T, SharedPtrSerializedMessageCallback>)
+        {
+          callback(create_serialized_message_unique_ptr_from_shared_ptr(serialized_message));
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, SharedConstPtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, SharedPtrSerializedMessageWithInfoCallback>)
+        {
+          callback(
+            create_serialized_message_unique_ptr_from_shared_ptr(serialized_message),
+            message_info);
+        }
+        // conditions for output anything else
+        else if constexpr (  // NOLINT[whitespace/newline]
+          std::is_same_v<T, ConstRefCallback>||
+          std::is_same_v<T, ConstRefROSMessageCallback>||
+          std::is_same_v<T, ConstRefWithInfoCallback>||
+          std::is_same_v<T, ConstRefWithInfoROSMessageCallback>||
+          std::is_same_v<T, UniquePtrCallback>||
+          std::is_same_v<T, UniquePtrROSMessageCallback>||
+          std::is_same_v<T, UniquePtrWithInfoCallback>||
+          std::is_same_v<T, UniquePtrWithInfoROSMessageCallback>||
+          std::is_same_v<T, SharedConstPtrCallback>||
+          std::is_same_v<T, SharedConstPtrROSMessageCallback>||
+          std::is_same_v<T, SharedConstPtrWithInfoCallback>||
+          std::is_same_v<T, SharedConstPtrWithInfoROSMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrROSMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrWithInfoROSMessageCallback>||
+          std::is_same_v<T, SharedPtrCallback>||
+          std::is_same_v<T, SharedPtrROSMessageCallback>||
+          std::is_same_v<T, SharedPtrWithInfoCallback>||
+          std::is_same_v<T, SharedPtrWithInfoROSMessageCallback>)
+        {
+          throw std::runtime_error(
+            "cannot dispatch rclcpp::SerializedMessage to "
+            "non-rclcpp::SerializedMessage callbacks");
+        }
+        // condition to catch unhandled callback types
+        else {  // NOLINT[readability/braces]
           static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
@@ -268,7 +656,7 @@ public:
 
   void
   dispatch_intra_process(
-    std::shared_ptr<const MessageT> message,
+    std::shared_ptr<const ROSMessageType> message,
     const rclcpp::MessageInfo & message_info)
   {
     TRACEPOINT(callback_start, static_cast<const void *>(this), true);
@@ -283,32 +671,89 @@ public:
     std::visit(
       [&message, &message_info, this](auto && callback) {
         using T = std::decay_t<decltype(callback)>;
+        static constexpr bool is_ta = rclcpp::TypeAdapter<MessageT>::is_specialized::value;
 
-        if constexpr (std::is_same_v<T, ConstRefCallback>) {
+        // conditions for custom type
+        if constexpr (is_ta && std::is_same_v<T, ConstRefCallback>) {
+          auto local_message = convert_ros_message_to_custom_type_unique_ptr(*message);
+          callback(*local_message);
+        } else if constexpr (is_ta && std::is_same_v<T, ConstRefWithInfoCallback>) {  // NOLINT
+          auto local_message = convert_ros_message_to_custom_type_unique_ptr(*message);
+          callback(*local_message, message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          is_ta && (
+            std::is_same_v<T, UniquePtrCallback>||
+            std::is_same_v<T, SharedPtrCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message));
+        } else if constexpr (  // NOLINT[readability/braces]
+          is_ta && (
+            std::is_same_v<T, UniquePtrWithInfoCallback>||
+            std::is_same_v<T, SharedPtrWithInfoCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message), message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          is_ta && (
+            std::is_same_v<T, SharedConstPtrCallback>||
+            std::is_same_v<T, ConstRefSharedConstPtrCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message));
+        } else if constexpr (  // NOLINT[readability/braces]
+          is_ta && (
+            std::is_same_v<T, SharedConstPtrWithInfoCallback>||
+            std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message), message_info);
+        }
+        // conditions for ros message type
+        else if constexpr (std::is_same_v<T, ConstRefROSMessageCallback>) {  // NOLINT
           callback(*message);
-        } else if constexpr (std::is_same_v<T, ConstRefWithInfoCallback>) {
+        } else if constexpr (std::is_same_v<T, ConstRefWithInfoROSMessageCallback>) {
           callback(*message, message_info);
         } else if constexpr (  // NOLINT[readability/braces]
-          std::is_same_v<T, UniquePtrCallback>||
-          std::is_same_v<T, SharedPtrCallback>)
+          std::is_same_v<T, UniquePtrROSMessageCallback>||
+          std::is_same_v<T, SharedPtrROSMessageCallback>)
         {
-          callback(create_unique_ptr_from_shared_ptr_message(message));
+          callback(create_ros_unique_ptr_from_ros_shared_ptr_message(message));
         } else if constexpr (  // NOLINT[readability/braces]
-          std::is_same_v<T, UniquePtrWithInfoCallback>||
-          std::is_same_v<T, SharedPtrWithInfoCallback>)
+          std::is_same_v<T, UniquePtrWithInfoROSMessageCallback>||
+          std::is_same_v<T, SharedPtrWithInfoROSMessageCallback>)
         {
-          callback(create_unique_ptr_from_shared_ptr_message(message), message_info);
+          callback(create_ros_unique_ptr_from_ros_shared_ptr_message(message), message_info);
         } else if constexpr (  // NOLINT[readability/braces]
-          std::is_same_v<T, SharedConstPtrCallback>||
-          std::is_same_v<T, ConstRefSharedConstPtrCallback>)
+          std::is_same_v<T, SharedConstPtrROSMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrROSMessageCallback>)
         {
           callback(message);
         } else if constexpr (  // NOLINT[readability/braces]
-          std::is_same_v<T, SharedConstPtrWithInfoCallback>||
-          std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>)
+          std::is_same_v<T, SharedConstPtrWithInfoROSMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrWithInfoROSMessageCallback>)
         {
           callback(message, message_info);
-        } else {
+        }
+        // condition to catch SerializedMessage types
+        else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, ConstRefSerializedMessageCallback>||
+          std::is_same_v<T, ConstRefSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, UniquePtrSerializedMessageCallback>||
+          std::is_same_v<T, UniquePtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, SharedConstPtrSerializedMessageCallback>||
+          std::is_same_v<T, SharedConstPtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrSerializedMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, SharedPtrSerializedMessageCallback>||
+          std::is_same_v<T, SharedPtrSerializedMessageWithInfoCallback>)
+        {
+          throw std::runtime_error(
+            "Cannot dispatch std::shared_ptr<const ROSMessageType> message "
+            "to rclcpp::SerializedMessage");
+        }
+        // condition to catch unhandled callback types
+        else {  // NOLINT[readability/braces]
           static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
@@ -317,7 +762,7 @@ public:
 
   void
   dispatch_intra_process(
-    std::unique_ptr<MessageT, MessageDeleter> message,
+    std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> message,
     const rclcpp::MessageInfo & message_info)
   {
     TRACEPOINT(callback_start, static_cast<const void *>(this), true);
@@ -330,28 +775,91 @@ public:
     }
     // Dispatch.
     std::visit(
-      [&message, &message_info](auto && callback) {
+      [&message, &message_info, this](auto && callback) {
         using T = std::decay_t<decltype(callback)>;
+        static constexpr bool is_ta = rclcpp::TypeAdapter<MessageT>::is_specialized::value;
 
-        if constexpr (std::is_same_v<T, ConstRefCallback>) {
+        // conditions for custom type
+        if constexpr (is_ta && std::is_same_v<T, ConstRefCallback>) {
+          auto local_message = convert_ros_message_to_custom_type_unique_ptr(*message);
+          callback(*local_message);
+        } else if constexpr (is_ta && std::is_same_v<T, ConstRefWithInfoCallback>) {  // NOLINT
+          auto local_message = convert_ros_message_to_custom_type_unique_ptr(*message);
+          callback(*local_message, message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          is_ta && (
+            std::is_same_v<T, UniquePtrCallback>||
+            std::is_same_v<T, SharedPtrCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message));
+        } else if constexpr (  // NOLINT[readability/braces]
+          is_ta && (
+            std::is_same_v<T, UniquePtrWithInfoCallback>||
+            std::is_same_v<T, SharedPtrWithInfoCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message), message_info);
+        } else if constexpr (  // NOLINT[readability/braces]
+          is_ta && (
+            std::is_same_v<T, SharedConstPtrCallback>||
+            std::is_same_v<T, ConstRefSharedConstPtrCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message));
+        } else if constexpr (  // NOLINT[readability/braces]
+          is_ta && (
+            std::is_same_v<T, SharedConstPtrWithInfoCallback>||
+            std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>
+        ))
+        {
+          callback(convert_ros_message_to_custom_type_unique_ptr(*message), message_info);
+        }
+        // conditions for ros message type
+        else if constexpr (std::is_same_v<T, ConstRefROSMessageCallback>) {  // NOLINT
           callback(*message);
-        } else if constexpr (std::is_same_v<T, ConstRefWithInfoCallback>) {
+        } else if constexpr (std::is_same_v<T, ConstRefWithInfoROSMessageCallback>) {
           callback(*message, message_info);
         } else if constexpr (  // NOLINT[readability/braces]
-          std::is_same_v<T, UniquePtrCallback>||
-          std::is_same_v<T, SharedConstPtrCallback>||
-          std::is_same_v<T, ConstRefSharedConstPtrCallback>||
-          std::is_same_v<T, SharedPtrCallback>)
+          std::is_same_v<T, UniquePtrROSMessageCallback>||
+          std::is_same_v<T, SharedPtrROSMessageCallback>)
         {
           callback(std::move(message));
         } else if constexpr (  // NOLINT[readability/braces]
-          std::is_same_v<T, UniquePtrWithInfoCallback>||
-          std::is_same_v<T, SharedConstPtrWithInfoCallback>||
-          std::is_same_v<T, ConstRefSharedConstPtrWithInfoCallback>||
-          std::is_same_v<T, SharedPtrWithInfoCallback>)
+          std::is_same_v<T, UniquePtrWithInfoROSMessageCallback>||
+          std::is_same_v<T, SharedPtrWithInfoROSMessageCallback>)
         {
           callback(std::move(message), message_info);
-        } else {
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, SharedConstPtrROSMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrROSMessageCallback>)
+        {
+          callback(std::move(message));
+        } else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, SharedConstPtrWithInfoROSMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrWithInfoROSMessageCallback>)
+        {
+          callback(std::move(message), message_info);
+        }
+        // condition to catch SerializedMessage types
+        else if constexpr (  // NOLINT[readability/braces]
+          std::is_same_v<T, ConstRefSerializedMessageCallback>||
+          std::is_same_v<T, ConstRefSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, UniquePtrSerializedMessageCallback>||
+          std::is_same_v<T, UniquePtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, SharedConstPtrSerializedMessageCallback>||
+          std::is_same_v<T, SharedConstPtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrSerializedMessageCallback>||
+          std::is_same_v<T, ConstRefSharedConstPtrSerializedMessageWithInfoCallback>||
+          std::is_same_v<T, SharedPtrSerializedMessageCallback>||
+          std::is_same_v<T, SharedPtrSerializedMessageWithInfoCallback>)
+        {
+          throw std::runtime_error(
+            "Cannot dispatch std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> message "
+            "to rclcpp::SerializedMessage");
+        }
+        // condition to catch unhandled callback types
+        else {  // NOLINT[readability/braces]
           static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
@@ -369,6 +877,18 @@ public:
       std::holds_alternative<ConstRefSharedConstPtrWithInfoCallback>(callback_variant_);
   }
 
+  constexpr
+  bool
+  is_serialized_message_callback() const
+  {
+    return
+      std::holds_alternative<ConstRefSerializedMessageCallback>(callback_variant_) ||
+      std::holds_alternative<UniquePtrSerializedMessageCallback>(callback_variant_) ||
+      std::holds_alternative<SharedConstPtrSerializedMessageCallback>(callback_variant_) ||
+      std::holds_alternative<ConstRefSharedConstPtrSerializedMessageCallback>(callback_variant_) ||
+      std::holds_alternative<SharedPtrSerializedMessageCallback>(callback_variant_);
+  }
+
   void
   register_callback_for_tracing()
   {
@@ -402,8 +922,12 @@ private:
   // For now, compose the variant into this class as a private attribute.
   typename HelperT::variant_type callback_variant_;
 
-  MessageAlloc message_allocator_;
-  MessageDeleter message_deleter_;
+  SubscribedTypeAllocator subscribed_type_allocator_;
+  SubscribedTypeDeleter subscribed_type_deleter_;
+  ROSMessageTypeAllocator ros_message_type_allocator_;
+  ROSMessageTypeDeleter ros_message_type_deleter_;
+  SerializedMessageAllocator serialized_message_allocator_;
+  SerializedMessageDeleter serialized_message_deleter_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/client.hpp

@@ -17,12 +17,15 @@
 
 #include <atomic>
 #include <future>
-#include <map>
+#include <unordered_map>
 #include <memory>
+#include <optional>  // NOLINT, cpplint doesn't think this is a cpp std header
 #include <sstream>
 #include <string>
 #include <tuple>
 #include <utility>
+#include <variant>  // NOLINT
+#include <vector>
 
 #include "rcl/client.h"
 #include "rcl/error_handling.h"
@@ -45,6 +48,68 @@
 namespace rclcpp
 {
 
+namespace detail
+{
+template<typename FutureT>
+struct FutureAndRequestId
+{
+  FutureT future;
+  int64_t request_id;
+
+  FutureAndRequestId(FutureT impl, int64_t req_id)
+  : future(std::move(impl)), request_id(req_id)
+  {}
+
+  /// Allow implicit conversions to `std::future` by reference.
+  operator FutureT &() {return this->future;}
+
+  /// Deprecated, use the `future` member variable instead.
+  /**
+   * Allow implicit conversions to `std::future` by value.
+   * \deprecated
+   */
+  [[deprecated("FutureAndRequestId: use .future instead of an implicit conversion")]]
+  operator FutureT() {return this->future;}
+
+  // delegate future like methods in the std::future impl_
+
+  /// See std::future::get().
+  auto get() {return this->future.get();}
+  /// See std::future::valid().
+  bool valid() const noexcept {return this->future.valid();}
+  /// See std::future::wait().
+  void wait() const {return this->future.wait();}
+  /// See std::future::wait_for().
+  template<class Rep, class Period>
+  std::future_status wait_for(
+    const std::chrono::duration<Rep, Period> & timeout_duration) const
+  {
+    return this->future.wait_for(timeout_duration);
+  }
+  /// See std::future::wait_until().
+  template<class Clock, class Duration>
+  std::future_status wait_until(
+    const std::chrono::time_point<Clock, Duration> & timeout_time) const
+  {
+    return this->future.wait_until(timeout_time);
+  }
+
+  // Rule of five, we could use the rule of zero here, but better be explicit as some of the
+  // methods are deleted.
+
+  /// Move constructor.
+  FutureAndRequestId(FutureAndRequestId && other) noexcept = default;
+  /// Deleted copy constructor, each instance is a unique owner of the future.
+  FutureAndRequestId(const FutureAndRequestId & other) = delete;
+  /// Move assignment.
+  FutureAndRequestId & operator=(FutureAndRequestId && other) noexcept = default;
+  /// Deleted copy assignment, each instance is a unique owner of the future.
+  FutureAndRequestId & operator=(const FutureAndRequestId & other) = delete;
+  /// Destructor.
+  ~FutureAndRequestId() = default;
+};
+}  // namespace detail
+
 namespace node_interfaces
 {
 class NodeBaseInterface;
@@ -178,6 +243,9 @@ template<typename ServiceT>
 class Client : public ClientBase
 {
 public:
+  using Request = typename ServiceT::Request;
+  using Response = typename ServiceT::Response;
+
   using SharedRequest = typename ServiceT::Request::SharedPtr;
   using SharedResponse = typename ServiceT::Response::SharedPtr;
 
@@ -187,6 +255,7 @@ public:
   using SharedPromise = std::shared_ptr<Promise>;
   using SharedPromiseWithRequest = std::shared_ptr<PromiseWithRequest>;
 
+  using Future = std::future<SharedResponse>;
   using SharedFuture = std::shared_future<SharedResponse>;
   using SharedFutureWithRequest = std::shared_future<std::pair<SharedRequest, SharedResponse>>;
 
@@ -195,6 +264,64 @@ public:
 
   RCLCPP_SMART_PTR_DEFINITIONS(Client)
 
+  /// A convenient Client::Future and request id pair.
+  /**
+   * Public members:
+   * - future: a std::future<SharedResponse>.
+   * - request_id: the request id associated with the future.
+   *
+   * All the other methods are equivalent to the ones std::future provides.
+   */
+  struct FutureAndRequestId
+    : detail::FutureAndRequestId<std::future<SharedResponse>>
+  {
+    using detail::FutureAndRequestId<std::future<SharedResponse>>::FutureAndRequestId;
+
+    /// Deprecated, use `.future.share()` instead.
+    /**
+     * Allow implicit conversions to `std::shared_future` by value.
+     * \deprecated
+     */
+    [[deprecated(
+      "FutureAndRequestId: use .future.share() instead of an implicit conversion")]]
+    operator SharedFuture() {return this->future.share();}
+
+    // delegate future like methods in the std::future impl_
+
+    /// See std::future::share().
+    SharedFuture share() noexcept {return this->future.share();}
+  };
+
+  /// A convenient Client::SharedFuture and request id pair.
+  /**
+   * Public members:
+   * - future: a std::shared_future<SharedResponse>.
+   * - request_id: the request id associated with the future.
+   *
+   * All the other methods are equivalent to the ones std::shared_future provides.
+   */
+  struct SharedFutureAndRequestId
+    : detail::FutureAndRequestId<std::shared_future<SharedResponse>>
+  {
+    using detail::FutureAndRequestId<std::shared_future<SharedResponse>>::FutureAndRequestId;
+  };
+
+  /// A convenient Client::SharedFutureWithRequest and request id pair.
+  /**
+   * Public members:
+   * - future: a std::shared_future<SharedResponse>.
+   * - request_id: the request id associated with the future.
+   *
+   * All the other methods are equivalent to the ones std::shared_future provides.
+   */
+  struct SharedFutureWithRequestAndRequestId
+    : detail::FutureAndRequestId<std::shared_future<std::pair<SharedRequest, SharedResponse>>>
+  {
+    using detail::FutureAndRequestId<
+      std::shared_future<std::pair<SharedRequest, SharedResponse>>
+    >::FutureAndRequestId;
+  };
+
   /// Default constructor.
   /**
    * The constructor for a Client is almost never called directly.
@@ -292,34 +419,89 @@ public:
     std::shared_ptr<rmw_request_id_t> request_header,
     std::shared_ptr<void> response) override
   {
-    std::unique_lock<std::mutex> lock(pending_requests_mutex_);
-    auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(response);
-    int64_t sequence_number = request_header->sequence_number;
-    // TODO(esteve) this should throw instead since it is not expected to happen in the first place
-    if (this->pending_requests_.count(sequence_number) == 0) {
-      RCUTILS_LOG_ERROR_NAMED(
-        "rclcpp",
-        "Received invalid sequence number. Ignoring...");
+    std::optional<CallbackInfoVariant>
+    optional_pending_request = this->get_and_erase_pending_request(request_header->sequence_number);
+    if (!optional_pending_request) {
       return;
     }
-    auto tuple = this->pending_requests_[sequence_number];
-    auto call_promise = std::get<0>(tuple);
-    auto callback = std::get<1>(tuple);
-    auto future = std::get<2>(tuple);
-    this->pending_requests_.erase(sequence_number);
-    // Unlock here to allow the service to be called recursively from one of its callbacks.
-    lock.unlock();
-
-    call_promise->set_value(typed_response);
-    callback(future);
+    auto & value = *optional_pending_request;
+    auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(
+      std::move(response));
+    if (std::holds_alternative<Promise>(value)) {
+      auto & promise = std::get<Promise>(value);
+      promise.set_value(std::move(typed_response));
+    } else if (std::holds_alternative<CallbackTypeValueVariant>(value)) {
+      auto & inner = std::get<CallbackTypeValueVariant>(value);
+      const auto & callback = std::get<CallbackType>(inner);
+      auto & promise = std::get<Promise>(inner);
+      auto & future = std::get<SharedFuture>(inner);
+      promise.set_value(std::move(typed_response));
+      callback(std::move(future));
+    } else if (std::holds_alternative<CallbackWithRequestTypeValueVariant>(value)) {
+      auto & inner = std::get<CallbackWithRequestTypeValueVariant>(value);
+      const auto & callback = std::get<CallbackWithRequestType>(inner);
+      auto & promise = std::get<PromiseWithRequest>(inner);
+      auto & future = std::get<SharedFutureWithRequest>(inner);
+      auto & request = std::get<SharedRequest>(inner);
+      promise.set_value(std::make_pair(std::move(request), std::move(typed_response)));
+      callback(std::move(future));
+    }
   }
 
-  SharedFuture
+  /// Send a request to the service server.
+  /**
+   * This method returns a `FutureAndRequestId` instance
+   * that can be passed to Executor::spin_until_future_complete() to
+   * wait until it has been completed.
+   *
+   * If the future never completes,
+   * e.g. the call to Executor::spin_until_future_complete() times out,
+   * Client::remove_pending_request() must be called to clean the client internal state.
+   * Not doing so will make the `Client` instance to use more memory each time a response is not
+   * received from the service server.
+   *
+   * ```cpp
+   * auto future = client->async_send_request(my_request);
+   * if (
+   *   rclcpp::FutureReturnCode::TIMEOUT ==
+   *   executor->spin_until_future_complete(future, timeout))
+   * {
+   *   client->remove_pending_request(future);
+   *   // handle timeout
+   * } else {
+   *   handle_response(future.get());
+   * }
+   * ```
+   *
+   * \param[in] request request to be send.
+   * \return a FutureAndRequestId instance.
+   */
+  FutureAndRequestId
   async_send_request(SharedRequest request)
   {
-    return async_send_request(request, [](SharedFuture) {});
+    Promise promise;
+    auto future = promise.get_future();
+    auto req_id = async_send_request_impl(
+      *request,
+      std::move(promise));
+    return FutureAndRequestId(std::move(future), req_id);
   }
 
+  /// Send a request to the service server and schedule a callback in the executor.
+  /**
+   * Similar to the previous overload, but a callback will automatically be called when a response is received.
+   *
+   * If the callback is never called, because we never got a reply for the service server, remove_pending_request()
+   * has to be called with the returned request id or prune_pending_requests().
+   * Not doing so will make the `Client` instance use more memory each time a response is not
+   * received from the service server.
+   * In this case, it's convenient to setup a timer to cleanup the pending requests.
+   * See for example the `examples_rclcpp_async_client` package in https://github.com/ros2/examples.
+   *
+   * \param[in] request request to be send.
+   * \param[in] cb callback that will be called when we get a response for this request.
+   * \return the request id representing the request just sent.
+   */
   template<
     typename CallbackT,
     typename std::enable_if<
@@ -329,23 +511,28 @@ public:
       >::value
     >::type * = nullptr
   >
-  SharedFuture
+  SharedFutureAndRequestId
   async_send_request(SharedRequest request, CallbackT && cb)
   {
-    std::lock_guard<std::mutex> lock(pending_requests_mutex_);
-    int64_t sequence_number;
-    rcl_ret_t ret = rcl_send_request(get_client_handle().get(), request.get(), &sequence_number);
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send request");
-    }
-
-    SharedPromise call_promise = std::make_shared<Promise>();
-    SharedFuture f(call_promise->get_future());
-    pending_requests_[sequence_number] =
-      std::make_tuple(call_promise, std::forward<CallbackType>(cb), f);
-    return f;
+    Promise promise;
+    auto shared_future = promise.get_future().share();
+    auto req_id = async_send_request_impl(
+      *request,
+      std::make_tuple(
+        CallbackType{std::forward<CallbackT>(cb)},
+        shared_future,
+        std::move(promise)));
+    return SharedFutureAndRequestId{std::move(shared_future), req_id};
   }
 
+  /// Send a request to the service server and schedule a callback in the executor.
+  /**
+   * Similar to the previous method, but you can get both the request and response in the callback.
+   *
+   * \param[in] request request to be send.
+   * \param[in] cb callback that will be called when we get a response for this request.
+   * \return the request id representing the request just sent.
+   */
   template<
     typename CallbackT,
     typename std::enable_if<
@@ -355,28 +542,165 @@ public:
       >::value
     >::type * = nullptr
   >
-  SharedFutureWithRequest
+  SharedFutureWithRequestAndRequestId
   async_send_request(SharedRequest request, CallbackT && cb)
   {
-    SharedPromiseWithRequest promise = std::make_shared<PromiseWithRequest>();
-    SharedFutureWithRequest future_with_request(promise->get_future());
-
-    auto wrapping_cb = [future_with_request, promise, request,
-        cb = std::forward<CallbackWithRequestType>(cb)](SharedFuture future) {
-        auto response = future.get();
-        promise->set_value(std::make_pair(request, response));
-        cb(future_with_request);
-      };
-
-    async_send_request(request, wrapping_cb);
-
-    return future_with_request;
+    PromiseWithRequest promise;
+    auto shared_future = promise.get_future().share();
+    auto req_id = async_send_request_impl(
+      *request,
+      std::make_tuple(
+        CallbackWithRequestType{std::forward<CallbackT>(cb)},
+        request,
+        shared_future,
+        std::move(promise)));
+    return SharedFutureWithRequestAndRequestId{std::move(shared_future), req_id};
+  }
+
+  /// Cleanup a pending request.
+  /**
+   * This notifies the client that we have waited long enough for a response from the server
+   * to come, we have given up and we are not waiting for a response anymore.
+   *
+   * Not calling this will make the client start using more memory for each request
+   * that never got a reply from the server.
+   *
+   * \param[in] request_id request id returned by async_send_request().
+   * \return true when a pending request was removed, false if not (e.g. a response was received).
+   */
+  bool
+  remove_pending_request(int64_t request_id)
+  {
+    std::lock_guard guard(pending_requests_mutex_);
+    return pending_requests_.erase(request_id) != 0u;
+  }
+
+  /// Cleanup a pending request.
+  /**
+   * Convenient overload, same as:
+   *
+   * `Client::remove_pending_request(this, future.request_id)`.
+   */
+  bool
+  remove_pending_request(const FutureAndRequestId & future)
+  {
+    return this->remove_pending_request(future.request_id);
+  }
+
+  /// Cleanup a pending request.
+  /**
+   * Convenient overload, same as:
+   *
+   * `Client::remove_pending_request(this, future.request_id)`.
+   */
+  bool
+  remove_pending_request(const SharedFutureAndRequestId & future)
+  {
+    return this->remove_pending_request(future.request_id);
+  }
+
+  /// Cleanup a pending request.
+  /**
+   * Convenient overload, same as:
+   *
+   * `Client::remove_pending_request(this, future.request_id)`.
+   */
+  bool
+  remove_pending_request(const SharedFutureWithRequestAndRequestId & future)
+  {
+    return this->remove_pending_request(future.request_id);
+  }
+
+  /// Clean all pending requests.
+  /**
+   * \return number of pending requests that were removed.
+   */
+  size_t
+  prune_pending_requests()
+  {
+    std::lock_guard guard(pending_requests_mutex_);
+    auto ret = pending_requests_.size();
+    pending_requests_.clear();
+    return ret;
+  }
+
+  /// Clean all pending requests older than a time_point.
+  /**
+   * \param[in] time_point Requests that were sent before this point are going to be removed.
+   * \param[inout] pruned_requests Removed requests id will be pushed to the vector
+   *  if a pointer is provided.
+   * \return number of pending requests that were removed.
+   */
+  template<typename AllocatorT = std::allocator<int64_t>>
+  size_t
+  prune_requests_older_than(
+    std::chrono::time_point<std::chrono::system_clock> time_point,
+    std::vector<int64_t, AllocatorT> * pruned_requests = nullptr)
+  {
+    std::lock_guard guard(pending_requests_mutex_);
+    auto old_size = pending_requests_.size();
+    for (auto it = pending_requests_.begin(), last = pending_requests_.end(); it != last; ) {
+      if (it->second.first < time_point) {
+        pruned_requests->push_back(it->first);
+        it = pending_requests_.erase(it);
+      } else {
+        ++it;
+      }
+    }
+    return old_size - pending_requests_.size();
+  }
+
+protected:
+  using CallbackTypeValueVariant = std::tuple<CallbackType, SharedFuture, Promise>;
+  using CallbackWithRequestTypeValueVariant = std::tuple<
+    CallbackWithRequestType, SharedRequest, SharedFutureWithRequest, PromiseWithRequest>;
+
+  using CallbackInfoVariant = std::variant<
+    std::promise<SharedResponse>,
+    CallbackTypeValueVariant,
+    CallbackWithRequestTypeValueVariant>;
+
+  int64_t
+  async_send_request_impl(const Request & request, CallbackInfoVariant value)
+  {
+    int64_t sequence_number;
+    rcl_ret_t ret = rcl_send_request(get_client_handle().get(), &request, &sequence_number);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send request");
+    }
+    {
+      std::lock_guard<std::mutex> lock(pending_requests_mutex_);
+      pending_requests_.try_emplace(
+        sequence_number,
+        std::make_pair(std::chrono::system_clock::now(), std::move(value)));
+    }
+    return sequence_number;
+  }
+
+  std::optional<CallbackInfoVariant>
+  get_and_erase_pending_request(int64_t request_number)
+  {
+    std::unique_lock<std::mutex> lock(pending_requests_mutex_);
+    auto it = this->pending_requests_.find(request_number);
+    if (it == this->pending_requests_.end()) {
+      RCUTILS_LOG_DEBUG_NAMED(
+        "rclcpp",
+        "Received invalid sequence number. Ignoring...");
+      return std::nullopt;
+    }
+    auto value = std::move(it->second.second);
+    this->pending_requests_.erase(request_number);
+    return value;
   }
 
-private:
   RCLCPP_DISABLE_COPY(Client)
 
-  std::map<int64_t, std::tuple<SharedPromise, CallbackType, SharedFuture>> pending_requests_;
+  std::unordered_map<
+    int64_t,
+    std::pair<
+      std::chrono::time_point<std::chrono::system_clock>,
+      CallbackInfoVariant>>
+  pending_requests_;
   std::mutex pending_requests_mutex_;
 };
 

rclcpp/include/rclcpp/context.hpp

@@ -23,6 +23,7 @@
 #include <typeindex>
 #include <typeinfo>
 #include <unordered_map>
+#include <unordered_set>
 #include <utility>
 #include <vector>
 
@@ -47,6 +48,17 @@ public:
 /// Forward declare WeakContextsWrapper
 class WeakContextsWrapper;
 
+class OnShutdownCallbackHandle
+{
+  friend class Context;
+
+public:
+  using OnShutdownCallbackType = std::function<void ()>;
+
+private:
+  std::weak_ptr<OnShutdownCallbackType> callback;
+};
+
 /// Context which encapsulates shared state between nodes and other similar entities.
 /**
  * A context also represents the lifecycle between init and shutdown of rclcpp.
@@ -80,7 +92,7 @@ public:
    *
    * Note that this function does not setup any signal handlers, so if you want
    * it to be shutdown by the signal handler, then you need to either install
-   * them manually with rclcpp::install_signal_handers() or use rclcpp::init().
+   * them manually with rclcpp::install_signal_handlers() or use rclcpp::init().
    * In addition to installing the signal handlers, the shutdown_on_sigint
    * of the InitOptions needs to be `true` for this context to be shutdown by
    * the signal handler, otherwise it will be passed over.
@@ -177,7 +189,7 @@ public:
   bool
   shutdown(const std::string & reason);
 
-  using OnShutdownCallback = std::function<void ()>;
+  using OnShutdownCallback = OnShutdownCallbackHandle::OnShutdownCallbackType;
 
   /// Add a on_shutdown callback to be called when shutdown is called for this context.
   /**
@@ -203,23 +215,47 @@ public:
   OnShutdownCallback
   on_shutdown(OnShutdownCallback callback);
 
-  /// Return the shutdown callbacks as const.
+  /// Add a on_shutdown callback to be called when shutdown is called for this context.
   /**
-   * Using the returned reference is not thread-safe with calls that modify
-   * the list of "on shutdown" callbacks, i.e. on_shutdown().
+   * These callbacks will be called in the order they are added as the second
+   * to last step in shutdown().
+   *
+   * When shutdown occurs due to the signal handler, these callbacks are run
+   * asynchronously in the dedicated singal handling thread.
+   *
+   * Also, shutdown() may be called from the destructor of this function.
+   * Therefore, it is not safe to throw exceptions from these callbacks.
+   * Instead, log errors or use some other mechanism to indicate an error has
+   * occurred.
+   *
+   * On shutdown callbacks may be registered before init and after shutdown,
+   * and persist on repeated init's.
+   *
+   * \param[in] callback the on_shutdown callback to be registered
+   * \return the created callback handle
    */
   RCLCPP_PUBLIC
-  const std::vector<OnShutdownCallback> &
-  get_on_shutdown_callbacks() const;
+  virtual
+  OnShutdownCallbackHandle
+  add_on_shutdown_callback(OnShutdownCallback callback);
+
+  /// Remove an registered on_shutdown callbacks.
+  /**
+   * \param[in] callback_handle the on_shutdown callback handle to be removed.
+   * \return true if the callback is found and removed, otherwise false.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  remove_on_shutdown_callback(const OnShutdownCallbackHandle & callback_handle);
 
   /// Return the shutdown callbacks.
   /**
-   * Using the returned reference is not thread-safe with calls that modify
-   * the list of "on shutdown" callbacks, i.e. on_shutdown().
+   * Returned callbacks are a copy of the registered callbacks.
    */
   RCLCPP_PUBLIC
-  std::vector<OnShutdownCallback> &
-  get_on_shutdown_callbacks();
+  std::vector<OnShutdownCallback>
+  get_on_shutdown_callbacks() const;
 
   /// Return the internal rcl context.
   RCLCPP_PUBLIC
@@ -299,8 +335,8 @@ private:
   // attempt to acquire another sub context.
   std::recursive_mutex sub_contexts_mutex_;
 
-  std::vector<OnShutdownCallback> on_shutdown_callbacks_;
-  std::mutex on_shutdown_callbacks_mutex_;
+  std::unordered_set<std::shared_ptr<OnShutdownCallback>> on_shutdown_callbacks_;
+  mutable std::mutex on_shutdown_callbacks_mutex_;
 
   /// Condition variable for timed sleep (see sleep_for).
   std::condition_variable interrupt_condition_variable_;

rclcpp/include/rclcpp/create_subscription.hpp

@@ -47,11 +47,11 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename CallbackMessageT,
   typename SubscriptionT,
   typename MessageMemoryStrategyT,
   typename NodeParametersT,
-  typename NodeTopicsT>
+  typename NodeTopicsT,
+  typename ROSMessageType = typename SubscriptionT::ROSMessageType>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
   NodeParametersT & node_parameters,
@@ -70,7 +70,7 @@ create_subscription(
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics_interface = get_node_topics_interface(node_topics);
 
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
+  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>
   subscription_topic_stats = nullptr;
 
   if (rclcpp::detail::resolve_enable_topic_statistics(
@@ -92,11 +92,11 @@ create_subscription(
       qos);
 
     subscription_topic_stats = std::make_shared<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
+      rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>
       >(node_topics_interface->get_node_base_interface()->get_name(), publisher);
 
     std::weak_ptr<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
+      rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>
     > weak_subscription_topic_stats(subscription_topic_stats);
     auto sub_call_back = [weak_subscription_topic_stats]() {
         auto subscription_topic_stats = weak_subscription_topic_stats.lock();
@@ -153,7 +153,6 @@ create_subscription(
  * \tparam MessageT
  * \tparam CallbackT
  * \tparam AllocatorT
- * \tparam CallbackMessageT
  * \tparam SubscriptionT
  * \tparam MessageMemoryStrategyT
  * \tparam NodeT
@@ -171,13 +170,8 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT = std::allocator<void>,
-  typename CallbackMessageT =
-  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
-  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >,
+  typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType,
   typename NodeT>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
@@ -194,7 +188,7 @@ create_subscription(
 )
 {
   return rclcpp::detail::create_subscription<
-    MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT, MessageMemoryStrategyT>(
+    MessageT, CallbackT, AllocatorT, SubscriptionT, MessageMemoryStrategyT>(
     node, node, topic_name, qos, std::forward<CallbackT>(callback), options, msg_mem_strat);
 }
 
@@ -206,13 +200,8 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT = std::allocator<void>,
-  typename CallbackMessageT =
-  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
-  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >>
+  typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
@@ -229,7 +218,7 @@ create_subscription(
 )
 {
   return rclcpp::detail::create_subscription<
-    MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT, MessageMemoryStrategyT>(
+    MessageT, CallbackT, AllocatorT, SubscriptionT, MessageMemoryStrategyT>(
     node_parameters, node_topics, topic_name, qos,
     std::forward<CallbackT>(callback), options, msg_mem_strat);
 }

rclcpp/include/rclcpp/detail/mutex_two_priorities.hpp

@@ -1,76 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_
-#define RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_
-
-#include <condition_variable>
-#include <mutex>
-
-namespace rclcpp
-{
-namespace detail
-{
-/// \internal A mutex that has two locking mechanism, one with higher priority than the other.
-/**
- * After the current mutex owner release the lock, a thread that used the high
- * priority mechanism will have priority over threads that used the low priority mechanism.
- */
-class MutexTwoPriorities
-{
-public:
-  class HighPriorityLockable
-  {
-public:
-    explicit HighPriorityLockable(MutexTwoPriorities & parent);
-
-    void lock();
-
-    void unlock();
-
-private:
-    MutexTwoPriorities & parent_;
-  };
-
-  class LowPriorityLockable
-  {
-public:
-    explicit LowPriorityLockable(MutexTwoPriorities & parent);
-
-    void lock();
-
-    void unlock();
-
-private:
-    MutexTwoPriorities & parent_;
-  };
-
-  HighPriorityLockable
-  get_high_priority_lockable();
-
-  LowPriorityLockable
-  get_low_priority_lockable();
-
-private:
-  std::condition_variable hp_cv_;
-  std::condition_variable lp_cv_;
-  std::mutex cv_mutex_;
-  size_t hp_waiting_count_{0u};
-  bool data_taken_{false};
-};
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__MUTEX_TWO_PRIORITIES_HPP_

rclcpp/include/rclcpp/exceptions/exceptions.hpp

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

rclcpp/include/rclcpp/executor.hpp

@@ -29,7 +29,9 @@
 
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
+#include "rcpputils/scope_exit.hpp"
 
+#include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/executor_options.hpp"
@@ -39,7 +41,6 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -353,7 +354,7 @@ public:
     if (spinning.exchange(true)) {
       throw std::runtime_error("spin_until_future_complete() called while already spinning");
     }
-    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+    RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
     while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
       spin_once_impl(timeout_left);
@@ -571,6 +572,9 @@ protected:
   /// nodes that are associated with the executor
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>
   weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// shutdown callback handle registered to Context
+  rclcpp::OnShutdownCallbackHandle shutdown_callback_handle_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -22,7 +22,6 @@
 #include <thread>
 #include <unordered_map>
 
-#include "rclcpp/detail/mutex_two_priorities.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/memory_strategies.hpp"
@@ -82,12 +81,10 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(MultiThreadedExecutor)
 
-  detail::MutexTwoPriorities wait_mutex_;
+  std::mutex wait_mutex_;
   size_t number_of_threads_;
   bool yield_before_execute_;
   std::chrono::nanoseconds next_exec_timeout_;
-
-  std::set<TimerBase::SharedPtr> scheduled_timers_;
 };
 
 }  // namespace executors

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -57,15 +57,13 @@ public:
   /**
    * \param p_wait_set A reference to the wait set to be used in the executor
    * \param memory_strategy Shared pointer to the memory strategy to set.
-   * \param executor_guard_condition executor's guard condition
    * \throws std::runtime_error if memory strategy is null
    */
   RCLCPP_PUBLIC
   void
   init(
     rcl_wait_set_t * p_wait_set,
-    rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
-    rcl_guard_condition_t * executor_guard_condition);
+    rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
 
   /// Finalize StaticExecutorEntitiesCollector to clear resources
   RCLCPP_PUBLIC
@@ -338,6 +336,10 @@ private:
   /// List of weak nodes registered in the static executor
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
 
+  // Mutex to protect vector of new nodes.
+  std::mutex new_nodes_mutex_;
+  std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> new_nodes_;
+
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t * p_wait_set_ = nullptr;
 

rclcpp/include/rclcpp/experimental/create_intra_process_buffer.hpp

@@ -24,6 +24,7 @@
 #include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
 #include "rclcpp/experimental/buffers/ring_buffer_implementation.hpp"
 #include "rclcpp/intra_process_buffer_type.hpp"
+#include "rclcpp/qos.hpp"
 
 namespace rclcpp
 {
@@ -37,13 +38,13 @@ template<
 typename rclcpp::experimental::buffers::IntraProcessBuffer<MessageT, Alloc, Deleter>::UniquePtr
 create_intra_process_buffer(
   IntraProcessBufferType buffer_type,
-  rmw_qos_profile_t qos,
+  const rclcpp::QoS & qos,
   std::shared_ptr<Alloc> allocator)
 {
   using MessageSharedPtr = std::shared_ptr<const MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
 
-  size_t buffer_size = qos.depth;
+  size_t buffer_size = qos.depth();
 
   using rclcpp::experimental::buffers::IntraProcessBuffer;
   typename IntraProcessBuffer<MessageT, Alloc, Deleter>::UniquePtr buffer;

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -33,6 +33,7 @@
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/experimental/subscription_intra_process.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
+#include "rclcpp/experimental/subscription_intra_process_buffer.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
@@ -181,7 +182,7 @@ public:
   do_intra_process_publish(
     uint64_t intra_process_publisher_id,
     std::unique_ptr<MessageT, Deleter> message,
-    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
+    typename allocator::AllocRebind<MessageT, Alloc>::allocator_type & allocator)
   {
     using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
     using MessageAllocatorT = typename MessageAllocTraits::allocator_type;
@@ -202,7 +203,8 @@ public:
       // None of the buffers require ownership, so we promote the pointer
       std::shared_ptr<MessageT> msg = std::move(message);
 
-      this->template add_shared_msg_to_buffers<MessageT>(msg, sub_ids.take_shared_subscriptions);
+      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
+        msg, sub_ids.take_shared_subscriptions);
     } else if (!sub_ids.take_ownership_subscriptions.empty() && // NOLINT
       sub_ids.take_shared_subscriptions.size() <= 1)
     {
@@ -225,9 +227,9 @@ public:
     {
       // Construct a new shared pointer from the message
       // for the buffers that do not require ownership
-      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
+      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(allocator, *message);
 
-      this->template add_shared_msg_to_buffers<MessageT>(
+      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
         shared_msg, sub_ids.take_shared_subscriptions);
       this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
         std::move(message), sub_ids.take_ownership_subscriptions, allocator);
@@ -242,7 +244,7 @@ public:
   do_intra_process_publish_and_return_shared(
     uint64_t intra_process_publisher_id,
     std::unique_ptr<MessageT, Deleter> message,
-    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
+    typename allocator::AllocRebind<MessageT, Alloc>::allocator_type & allocator)
   {
     using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
     using MessageAllocatorT = typename MessageAllocTraits::allocator_type;
@@ -263,17 +265,17 @@ public:
       // If there are no owning, just convert to shared.
       std::shared_ptr<MessageT> shared_msg = std::move(message);
       if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT>(
+        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
           shared_msg, sub_ids.take_shared_subscriptions);
       }
       return shared_msg;
     } else {
       // Construct a new shared pointer from the message for the buffers that
       // do not require ownership and to return.
-      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
+      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(allocator, *message);
 
       if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT>(
+        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
           shared_msg,
           sub_ids.take_shared_subscriptions);
       }
@@ -303,25 +305,6 @@ public:
   get_subscription_intra_process(uint64_t intra_process_subscription_id);
 
 private:
-  struct SubscriptionInfo
-  {
-    SubscriptionInfo() = default;
-
-    rclcpp::experimental::SubscriptionIntraProcessBase::WeakPtr subscription;
-    rmw_qos_profile_t qos;
-    const char * topic_name;
-    bool use_take_shared_method;
-  };
-
-  struct PublisherInfo
-  {
-    PublisherInfo() = default;
-
-    rclcpp::PublisherBase::WeakPtr publisher;
-    rmw_qos_profile_t qos;
-    const char * topic_name;
-  };
-
   struct SplittedSubscriptions
   {
     std::vector<uint64_t> take_shared_subscriptions;
@@ -329,10 +312,10 @@ private:
   };
 
   using SubscriptionMap =
-    std::unordered_map<uint64_t, SubscriptionInfo>;
+    std::unordered_map<uint64_t, rclcpp::experimental::SubscriptionIntraProcessBase::WeakPtr>;
 
   using PublisherMap =
-    std::unordered_map<uint64_t, PublisherInfo>;
+    std::unordered_map<uint64_t, rclcpp::PublisherBase::WeakPtr>;
 
   using PublisherToSubscriptionIdsMap =
     std::unordered_map<uint64_t, SplittedSubscriptions>;
@@ -348,9 +331,14 @@ private:
 
   RCLCPP_PUBLIC
   bool
-  can_communicate(PublisherInfo pub_info, SubscriptionInfo sub_info) const;
+  can_communicate(
+    rclcpp::PublisherBase::SharedPtr pub,
+    rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr sub) const;
 
-  template<typename MessageT>
+  template<
+    typename MessageT,
+    typename Alloc,
+    typename Deleter>
   void
   add_shared_msg_to_buffers(
     std::shared_ptr<const MessageT> message,
@@ -361,11 +349,18 @@ private:
       if (subscription_it == subscriptions_.end()) {
         throw std::runtime_error("subscription has unexpectedly gone out of scope");
       }
-      auto subscription_base = subscription_it->second.subscription.lock();
+      auto subscription_base = subscription_it->second.lock();
       if (subscription_base) {
-        auto subscription = std::static_pointer_cast<
-          rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+        auto subscription = std::dynamic_pointer_cast<
+          rclcpp::experimental::SubscriptionIntraProcessBuffer<MessageT, Alloc, Deleter>
           >(subscription_base);
+        if (nullptr == subscription) {
+          throw std::runtime_error(
+                  "failed to dynamic cast SubscriptionIntraProcessBase to "
+                  "SubscriptionIntraProcessBuffer<MessageT, Alloc, Deleter>, which "
+                  "can happen when the publisher and subscription use different "
+                  "allocator types, which is not supported");
+        }
 
         subscription->provide_intra_process_message(message);
       } else {
@@ -382,7 +377,7 @@ private:
   add_owned_msg_to_buffers(
     std::unique_ptr<MessageT, Deleter> message,
     std::vector<uint64_t> subscription_ids,
-    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
+    typename allocator::AllocRebind<MessageT, Alloc>::allocator_type & allocator)
   {
     using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
     using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
@@ -392,11 +387,18 @@ private:
       if (subscription_it == subscriptions_.end()) {
         throw std::runtime_error("subscription has unexpectedly gone out of scope");
       }
-      auto subscription_base = subscription_it->second.subscription.lock();
+      auto subscription_base = subscription_it->second.lock();
       if (subscription_base) {
-        auto subscription = std::static_pointer_cast<
-          rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+        auto subscription = std::dynamic_pointer_cast<
+          rclcpp::experimental::SubscriptionIntraProcessBuffer<MessageT, Alloc, Deleter>
           >(subscription_base);
+        if (nullptr == subscription) {
+          throw std::runtime_error(
+                  "failed to dynamic cast SubscriptionIntraProcessBase to "
+                  "SubscriptionIntraProcessBuffer<MessageT, Alloc, Deleter>, which "
+                  "can happen when the publisher and subscription use different "
+                  "allocator types, which is not supported");
+        }
 
         if (std::next(it) == subscription_ids.end()) {
           // If this is the last subscription, give up ownership
@@ -405,8 +407,8 @@ private:
           // Copy the message since we have additional subscriptions to serve
           MessageUniquePtr copy_message;
           Deleter deleter = message.get_deleter();
-          auto ptr = MessageAllocTraits::allocate(*allocator.get(), 1);
-          MessageAllocTraits::construct(*allocator.get(), ptr, *message);
+          auto ptr = MessageAllocTraits::allocate(allocator, 1);
+          MessageAllocTraits::construct(allocator, ptr, *message);
           copy_message = MessageUniquePtr(ptr, deleter);
 
           subscription->provide_intra_process_message(std::move(copy_message));

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -30,6 +30,8 @@
 #include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
 #include "rclcpp/experimental/create_intra_process_buffer.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
+#include "rclcpp/experimental/subscription_intra_process_buffer.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/waitable.hpp"
 #include "tracetools/tracetools.h"
@@ -44,54 +46,43 @@ template<
   typename Alloc = std::allocator<void>,
   typename Deleter = std::default_delete<MessageT>,
   typename CallbackMessageT = MessageT>
-class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcess)
-
-  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
-  using ConstMessageSharedPtr = std::shared_ptr<const MessageT>;
-  using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
-
-  using BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
+class SubscriptionIntraProcess
+  : public SubscriptionIntraProcessBuffer<
     MessageT,
     Alloc,
     Deleter
-    >::UniquePtr;
+  >
+{
+  using SubscriptionIntraProcessBufferT = SubscriptionIntraProcessBuffer<
+    MessageT,
+    Alloc,
+    Deleter
+  >;
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcess)
+
+  using MessageAllocTraits = typename SubscriptionIntraProcessBufferT::MessageAllocTraits;
+  using MessageAlloc = typename SubscriptionIntraProcessBufferT::MessageAlloc;
+  using ConstMessageSharedPtr = typename SubscriptionIntraProcessBufferT::ConstMessageSharedPtr;
+  using MessageUniquePtr = typename SubscriptionIntraProcessBufferT::MessageUniquePtr;
+  using BufferUniquePtr = typename SubscriptionIntraProcessBufferT::BufferUniquePtr;
 
   SubscriptionIntraProcess(
     AnySubscriptionCallback<CallbackMessageT, Alloc> callback,
     std::shared_ptr<Alloc> allocator,
     rclcpp::Context::SharedPtr context,
     const std::string & topic_name,
-    rmw_qos_profile_t qos_profile,
+    const rclcpp::QoS & qos_profile,
     rclcpp::IntraProcessBufferType buffer_type)
-  : SubscriptionIntraProcessBase(topic_name, qos_profile),
+  : SubscriptionIntraProcessBuffer<MessageT, Alloc, Deleter>(
+      allocator,
+      context,
+      topic_name,
+      qos_profile,
+      buffer_type),
     any_callback_(callback)
   {
-    if (!std::is_same<MessageT, CallbackMessageT>::value) {
-      throw std::runtime_error("SubscriptionIntraProcess wrong callback type");
-    }
-
-    // Create the intra-process buffer.
-    buffer_ = rclcpp::experimental::create_intra_process_buffer<MessageT, Alloc, Deleter>(
-      buffer_type,
-      qos_profile,
-      allocator);
-
-    // Create the guard condition.
-    rcl_guard_condition_options_t guard_condition_options =
-      rcl_guard_condition_get_default_options();
-
-    gc_ = rcl_get_zero_initialized_guard_condition();
-    rcl_ret_t ret = rcl_guard_condition_init(
-      &gc_, context->get_rcl_context().get(), guard_condition_options);
-
-    if (RCL_RET_OK != ret) {
-      throw std::runtime_error("SubscriptionIntraProcess init error initializing guard condition");
-    }
-
     TRACEPOINT(
       rclcpp_subscription_callback_added,
       static_cast<const void *>(this),
@@ -104,22 +95,7 @@ public:
 #endif
   }
 
-  ~SubscriptionIntraProcess()
-  {
-    if (rcl_guard_condition_fini(&gc_) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR_NAMED(
-        "rclcpp",
-        "Failed to destroy guard condition: %s",
-        rcutils_get_error_string().str);
-    }
-  }
-
-  bool
-  is_ready(rcl_wait_set_t * wait_set)
-  {
-    (void) wait_set;
-    return buffer_->has_data();
-  }
+  virtual ~SubscriptionIntraProcess() = default;
 
   std::shared_ptr<void>
   take_data()
@@ -128,9 +104,9 @@ public:
     MessageUniquePtr unique_msg;
 
     if (any_callback_.use_take_shared_method()) {
-      shared_msg = buffer_->consume_shared();
+      shared_msg = this->buffer_->consume_shared();
     } else {
-      unique_msg = buffer_->consume_unique();
+      unique_msg = this->buffer_->consume_unique();
     }
     return std::static_pointer_cast<void>(
       std::make_shared<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
@@ -141,37 +117,10 @@ public:
 
   void execute(std::shared_ptr<void> & data)
   {
-    execute_impl<CallbackMessageT>(data);
-  }
-
-  void
-  provide_intra_process_message(ConstMessageSharedPtr message)
-  {
-    buffer_->add_shared(std::move(message));
-    trigger_guard_condition();
-  }
-
-  void
-  provide_intra_process_message(MessageUniquePtr message)
-  {
-    buffer_->add_unique(std::move(message));
-    trigger_guard_condition();
-  }
-
-  bool
-  use_take_shared_method() const
-  {
-    return buffer_->use_take_shared_method();
-  }
-
-private:
-  void
-  trigger_guard_condition()
-  {
-    rcl_ret_t ret = rcl_trigger_guard_condition(&gc_);
-    (void)ret;
+    execute_impl<MessageT>(data);
   }
 
+protected:
   template<typename T>
   typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type
   execute_impl(std::shared_ptr<void> & data)
@@ -206,7 +155,6 @@ private:
   }
 
   AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
-  BufferUniquePtr buffer_;
 };
 
 }  // namespace experimental

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -25,6 +25,7 @@
 
 #include "rcl/error_handling.h"
 
+#include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/waitable.hpp"
 
@@ -39,7 +40,9 @@ public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(SubscriptionIntraProcessBase)
 
   RCLCPP_PUBLIC
-  SubscriptionIntraProcessBase(const std::string & topic_name, rmw_qos_profile_t qos_profile)
+  SubscriptionIntraProcessBase(
+    const std::string & topic_name,
+    const rclcpp::QoS & qos_profile)
   : topic_name_(topic_name), qos_profile_(qos_profile)
   {}
 
@@ -71,7 +74,7 @@ public:
   get_topic_name() const;
 
   RCLCPP_PUBLIC
-  rmw_qos_profile_t
+  QoS
   get_actual_qos() const;
 
 protected:
@@ -83,7 +86,7 @@ private:
   trigger_guard_condition() = 0;
 
   std::string topic_name_;
-  rmw_qos_profile_t qos_profile_;
+  QoS qos_profile_;
 };
 
 }  // namespace experimental

rclcpp/include/rclcpp/experimental/subscription_intra_process_buffer.hpp

@@ -0,0 +1,143 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_
+#define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_
+
+#include <rmw/rmw.h>
+
+#include <functional>
+#include <map>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <utility>
+
+#include "rcl/error_handling.h"
+
+#include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
+#include "rclcpp/experimental/create_intra_process_buffer.hpp"
+#include "rclcpp/experimental/subscription_intra_process_base.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/type_support_decl.hpp"
+#include "rclcpp/waitable.hpp"
+#include "tracetools/tracetools.h"
+
+namespace rclcpp
+{
+namespace experimental
+{
+
+template<
+  typename MessageT,
+  typename Alloc = std::allocator<void>,
+  typename Deleter = std::default_delete<MessageT>
+>
+class SubscriptionIntraProcessBuffer : public SubscriptionIntraProcessBase
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcessBuffer)
+
+  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+  using MessageAlloc = typename MessageAllocTraits::allocator_type;
+  using ConstMessageSharedPtr = std::shared_ptr<const MessageT>;
+  using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
+
+  using BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
+    MessageT,
+    Alloc,
+    Deleter
+    >::UniquePtr;
+
+  SubscriptionIntraProcessBuffer(
+    std::shared_ptr<Alloc> allocator,
+    rclcpp::Context::SharedPtr context,
+    const std::string & topic_name,
+    const rclcpp::QoS & qos_profile,
+    rclcpp::IntraProcessBufferType buffer_type)
+  : SubscriptionIntraProcessBase(topic_name, qos_profile)
+  {
+    // Create the intra-process buffer.
+    buffer_ = rclcpp::experimental::create_intra_process_buffer<MessageT, Alloc, Deleter>(
+      buffer_type,
+      qos_profile,
+      allocator);
+
+    // Create the guard condition.
+    rcl_guard_condition_options_t guard_condition_options =
+      rcl_guard_condition_get_default_options();
+
+    gc_ = rcl_get_zero_initialized_guard_condition();
+    rcl_ret_t ret = rcl_guard_condition_init(
+      &gc_, context->get_rcl_context().get(), guard_condition_options);
+
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error(
+              "SubscriptionIntraProcessBuffer init error initializing guard condition");
+    }
+  }
+
+  virtual ~SubscriptionIntraProcessBuffer()
+  {
+    if (rcl_guard_condition_fini(&gc_) != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(
+        "rclcpp",
+        "Failed to destroy guard condition: %s",
+        rcutils_get_error_string().str);
+    }
+  }
+
+  bool
+  is_ready(rcl_wait_set_t * wait_set)
+  {
+    (void) wait_set;
+    return buffer_->has_data();
+  }
+
+  void
+  provide_intra_process_message(ConstMessageSharedPtr message)
+  {
+    buffer_->add_shared(std::move(message));
+    trigger_guard_condition();
+  }
+
+  void
+  provide_intra_process_message(MessageUniquePtr message)
+  {
+    buffer_->add_unique(std::move(message));
+    trigger_guard_condition();
+  }
+
+  bool
+  use_take_shared_method() const
+  {
+    return buffer_->use_take_shared_method();
+  }
+
+protected:
+  void
+  trigger_guard_condition()
+  {
+    rcl_ret_t ret = rcl_trigger_guard_condition(&gc_);
+    (void)ret;
+  }
+
+  BufferUniquePtr buffer_;
+};
+
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -136,6 +136,13 @@ public:
   void handle_message(
     std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) override;
 
+  /// Handle dispatching rclcpp::SerializedMessage to user callback.
+  RCLCPP_PUBLIC
+  void
+  handle_serialized_message(
+    const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
+    const rclcpp::MessageInfo & message_info) override;
+
   /// This function is currently not implemented.
   RCLCPP_PUBLIC
   void handle_loaned_message(

rclcpp/include/rclcpp/get_message_type_support_handle.hpp

@@ -0,0 +1,90 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__GET_MESSAGE_TYPE_SUPPORT_HANDLE_HPP_
+#define RCLCPP__GET_MESSAGE_TYPE_SUPPORT_HANDLE_HPP_
+
+#include <type_traits>
+
+#include "rosidl_runtime_cpp/traits.hpp"
+#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+
+#include "rclcpp/type_adapter.hpp"
+
+/// Versions of rosidl_typesupport_cpp::get_message_type_support_handle that handle adapted types.
+
+namespace rclcpp
+{
+
+/// Specialization for when MessageT is an actual ROS message type.
+template<typename MessageT>
+constexpr
+typename std::enable_if_t<
+  rosidl_generator_traits::is_message<MessageT>::value,
+  const rosidl_message_type_support_t &
+>
+get_message_type_support_handle()
+{
+  auto handle = rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>();
+  if (!handle) {
+    throw std::runtime_error("Type support handle unexpectedly nullptr");
+  }
+  return *handle;
+}
+
+/// Specialization for when MessageT is an adapted type using rclcpp::TypeAdapter.
+template<typename AdaptedType>
+constexpr
+typename std::enable_if_t<
+  !rosidl_generator_traits::is_message<AdaptedType>::value &&
+  rclcpp::TypeAdapter<AdaptedType>::is_specialized::value,
+  const rosidl_message_type_support_t &
+>
+get_message_type_support_handle()
+{
+  auto handle = rosidl_typesupport_cpp::get_message_type_support_handle<
+    typename TypeAdapter<AdaptedType>::ros_message_type
+    >();
+  if (!handle) {
+    throw std::runtime_error("Type support handle unexpectedly nullptr");
+  }
+  return *handle;
+}
+
+/// Specialization for when MessageT is not a ROS message nor an adapted type.
+/**
+ * This specialization is a pass through runtime check, which allows a better
+ * static_assert to catch this issue further down the line.
+ * This should never get to be called in practice, and is purely defensive.
+ */
+template<
+  typename AdaptedType
+>
+constexpr
+typename std::enable_if_t<
+  !rosidl_generator_traits::is_message<AdaptedType>::value &&
+  !TypeAdapter<AdaptedType>::is_specialized::value,
+  const rosidl_message_type_support_t &
+>
+get_message_type_support_handle()
+{
+  throw std::runtime_error(
+          "this specialization of rclcpp::get_message_type_support_handle() "
+          "should never be called");
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__GET_MESSAGE_TYPE_SUPPORT_HANDLE_HPP_

rclcpp/include/rclcpp/is_ros_compatible_type.hpp

@@ -0,0 +1,35 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__IS_ROS_COMPATIBLE_TYPE_HPP_
+#define RCLCPP__IS_ROS_COMPATIBLE_TYPE_HPP_
+
+#include "rosidl_runtime_cpp/traits.hpp"
+
+#include "rclcpp/type_adapter.hpp"
+
+namespace rclcpp
+{
+
+template<typename T>
+struct is_ros_compatible_type
+{
+  static constexpr bool value =
+    rosidl_generator_traits::is_message<T>::value ||
+    rclcpp::TypeAdapter<T>::is_specialized::value;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__IS_ROS_COMPATIBLE_TYPE_HPP_

rclcpp/include/rclcpp/loaned_message.hpp

@@ -103,6 +103,9 @@ public:
    * \param[in] allocator Allocator instance in case middleware can not allocate messages
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    */
+  [[
+    deprecated("used the LoanedMessage constructor that does not use a shared_ptr to the allocator")
+  ]]
   LoanedMessage(
     const rclcpp::PublisherBase * pub,
     std::shared_ptr<std::allocator<MessageT>> allocator)

rclcpp/include/rclcpp/node.hpp

@@ -148,10 +148,16 @@ public:
     rclcpp::CallbackGroupType group_type,
     bool automatically_add_to_executor_with_node = true);
 
-  /// Return the list of callback groups in the node.
+  /// Iterate over the callback groups in the node, calling the given function on each valid one.
+  /**
+   * This method is called in a thread-safe way, and also makes sure to only call the given
+   * function on those items that are still valid.
+   *
+   * \param[in] func The callback function to call on each valid callback group.
+   */
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-  get_callback_groups() const;
+  void
+  for_each_callback_group(const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func);
 
   /// Create and return a Publisher.
   /**
@@ -206,13 +212,8 @@ public:
     typename MessageT,
     typename CallbackT,
     typename AllocatorT = std::allocator<void>,
-    typename CallbackMessageT =
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
-    typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-    typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      CallbackMessageT,
-      AllocatorT
-    >
+    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
+    typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType
   >
   std::shared_ptr<SubscriptionT>
   create_subscription(
@@ -984,12 +985,15 @@ public:
   std::map<std::string, std::vector<std::string>>
   get_service_names_and_types() const;
 
-  /// Return the number of publishers that are advertised on a given topic.
+  /// Return a map of existing service names to list of service types for a specific node.
   /**
-   * \param[in] node_name the node_name on which to count the publishers.
-   * \param[in] namespace_ the namespace of the node associated with the name
-   * \return number of publishers that are advertised on a given topic.
-   * \throws std::runtime_error if publishers could not be counted
+   * This function only considers services - not clients.
+   * The returned names are the actual names used and do not have remap rules applied.
+   *
+   * \param[in] node_name name of the node.
+   * \param[in] namespace_ namespace of the node.
+   * \return a map of existing service names to list of service types.
+   * \throws std::runtime_error anything that rcl_error can throw.
    */
   RCLCPP_PUBLIC
   std::map<std::string, std::vector<std::string>>

rclcpp/include/rclcpp/node_impl.hpp

@@ -86,7 +86,6 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename CallbackMessageT,
   typename SubscriptionT,
   typename MessageMemoryStrategyT>
 std::shared_ptr<SubscriptionT>

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -15,11 +15,14 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 
+#include <functional>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <vector>
 
 #include "rcl/node.h"
+#include "rclcpp/callback_group.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
@@ -95,9 +98,16 @@ public:
   bool
   callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override;
 
+  /// Iterate over the stored callback groups, calling the given function on each valid one.
+  /**
+   * This method is called in a thread-safe way, and also makes sure to only call the given
+   * function on those items that are still valid.
+   *
+   * \param[in] func The callback function to call on each valid callback group.
+   */
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-  get_callback_groups() const override;
+  void
+  for_each_callback_group(const CallbackGroupFunction & func) override;
 
   RCLCPP_PUBLIC
   std::atomic_bool &
@@ -132,6 +142,7 @@ private:
   std::shared_ptr<rcl_node_t> node_handle_;
 
   rclcpp::CallbackGroup::SharedPtr default_callback_group_;
+  std::mutex callback_groups_mutex_;
   std::vector<rclcpp::CallbackGroup::WeakPtr> callback_groups_;
 
   std::atomic_bool associated_with_executor_;

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -122,11 +122,19 @@ public:
   bool
   callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) = 0;
 
-  /// Return list of callback groups associated with this node.
+  using CallbackGroupFunction = std::function<void (rclcpp::CallbackGroup::SharedPtr)>;
+
+  /// Iterate over the stored callback groups, calling the given function on each valid one.
+  /**
+   * This method is called in a thread-safe way, and also makes sure to only call the given
+   * function on those items that are still valid.
+   *
+   * \param[in] func The callback function to call on each valid callback group.
+   */
   RCLCPP_PUBLIC
   virtual
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-  get_callback_groups() const = 0;
+  void
+  for_each_callback_group(const CallbackGroupFunction & func) = 0;
 
   /// Return the atomic bool which is used to ensure only one executor is used.
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/parameter_value.hpp

@@ -301,6 +301,16 @@ public:
     return get<ParameterType::PARAMETER_BOOL_ARRAY>();
   }
 
+  template<typename type>
+  constexpr
+  typename std::enable_if<
+    std::is_convertible<
+      type, const std::vector<int> &>::value, const std::vector<int64_t> &>::type
+  get() const
+  {
+    return get<ParameterType::PARAMETER_INTEGER_ARRAY>();
+  }
+
   template<typename type>
   constexpr
   typename std::enable_if<
@@ -311,6 +321,16 @@ public:
     return get<ParameterType::PARAMETER_INTEGER_ARRAY>();
   }
 
+  template<typename type>
+  constexpr
+  typename std::enable_if<
+    std::is_convertible<
+      type, const std::vector<float> &>::value, const std::vector<double> &>::type
+  get() const
+  {
+    return get<ParameterType::PARAMETER_DOUBLE_ARRAY>();
+  }
+
   template<typename type>
   constexpr
   typename std::enable_if<

rclcpp/include/rclcpp/publisher.hpp

@@ -15,9 +15,6 @@
 #ifndef RCLCPP__PUBLISHER_HPP_
 #define RCLCPP__PUBLISHER_HPP_
 
-#include <rmw/error_handling.h>
-#include <rmw/rmw.h>
-
 #include <functional>
 #include <iostream>
 #include <memory>
@@ -27,16 +24,21 @@
 
 #include "rcl/error_handling.h"
 #include "rcl/publisher.h"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/detail/resolve_use_intra_process.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
+#include "rclcpp/get_message_type_support_handle.hpp"
+#include "rclcpp/is_ros_compatible_type.hpp"
 #include "rclcpp/loaned_message.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/publisher_base.hpp"
 #include "rclcpp/publisher_options.hpp"
+#include "rclcpp/type_adapter.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -49,15 +51,62 @@ template<typename MessageT, typename AllocatorT>
 class LoanedMessage;
 
 /// A publisher publishes messages of any type to a topic.
+/**
+ * MessageT must be a:
+ *
+ * - ROS message type with its own type support (e.g. std_msgs::msgs::String), or a
+ * - rclcpp::TypeAdapter<CustomType, ROSMessageType>
+ *   (e.g. rclcpp::TypeAdapter<std::string, std_msgs::msg::String), or a
+ * - custom type that has been setup as the implicit type for a ROS type using
+ *   RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(custom_type, ros_message_type)
+ *
+ * In the case that MessageT is ROS message type (e.g. std_msgs::msg::String),
+ * both PublishedType and ROSMessageType will be that type.
+ * In the case that MessageT is a TypeAdapter<CustomType, ROSMessageType> type
+ * (e.g. TypeAdapter<std::string, std_msgs::msg::String>), PublishedType will
+ * be the custom type, and ROSMessageType will be the ros message type.
+ *
+ * This is achieved because of the "identity specialization" for TypeAdapter,
+ * which returns itself if it is already a TypeAdapter, and the default
+ * specialization which allows ROSMessageType to be void.
+ * \sa rclcpp::TypeAdapter for more details.
+ */
 template<typename MessageT, typename AllocatorT = std::allocator<void>>
 class Publisher : public PublisherBase
 {
 public:
-  using MessageAllocatorTraits = allocator::AllocRebind<MessageT, AllocatorT>;
-  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAllocator, MessageT>;
-  using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
-  using MessageSharedPtr = std::shared_ptr<const MessageT>;
+  static_assert(
+    rclcpp::is_ros_compatible_type<MessageT>::value,
+    "given message type is not compatible with ROS and cannot be used with a Publisher");
+
+  /// MessageT::custom_type if MessageT is a TypeAdapter, otherwise just MessageT.
+  using PublishedType = typename rclcpp::TypeAdapter<MessageT>::custom_type;
+  /// MessageT::ros_message_type if MessageT is a TypeAdapter, otherwise just MessageT.
+  using ROSMessageType = typename rclcpp::TypeAdapter<MessageT>::ros_message_type;
+
+  using PublishedTypeAllocatorTraits = allocator::AllocRebind<PublishedType, AllocatorT>;
+  using PublishedTypeAllocator = typename PublishedTypeAllocatorTraits::allocator_type;
+  using PublishedTypeDeleter = allocator::Deleter<PublishedTypeAllocator, PublishedType>;
+
+  using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, AllocatorT>;
+  using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
+  using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
+
+  using MessageAllocatorTraits
+  [[deprecated("use PublishedTypeAllocatorTraits")]] =
+    PublishedTypeAllocatorTraits;
+  using MessageAllocator
+  [[deprecated("use PublishedTypeAllocator")]] =
+    PublishedTypeAllocator;
+  using MessageDeleter
+  [[deprecated("use PublishedTypeDeleter")]] =
+    PublishedTypeDeleter;
+  using MessageUniquePtr
+  [[deprecated("use std::unique_ptr<PublishedType, PublishedTypeDeleter>")]] =
+    std::unique_ptr<PublishedType, PublishedTypeDeleter>;
+  using MessageSharedPtr
+  [[deprecated("use std::shared_ptr<const PublishedType>")]] =
+    std::shared_ptr<const PublishedType>;
 
   RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, AllocatorT>)
 
@@ -80,12 +129,14 @@ public:
   : PublisherBase(
       node_base,
       topic,
-      *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
+      rclcpp::get_message_type_support_handle<MessageT>(),
       options.template to_rcl_publisher_options<MessageT>(qos)),
     options_(options),
-    message_allocator_(new MessageAllocator(*options.get_allocator().get()))
+    published_type_allocator_(*options.get_allocator()),
+    ros_message_type_allocator_(*options.get_allocator())
   {
-    allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
+    allocator::set_allocator_for_deleter(&published_type_deleter_, &published_type_allocator_);
+    allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
 
     if (options_.event_callbacks.deadline_callback) {
       this->add_event_handler(
@@ -135,15 +186,15 @@ public:
       // Get the intra process manager instance for this context.
       auto ipm = context->get_sub_context<rclcpp::experimental::IntraProcessManager>();
       // Register the publisher with the intra process manager.
-      if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
+      if (qos.history() != rclcpp::HistoryPolicy::KeepLast) {
         throw std::invalid_argument(
-                "intraprocess communication is not allowed with keep all history qos policy");
+                "intraprocess communication allowed only with keep last history qos policy");
       }
-      if (qos.get_rmw_qos_profile().depth == 0) {
+      if (qos.depth() == 0) {
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with a zero qos history depth value");
       }
-      if (qos.get_rmw_qos_profile().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
+      if (qos.durability() != rclcpp::DurabilityPolicy::Volatile) {
         throw std::invalid_argument(
                 "intraprocess communication allowed only with volatile durability");
       }
@@ -170,21 +221,33 @@ public:
    * allocator.
    * \sa rclcpp::LoanedMessage for details of the LoanedMessage class.
    *
-   * \return LoanedMessage containing memory for a ROS message of type MessageT
+   * \return LoanedMessage containing memory for a ROS message of type ROSMessageType
    */
-  rclcpp::LoanedMessage<MessageT, AllocatorT>
+  rclcpp::LoanedMessage<ROSMessageType, AllocatorT>
   borrow_loaned_message()
   {
-    return rclcpp::LoanedMessage<MessageT, AllocatorT>(this, this->get_allocator());
+    return rclcpp::LoanedMessage<ROSMessageType, AllocatorT>(
+      *this,
+      this->get_ros_message_type_allocator());
   }
 
-  /// Send a message to the topic for this publisher.
+  /// Publish a message on the topic.
   /**
-   * This function is templated on the input message type, MessageT.
-   * \param[in] msg A shared pointer to the message to send.
+   * This signature is enabled if the element_type of the std::unique_ptr is
+   * a ROS message type, as opposed to the custom_type of a TypeAdapter, and
+   * that type matches the type given when creating the publisher.
+   *
+   * This signature allows the user to give ownership of the message to rclcpp,
+   * allowing for more efficient intra-process communication optimizations.
+   *
+   * \param[in] msg A unique pointer to the message to send.
    */
-  virtual void
-  publish(std::unique_ptr<MessageT, MessageDeleter> msg)
+  template<typename T>
+  typename std::enable_if_t<
+    rosidl_generator_traits::is_message<T>::value &&
+    std::is_same<T, ROSMessageType>::value
+  >
+  publish(std::unique_ptr<T, ROSMessageTypeDeleter> msg)
   {
     if (!intra_process_is_enabled_) {
       this->do_inter_process_publish(*msg);
@@ -207,8 +270,24 @@ public:
     }
   }
 
-  virtual void
-  publish(const MessageT & msg)
+  /// Publish a message on the topic.
+  /**
+   * This signature is enabled if the object being published is
+   * a ROS message type, as opposed to the custom_type of a TypeAdapter, and
+   * that type matches the type given when creating the publisher.
+   *
+   * This signature allows the user to give a reference to a message, which is
+   * copied onto the heap without modification so that a copy can be owned by
+   * rclcpp and ownership of the copy can be moved later if needed.
+   *
+   * \param[in] msg A const reference to the message to send.
+   */
+  template<typename T>
+  typename std::enable_if_t<
+    rosidl_generator_traits::is_message<T>::value &&
+    std::is_same<T, ROSMessageType>::value
+  >
+  publish(const T & msg)
   {
     // Avoid allocating when not using intra process.
     if (!intra_process_is_enabled_) {
@@ -218,12 +297,77 @@ public:
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
     // As the message is not const, a copy should be made.
     // A shared_ptr<const MessageT> could also be constructed here.
-    auto ptr = MessageAllocatorTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocatorTraits::construct(*message_allocator_.get(), ptr, msg);
-    MessageUniquePtr unique_msg(ptr, message_deleter_);
+    auto unique_msg = this->duplicate_ros_message_as_unique_ptr(msg);
     this->publish(std::move(unique_msg));
   }
 
+  /// Publish a message on the topic.
+  /**
+   * This signature is enabled if this class was created with a TypeAdapter and
+   * the element_type of the std::unique_ptr matches the custom_type for the
+   * TypeAdapter used with this class.
+   *
+   * This signature allows the user to give ownership of the message to rclcpp,
+   * allowing for more efficient intra-process communication optimizations.
+   *
+   * \param[in] msg A unique pointer to the message to send.
+   */
+  template<typename T>
+  typename std::enable_if_t<
+    rclcpp::TypeAdapter<MessageT>::is_specialized::value &&
+    std::is_same<T, PublishedType>::value
+  >
+  publish(std::unique_ptr<T, PublishedTypeDeleter> msg)
+  {
+    // TODO(wjwwood): later update this to give the unique_ptr to the intra
+    // process manager and let it decide if it needs to be converted or not.
+    // For now, convert it unconditionally and pass it the ROSMessageType
+    // publish function specialization.
+    auto unique_ros_msg = this->create_ros_message_unique_ptr();
+    rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *unique_ros_msg);
+    this->publish(std::move(unique_ros_msg));
+  }
+
+  /// Publish a message on the topic.
+  /**
+   * This signature is enabled if this class was created with a TypeAdapter and
+   * the given type matches the custom_type of the TypeAdapter.
+   *
+   * This signature allows the user to give a reference to a message, which is
+   * copied onto the heap without modification so that a copy can be owned by
+   * rclcpp and ownership of the copy can be moved later if needed.
+   *
+   * \param[in] msg A const reference to the message to send.
+   */
+  template<typename T>
+  typename std::enable_if_t<
+    rclcpp::TypeAdapter<MessageT>::is_specialized::value &&
+    std::is_same<T, PublishedType>::value
+  >
+  publish(const T & msg)
+  {
+    // TODO(wjwwood): later update this to give the unique_ptr to the intra
+    // process manager and let it decide if it needs to be converted or not.
+    // For now, convert it unconditionally and pass it the ROSMessageType
+    // publish function specialization.
+
+    // Avoid allocating when not using intra process.
+    if (!intra_process_is_enabled_) {
+      // Convert to the ROS message equivalent and publish it.
+      ROSMessageType ros_msg;
+      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(msg, ros_msg);
+      // In this case we're not using intra process.
+      return this->do_inter_process_publish(ros_msg);
+    }
+    // Otherwise we have to allocate memory in a unique_ptr, convert it,
+    // and pass it along.
+    // As the message is not const, a copy should be made.
+    // A shared_ptr<const MessageT> could also be constructed here.
+    auto unique_ros_msg = this->create_ros_message_unique_ptr();
+    rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(msg, *unique_ros_msg);
+    this->publish(std::move(unique_ros_msg));
+  }
+
   void
   publish(const rcl_serialized_message_t & serialized_msg)
   {
@@ -245,7 +389,7 @@ public:
    * \param loaned_msg The LoanedMessage instance to be published.
    */
   void
-  publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
+  publish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
   {
     if (!loaned_msg.is_valid()) {
       throw std::runtime_error("loaned message is not valid");
@@ -271,20 +415,30 @@ public:
     }
   }
 
-  std::shared_ptr<MessageAllocator>
+  [[deprecated("use get_published_type_allocator() or get_ros_message_type_allocator() instead")]]
+  std::shared_ptr<PublishedTypeAllocator>
   get_allocator() const
   {
-    return message_allocator_;
+    return std::make_shared<PublishedTypeAllocator>(published_type_allocator_);
+  }
+
+  PublishedTypeAllocator
+  get_published_type_allocator() const
+  {
+    return published_type_allocator_;
+  }
+
+  ROSMessageTypeAllocator
+  get_ros_message_type_allocator() const
+  {
+    return ros_message_type_allocator_;
   }
 
 protected:
   void
-  do_inter_process_publish(const MessageT & msg)
+  do_inter_process_publish(const ROSMessageType & msg)
   {
-    TRACEPOINT(
-      rclcpp_publish,
-      static_cast<const void *>(publisher_handle_.get()),
-      static_cast<const void *>(&msg));
+    TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(&msg));
     auto status = rcl_publish(publisher_handle_.get(), &msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
@@ -316,7 +470,8 @@ protected:
   }
 
   void
-  do_loaned_message_publish(std::unique_ptr<MessageT, std::function<void(MessageT *)>> msg)
+  do_loaned_message_publish(
+    std::unique_ptr<ROSMessageType, std::function<void(ROSMessageType *)>> msg)
   {
     auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg.get(), nullptr);
 
@@ -336,7 +491,7 @@ protected:
   }
 
   void
-  do_intra_process_publish(std::unique_ptr<MessageT, MessageDeleter> msg)
+  do_intra_process_publish(std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> msg)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -347,14 +502,15 @@ protected:
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
 
-    ipm->template do_intra_process_publish<MessageT, AllocatorT>(
+    ipm->template do_intra_process_publish<ROSMessageType, AllocatorT>(
       intra_process_publisher_id_,
       std::move(msg),
-      message_allocator_);
+      ros_message_type_allocator_);
   }
 
-  std::shared_ptr<const MessageT>
-  do_intra_process_publish_and_return_shared(std::unique_ptr<MessageT, MessageDeleter> msg)
+  std::shared_ptr<const ROSMessageType>
+  do_intra_process_publish_and_return_shared(
+    std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> msg)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -365,10 +521,29 @@ protected:
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
 
-    return ipm->template do_intra_process_publish_and_return_shared<MessageT, AllocatorT>(
+    return ipm->template do_intra_process_publish_and_return_shared<ROSMessageType,
+             AllocatorT>(
       intra_process_publisher_id_,
       std::move(msg),
-      message_allocator_);
+      ros_message_type_allocator_);
+  }
+
+  /// Return a new unique_ptr using the ROSMessageType of the publisher.
+  std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>
+  create_ros_message_unique_ptr()
+  {
+    auto ptr = ROSMessageTypeAllocatorTraits::allocate(ros_message_type_allocator_, 1);
+    ROSMessageTypeAllocatorTraits::construct(ros_message_type_allocator_, ptr);
+    return std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, ros_message_type_deleter_);
+  }
+
+  /// Duplicate a given ros message as a unique_ptr.
+  std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>
+  duplicate_ros_message_as_unique_ptr(const ROSMessageType & msg)
+  {
+    auto ptr = ROSMessageTypeAllocatorTraits::allocate(ros_message_type_allocator_, 1);
+    ROSMessageTypeAllocatorTraits::construct(ros_message_type_allocator_, ptr, msg);
+    return std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, ros_message_type_deleter_);
   }
 
   /// Copy of original options passed during construction.
@@ -378,9 +553,10 @@ protected:
    */
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> options_;
 
-  std::shared_ptr<MessageAllocator> message_allocator_;
-
-  MessageDeleter message_deleter_;
+  PublishedTypeAllocator published_type_allocator_;
+  PublishedTypeDeleter published_type_deleter_;
+  ROSMessageTypeAllocator ros_message_type_allocator_;
+  ROSMessageTypeDeleter ros_message_type_deleter_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/publisher_options.hpp

@@ -17,6 +17,7 @@
 
 #include <memory>
 #include <string>
+#include <type_traits>
 #include <vector>
 
 #include "rcl/publisher.h"
@@ -64,6 +65,10 @@ struct PublisherOptionsBase
 template<typename Allocator>
 struct PublisherOptionsWithAllocator : public PublisherOptionsBase
 {
+  static_assert(
+    std::is_void_v<typename std::allocator_traits<Allocator>::value_type>,
+    "Publisher allocator value type must be void");
+
   /// Optional custom allocator.
   std::shared_ptr<Allocator> allocator = nullptr;
 
@@ -80,10 +85,7 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
   to_rcl_publisher_options(const rclcpp::QoS & qos) const
   {
     rcl_publisher_options_t result = rcl_publisher_get_default_options();
-    using AllocatorTraits = std::allocator_traits<Allocator>;
-    using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
-    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
-    result.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc);
+    result.allocator = this->get_rcl_allocator();
     result.qos = qos.get_rmw_qos_profile();
     result.rmw_publisher_options.require_unique_network_flow_endpoints =
       this->require_unique_network_flow_endpoints;
@@ -102,10 +104,35 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
   get_allocator() const
   {
     if (!this->allocator) {
-      return std::make_shared<Allocator>();
+      if (!allocator_storage_) {
+        allocator_storage_ = std::make_shared<Allocator>();
+      }
+      return allocator_storage_;
     }
     return this->allocator;
   }
+
+private:
+  using PlainAllocator =
+    typename std::allocator_traits<Allocator>::template rebind_alloc<char>;
+
+  rcl_allocator_t
+  get_rcl_allocator() const
+  {
+    if (!plain_allocator_storage_) {
+      plain_allocator_storage_ =
+        std::make_shared<PlainAllocator>(*this->get_allocator());
+    }
+    return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
+  }
+
+  // This is a temporal workaround, to make sure that get_allocator()
+  // always returns a copy of the same allocator.
+  mutable std::shared_ptr<Allocator> allocator_storage_;
+
+  // This is a temporal workaround, to keep the plain allocator that backs
+  // up the rcl allocator returned in rcl_publisher_options_t alive.
+  mutable std::shared_ptr<PlainAllocator> plain_allocator_storage_;
 };
 
 using PublisherOptions = PublisherOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/rclcpp.hpp

@@ -140,7 +140,6 @@
  *   - rclcpp/duration.hpp
  *   - rclcpp/function_traits.hpp
  *   - rclcpp/macros.hpp
- *   - rclcpp/scope_exit.hpp
  *   - rclcpp/time.hpp
  *   - rclcpp/utilities.hpp
  *   - rclcpp/typesupport_helpers.hpp

rclcpp/include/rclcpp/scope_exit.hpp

@@ -19,6 +19,10 @@
 #ifndef RCLCPP__SCOPE_EXIT_HPP_
 #define RCLCPP__SCOPE_EXIT_HPP_
 
+// TODO(christophebedard) remove this header completely in I-turtle
+
+#warning rclcpp/scope_exit.hpp has been deprecated, please use rcpputils/scope_exit.hpp instead
+
 #include <functional>
 
 #include "rclcpp/macros.hpp"

rclcpp/include/rclcpp/serialized_message.hpp

@@ -47,7 +47,7 @@ public:
    * \param[in] initial_capacity The amount of memory to be allocated.
    * \param[in] allocator The allocator to be used for the initialization.
    */
-  SerializedMessage(
+  explicit SerializedMessage(
     size_t initial_capacity,
     const rcl_allocator_t & allocator = rcl_get_default_allocator());
 

rclcpp/include/rclcpp/service.hpp

@@ -141,7 +141,9 @@ protected:
 };
 
 template<typename ServiceT>
-class Service : public ServiceBase
+class Service
+  : public ServiceBase,
+  public std::enable_shared_from_this<Service<ServiceT>>
 {
 public:
   using CallbackType = std::function<
@@ -177,25 +179,16 @@ public:
     using rosidl_typesupport_cpp::get_service_type_support_handle;
     auto service_type_support_handle = get_service_type_support_handle<ServiceT>();
 
-    std::weak_ptr<rcl_node_t> weak_node_handle(node_handle_);
     // rcl does the static memory allocation here
     service_handle_ = std::shared_ptr<rcl_service_t>(
-      new rcl_service_t, [weak_node_handle, service_name](rcl_service_t * service)
+      new rcl_service_t, [handle = node_handle_, service_name](rcl_service_t * service)
       {
-        auto handle = weak_node_handle.lock();
-        if (handle) {
-          if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
-            RCLCPP_ERROR(
-              rclcpp::get_node_logger(handle.get()).get_child("rclcpp"),
-              "Error in destruction of rcl service handle: %s",
-              rcl_get_error_string().str);
-            rcl_reset_error();
-          }
-        } else {
-          RCLCPP_ERROR_STREAM(
-            rclcpp::get_logger("rclcpp"),
-            "Error in destruction of rcl service handle " << service_name <<
-              ": the Node Handle was destructed too early. You will leak memory");
+        if (rcl_service_fini(service, handle.get()) != RCL_RET_OK) {
+          RCLCPP_ERROR(
+            rclcpp::get_node_logger(handle.get()).get_child("rclcpp"),
+            "Error in destruction of rcl service handle: %s",
+            rcl_get_error_string().str);
+          rcl_reset_error();
         }
         delete service;
       });
@@ -344,9 +337,10 @@ public:
     std::shared_ptr<void> request) override
   {
     auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
-    auto response = std::make_shared<typename ServiceT::Response>();
-    any_callback_.dispatch(request_header, typed_request, response);
-    send_response(*request_header, *response);
+    auto response = any_callback_.dispatch(this->shared_from_this(), request_header, typed_request);
+    if (response) {
+      send_response(*request_header, *response);
+    }
   }
 
   void

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -388,6 +388,11 @@ public:
           ++it;
           continue;
         }
+        if (!timer->call()) {
+          // timer was cancelled, skip it.
+          ++it;
+          continue;
+        }
         // Otherwise it is safe to set and return the any_exec
         any_exec.timer = timer;
         any_exec.callback_group = group;
@@ -395,7 +400,7 @@ public:
         timer_handles_.erase(it);
         return;
       }
-      // Else, the service is no longer valid, remove it and continue
+      // Else, the timer is no longer valid, remove it and continue
       it = timer_handles_.erase(it);
     }
   }

rclcpp/include/rclcpp/subscription.hpp

@@ -60,10 +60,16 @@ class NodeTopicsInterface;
 
 /// Subscription implementation, templated on the type of message this subscription receives.
 template<
-  typename CallbackMessageT,
+  typename MessageT,
   typename AllocatorT = std::allocator<void>,
+  /// MessageT::custom_type if MessageT is a TypeAdapter,
+  /// otherwise just MessageT.
+  typename SubscribedT = typename rclcpp::TypeAdapter<MessageT>::custom_type,
+  /// MessageT::ros_message_type if MessageT is a TypeAdapter,
+  /// otherwise just MessageT.
+  typename ROSMessageT = typename rclcpp::TypeAdapter<MessageT>::ros_message_type,
   typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
+    ROSMessageT,
     AllocatorT
   >>
 class Subscription : public SubscriptionBase
@@ -71,14 +77,36 @@ class Subscription : public SubscriptionBase
   friend class rclcpp::node_interfaces::NodeTopicsInterface;
 
 public:
-  using MessageAllocatorTraits = allocator::AllocRebind<CallbackMessageT, AllocatorT>;
-  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
-  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>>;
+  // Redeclare these here to use outside of the class.
+  using SubscribedType = SubscribedT;
+  using ROSMessageType = ROSMessageT;
+  using MessageMemoryStrategyType = MessageMemoryStrategyT;
 
+  using SubscribedTypeAllocatorTraits = allocator::AllocRebind<SubscribedType, AllocatorT>;
+  using SubscribedTypeAllocator = typename SubscribedTypeAllocatorTraits::allocator_type;
+  using SubscribedTypeDeleter = allocator::Deleter<SubscribedTypeAllocator, SubscribedType>;
+
+  using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, AllocatorT>;
+  using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
+  using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
+
+  using MessageAllocatorTraits [[deprecated("use ROSMessageTypeAllocatorTraits")]] =
+    ROSMessageTypeAllocatorTraits;
+  using MessageAllocator [[deprecated("use ROSMessageTypeAllocator")]] =
+    ROSMessageTypeAllocator;
+  using MessageDeleter [[deprecated("use ROSMessageTypeDeleter")]] =
+    ROSMessageTypeDeleter;
+
+  using ConstMessageSharedPtr [[deprecated]] = std::shared_ptr<const ROSMessageType>;
+  using MessageUniquePtr
+  [[deprecated("use std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> instead")]] =
+    std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>;
+
+private:
+  using SubscriptionTopicStatisticsSharedPtr =
+    std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>;
+
+public:
   RCLCPP_SMART_PTR_DEFINITIONS(Subscription)
 
   /// Default constructor.
@@ -104,7 +132,7 @@ public:
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
     const rclcpp::QoS & qos,
-    AnySubscriptionCallback<CallbackMessageT, AllocatorT> callback,
+    AnySubscriptionCallback<MessageT, AllocatorT> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
     typename MessageMemoryStrategyT::SharedPtr message_memory_strategy,
     SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics = nullptr)
@@ -112,8 +140,8 @@ public:
       node_base,
       type_support_handle,
       topic_name,
-      options.template to_rcl_subscription_options<CallbackMessageT>(qos),
-      rclcpp::subscription_traits::is_serialized_subscription_argument<CallbackMessageT>::value),
+      options.template to_rcl_subscription_options<ROSMessageType>(qos),
+      callback.is_serialized_message_callback()),
     any_callback_(callback),
     options_(options),
     message_memory_strategy_(message_memory_strategy)
@@ -155,16 +183,16 @@ public:
       using rclcpp::detail::resolve_intra_process_buffer_type;
 
       // Check if the QoS is compatible with intra-process.
-      rmw_qos_profile_t qos_profile = get_actual_qos().get_rmw_qos_profile();
-      if (qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
+      auto qos_profile = get_actual_qos();
+      if (qos_profile.history() != rclcpp::HistoryPolicy::KeepLast) {
         throw std::invalid_argument(
-                "intraprocess communication is not allowed with keep all history qos policy");
+                "intraprocess communication allowed only with keep last history qos policy");
       }
-      if (qos_profile.depth == 0) {
+      if (qos_profile.depth() == 0) {
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with 0 depth qos policy");
       }
-      if (qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
+      if (qos_profile.durability() != rclcpp::DurabilityPolicy::Volatile) {
         throw std::invalid_argument(
                 "intraprocess communication allowed only with volatile durability");
       }
@@ -241,11 +269,34 @@ public:
    * \throws any rcl errors from rcl_take, \sa rclcpp::exceptions::throw_from_rcl_error()
    */
   bool
-  take(CallbackMessageT & message_out, rclcpp::MessageInfo & message_info_out)
+  take(ROSMessageType & message_out, rclcpp::MessageInfo & message_info_out)
   {
     return this->take_type_erased(static_cast<void *>(&message_out), message_info_out);
   }
 
+  /// Take the next message from the inter-process subscription.
+  /**
+   * This verison takes a SubscribedType which is different frmo the
+   * ROSMessageType when a rclcpp::TypeAdapter is in used.
+   *
+   * \sa take(ROSMessageType &, rclcpp::MessageInfo &)
+   */
+  template<typename TakeT>
+  std::enable_if_t<
+    !rosidl_generator_traits::is_message<TakeT>::value &&
+    std::is_same_v<TakeT, SubscribedType>,
+    bool
+  >
+  take(TakeT & message_out, rclcpp::MessageInfo & message_info_out)
+  {
+    ROSMessageType local_message;
+    bool taken = this->take_type_erased(static_cast<void *>(&local_message), message_info_out);
+    if (taken) {
+      rclcpp::TypeAdapter<MessageT>::convert_to_custom(local_message, message_out);
+    }
+    return taken;
+  }
+
   std::shared_ptr<void>
   create_message() override
   {
@@ -272,7 +323,7 @@ public:
       // we should ignore this copy of the message.
       return;
     }
-    auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
+    auto typed_message = std::static_pointer_cast<ROSMessageType>(message);
 
     std::chrono::time_point<std::chrono::system_clock> now;
     if (subscription_topic_statistics_) {
@@ -290,15 +341,24 @@ public:
     }
   }
 
+  void
+  handle_serialized_message(
+    const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
+    const rclcpp::MessageInfo & message_info) override
+  {
+    // TODO(wjwwood): enable topic statistics for serialized messages
+    any_callback_.dispatch(serialized_message, message_info);
+  }
+
   void
   handle_loaned_message(
     void * loaned_message,
     const rclcpp::MessageInfo & message_info) override
   {
-    auto typed_message = static_cast<CallbackMessageT *>(loaned_message);
+    auto typed_message = static_cast<ROSMessageType *>(loaned_message);
     // message is loaned, so we have to make sure that the deleter does not deallocate the message
-    auto sptr = std::shared_ptr<CallbackMessageT>(
-      typed_message, [](CallbackMessageT * msg) {(void) msg;});
+    auto sptr = std::shared_ptr<ROSMessageType>(
+      typed_message, [](ROSMessageType * msg) {(void) msg;});
     any_callback_.dispatch(sptr, message_info);
   }
 
@@ -309,7 +369,7 @@ public:
   void
   return_message(std::shared_ptr<void> & message) override
   {
-    auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
+    auto typed_message = std::static_pointer_cast<ROSMessageType>(message);
     message_memory_strategy_->return_message(typed_message);
   }
 
@@ -332,21 +392,24 @@ public:
 private:
   RCLCPP_DISABLE_COPY(Subscription)
 
-  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_callback_;
+  AnySubscriptionCallback<MessageT, AllocatorT> any_callback_;
   /// Copy of original options passed during construction.
   /**
    * It is important to save a copy of this so that the rmw payload which it
    * may contain is kept alive for the duration of the subscription.
    */
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> options_;
-  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, AllocatorT>::SharedPtr
+  typename message_memory_strategy::MessageMemoryStrategy<ROSMessageType, AllocatorT>::SharedPtr
     message_memory_strategy_;
+
   /// Component which computes and publishes topic statistics for this subscriber
   SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics_{nullptr};
+
   using SubscriptionIntraProcessT = rclcpp::experimental::SubscriptionIntraProcess<
-    CallbackMessageT,
+    ROSMessageType,
     AllocatorT,
-    typename MessageUniquePtr::deleter_type>;
+    ROSMessageTypeDeleter,
+    MessageT>;
   std::shared_ptr<SubscriptionIntraProcessT> subscription_intra_process_;
 };
 

rclcpp/include/rclcpp/subscription_base.hpp

@@ -183,6 +183,13 @@ public:
   void
   handle_message(std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) = 0;
 
+  RCLCPP_PUBLIC
+  virtual
+  void
+  handle_serialized_message(
+    const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
+    const rclcpp::MessageInfo & message_info) = 0;
+
   RCLCPP_PUBLIC
   virtual
   void

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -25,6 +25,7 @@
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
 #include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/get_message_type_support_handle.hpp"
 #include "rclcpp/intra_process_buffer_type.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/qos.hpp"
@@ -74,26 +75,23 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename CallbackMessageT =
-  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
-  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >>
+  typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType,
+  typename ROSMessageType = typename SubscriptionT::ROSMessageType
+>
 SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
   typename MessageMemoryStrategyT::SharedPtr msg_mem_strat,
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
+  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>
   subscription_topic_stats = nullptr
 )
 {
   auto allocator = options.get_allocator();
 
   using rclcpp::AnySubscriptionCallback;
-  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_subscription_callback(*allocator);
+  AnySubscriptionCallback<MessageT, AllocatorT> any_subscription_callback(*allocator);
   any_subscription_callback.set(std::forward<CallbackT>(callback));
 
   SubscriptionFactory factory {
@@ -107,9 +105,9 @@ create_subscription_factory(
       using rclcpp::Subscription;
       using rclcpp::SubscriptionBase;
 
-      auto sub = Subscription<CallbackMessageT, AllocatorT>::make_shared(
+      auto sub = Subscription<MessageT, AllocatorT>::make_shared(
         node_base,
-        *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
+        rclcpp::get_message_type_support_handle<MessageT>(),
         topic_name,
         qos,
         any_subscription_callback,

rclcpp/include/rclcpp/subscription_options.hpp

@@ -18,6 +18,7 @@
 #include <chrono>
 #include <memory>
 #include <string>
+#include <type_traits>
 #include <vector>
 
 #include "rclcpp/callback_group.hpp"
@@ -86,6 +87,10 @@ struct SubscriptionOptionsBase
 template<typename Allocator>
 struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
 {
+  static_assert(
+    std::is_void_v<typename std::allocator_traits<Allocator>::value_type>,
+    "Subscription allocator value type must be void");
+
   /// Optional custom allocator.
   std::shared_ptr<Allocator> allocator = nullptr;
 
@@ -107,10 +112,7 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
   to_rcl_subscription_options(const rclcpp::QoS & qos) const
   {
     rcl_subscription_options_t result = rcl_subscription_get_default_options();
-    using AllocatorTraits = std::allocator_traits<Allocator>;
-    using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
-    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
-    result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
+    result.allocator = this->get_rcl_allocator();
     result.qos = qos.get_rmw_qos_profile();
     result.rmw_subscription_options.ignore_local_publications = this->ignore_local_publications;
     result.rmw_subscription_options.require_unique_network_flow_endpoints =
@@ -124,15 +126,39 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
     return result;
   }
 
-  /// Get the allocator, creating one if needed.
   std::shared_ptr<Allocator>
   get_allocator() const
   {
     if (!this->allocator) {
-      return std::make_shared<Allocator>();
+      if (!allocator_storage_) {
+        allocator_storage_ = std::make_shared<Allocator>();
+      }
+      return allocator_storage_;
     }
     return this->allocator;
   }
+
+private:
+  using PlainAllocator =
+    typename std::allocator_traits<Allocator>::template rebind_alloc<char>;
+
+  rcl_allocator_t
+  get_rcl_allocator() const
+  {
+    if (!plain_allocator_storage_) {
+      plain_allocator_storage_ =
+        std::make_shared<PlainAllocator>(*this->get_allocator());
+    }
+    return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
+  }
+
+  // This is a temporal workaround, to make sure that get_allocator()
+  // always returns a copy of the same allocator.
+  mutable std::shared_ptr<Allocator> allocator_storage_;
+
+  // This is a temporal workaround, to keep the plain allocator that backs
+  // up the rcl allocator returned in rcl_subscription_options_t alive.
+  mutable std::shared_ptr<PlainAllocator> plain_allocator_storage_;
 };
 
 using SubscriptionOptions = SubscriptionOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/time_source.hpp

@@ -74,14 +74,14 @@ public:
     const rclcpp::QoS & qos = rclcpp::ClockQoS(),
     bool use_clock_thread = true);
 
-  /// Attack node to the time source.
+  /// Attach 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.
+  /// Attach 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.

rclcpp/include/rclcpp/timer.hpp

@@ -91,6 +91,17 @@ public:
   void
   reset();
 
+  /// Indicate that we're about to execute the callback.
+  /**
+   * The multithreaded executor takes advantage of this to avoid scheduling
+   * the callback multiple times.
+   *
+   * \return `true` if the callback should be executed, `false` if the timer was canceled.
+   */
+  RCLCPP_PUBLIC
+  virtual bool
+  call() = 0;
+
   /// Call the callback function when the timer signal is emitted.
   RCLCPP_PUBLIC
   virtual void
@@ -192,19 +203,28 @@ public:
   }
 
   /**
-   * \sa rclcpp::TimerBase::execute_callback
-   * \throws std::runtime_error if it failed to notify timer that callback occurred
+   * \sa rclcpp::TimerBase::call
+   * \throws std::runtime_error if it failed to notify timer that callback will occurr
    */
-  void
-  execute_callback() override
+  bool
+  call() override
   {
     rcl_ret_t ret = rcl_timer_call(timer_handle_.get());
     if (ret == RCL_RET_TIMER_CANCELED) {
-      return;
+      return false;
     }
     if (ret != RCL_RET_OK) {
       throw std::runtime_error("Failed to notify timer that callback occurred");
     }
+    return true;
+  }
+
+  /**
+   * \sa rclcpp::TimerBase::execute_callback
+   */
+  void
+  execute_callback() override
+  {
     TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
     execute_callback_delegate<>();
     TRACEPOINT(callback_end, static_cast<const void *>(&callback_));

rclcpp/include/rclcpp/type_adapter.hpp

@@ -0,0 +1,201 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__TYPE_ADAPTER_HPP_
+#define RCLCPP__TYPE_ADAPTER_HPP_
+
+#include <type_traits>
+
+namespace rclcpp
+{
+
+/// Template structure used to adapt custom, user-defined types to ROS types.
+/**
+ * Adapting a custom, user-defined type to a ROS type allows that custom type
+ * to be used when publishing and subscribing in ROS.
+ *
+ * In order to adapt a custom type to a ROS type, the user must create a
+ * template specialization of this structure for the custom type.
+ * In that specialization they must:
+ *
+ *   - change `is_specialized` to `std::true_type`,
+ *   - specify the custom type with `using custom_type = ...`,
+ *   - specify the ROS type with `using ros_message_type = ...`,
+ *   - provide static convert functions with the signatures:
+ *     - static void convert_to_ros(const custom_type &, ros_message_type &)
+ *     - static void convert_to_custom(const ros_message_type &, custom_type &)
+ *
+ * The convert functions must convert from one type to the other.
+ *
+ * For example, here is a theoretical example for adapting `std::string` to the
+ * `std_msgs::msg::String` ROS message type:
+ *
+ *     template<>
+ *     struct rclcpp::TypeAdapter<std::string, std_msgs::msg::String>
+ *     {
+ *       using is_specialized = std::true_type;
+ *       using custom_type = std::string;
+ *       using ros_message_type = std_msgs::msg::String;
+ *
+ *       static
+ *       void
+ *       convert_to_ros_message(
+ *         const custom_type & source,
+ *         ros_message_type & destination)
+ *       {
+ *         destination.data = source;
+ *       }
+ *
+ *       static
+ *       void
+ *       convert_to_custom(
+ *         const ros_message_type & source,
+ *         custom_type & destination)
+ *       {
+ *         destination = source.data;
+ *       }
+ *     };
+ *
+ * The adapter can then be used when creating a publisher or subscription,
+ * e.g.:
+ *
+ *     using MyAdaptedType = TypeAdapter<std::string, std_msgs::msg::String>;
+ *     auto pub = node->create_publisher<MyAdaptedType>("topic", 10);
+ *     auto sub = node->create_subscription<MyAdaptedType>(
+ *       "topic",
+ *       10,
+ *       [](const std::string & msg) {...});
+ *
+ * You can also be more declarative by using the adapt_type::as metafunctions,
+ * which are a bit less ambiguous to read:
+ *
+ *     using AdaptedType = rclcpp::adapt_type<std::string>::as<std_msgs::msg::String>;
+ *     auto pub = node->create_publisher<AdaptedType>(...);
+ *
+ * If you wish, you may associate a custom type with a single ROS message type,
+ * allowing you to be a bit more brief when creating entities, e.g.:
+ *
+ *     // First you must declare the association, this is similar to how you
+ *     // would avoid using the namespace in C++ by doing `using std::vector;`.
+ *     RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(std::string, std_msgs::msg::String);
+ *
+ *     // Then you can create things with just the custom type, and the ROS
+ *     // message type is implied based on the previous statement.
+ *     auto pub = node->create_publisher<std::string>(...);
+ */
+template<typename CustomType, typename ROSMessageType = void, class Enable = void>
+struct TypeAdapter
+{
+  using is_specialized = std::false_type;
+  using custom_type = CustomType;
+  // In this case, the CustomType is the only thing given, or there is no specialization.
+  // Assign ros_message_type to CustomType for the former case.
+  using ros_message_type = CustomType;
+};
+
+/// Helper template to determine if a type is a TypeAdapter, false specialization.
+template<typename T>
+struct is_type_adapter : std::false_type {};
+
+/// Helper template to determine if a type is a TypeAdapter, true specialization.
+template<typename ... Ts>
+struct is_type_adapter<TypeAdapter<Ts...>>: std::true_type {};
+
+/// Identity specialization for TypeAdapter.
+template<typename T>
+struct TypeAdapter<T, void, std::enable_if_t<is_type_adapter<T>::value>>: T {};
+
+namespace detail
+{
+
+template<typename CustomType, typename ROSMessageType>
+struct assert_type_pair_is_specialized_type_adapter
+{
+  using type_adapter = TypeAdapter<CustomType, ROSMessageType>;
+  static_assert(
+    type_adapter::is_specialized::value,
+    "No type adapter for this custom type/ros message type pair");
+};
+
+}  // namespace detail
+
+/// Template metafunction that can make the type being adapted explicit.
+template<typename CustomType>
+struct adapt_type
+{
+  template<typename ROSMessageType>
+  using as = typename ::rclcpp::detail::assert_type_pair_is_specialized_type_adapter<
+    CustomType,
+    ROSMessageType
+    >::type_adapter;
+};
+
+/// Implicit type adapter used as a short hand way to create something with just the custom type.
+/**
+ * This is used when creating a publisher or subscription using just the custom
+ * type in conjunction with RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE().
+ * For example:
+ *
+ *     #include "type_adapter_for_std_string_to_std_msgs_String.hpp"
+ *
+ *     RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(std::string, std_msgs::msg::String);
+ *
+ *     int main(...) {
+ *       // ...
+ *       auto pub = node->create_publisher<std::string>(...);
+ *     }
+ *
+ * \sa TypeAdapter for more examples.
+ */
+template<typename CustomType>
+struct ImplicitTypeAdapter
+{
+  using is_specialized = std::false_type;
+};
+
+/// Specialization of TypeAdapter for ImplicitTypeAdapter.
+/**
+ * This allows for things like this:
+ *
+ *    RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(std::string, std_msgs::msg::String);
+ *    auto pub = node->create_publisher<std::string>("topic", 10);
+ *
+ */
+template<typename T>
+struct TypeAdapter<T, void, std::enable_if_t<ImplicitTypeAdapter<T>::is_specialized::value>>
+  : ImplicitTypeAdapter<T>
+{};
+
+/// Assigns the custom type implicitly to the given custom type/ros message type pair.
+/**
+ * Note: this macro needs to be used in the root namespace.
+ * We cannot use ::rclcpp to protect against this, due to how GCC interprets the
+ * syntax, see: https://stackoverflow.com/a/2781537
+ *
+ * \sa TypeAdapter
+ * \sa ImplicitTypeAdapter
+ */
+#define RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(CustomType, ROSMessageType) \
+  template<> \
+  struct rclcpp::ImplicitTypeAdapter<CustomType> \
+    : public rclcpp::TypeAdapter<CustomType, ROSMessageType> \
+  { \
+    static_assert( \
+      is_specialized::value, \
+      "Cannot use custom type as ros type when there is no TypeAdapter for that pair"); \
+  }
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__TYPE_ADAPTER_HPP_

rclcpp/include/rclcpp/wait_for_message.hpp

@@ -0,0 +1,100 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__WAIT_FOR_MESSAGE_HPP_
+#define RCLCPP__WAIT_FOR_MESSAGE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rclcpp/wait_set.hpp"
+
+namespace rclcpp
+{
+/// Wait for the next incoming message.
+/**
+ * Given an already initialized subscription,
+ * wait for the next incoming message to arrive before the specified timeout.
+ *
+ * \param[out] out is the message to be filled when a new message is arriving.
+ * \param[in] subscription shared pointer to a previously initialized subscription.
+ * \param[in] context shared pointer to a context to watch for SIGINT requests.
+ * \param[in] time_to_wait parameter specifying the timeout before returning.
+ * \return true if a message was successfully received, false if message could not
+ * be obtained or shutdown was triggered asynchronously on the context.
+ */
+template<class MsgT, class Rep = int64_t, class Period = std::milli>
+bool wait_for_message(
+  MsgT & out,
+  std::shared_ptr<rclcpp::Subscription<MsgT>> subscription,
+  std::shared_ptr<rclcpp::Context> context,
+  std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1))
+{
+  auto gc = std::make_shared<rclcpp::GuardCondition>(context);
+  auto shutdown_callback_handle = context->add_on_shutdown_callback(
+    [weak_gc = std::weak_ptr<rclcpp::GuardCondition>{gc}]() {
+      auto strong_gc = weak_gc.lock();
+      if (strong_gc) {
+        strong_gc->trigger();
+      }
+    });
+
+  rclcpp::WaitSet wait_set;
+  wait_set.add_subscription(subscription);
+  wait_set.add_guard_condition(gc);
+  auto ret = wait_set.wait(time_to_wait);
+  if (ret.kind() != rclcpp::WaitResultKind::Ready) {
+    return false;
+  }
+
+  if (wait_set.get_rcl_wait_set().guard_conditions[0]) {
+    return false;
+  }
+
+  rclcpp::MessageInfo info;
+  if (!subscription->take(out, info)) {
+    return false;
+  }
+
+  return true;
+}
+
+/// Wait for the next incoming message.
+/**
+ * Wait for the next incoming message to arrive on a specified topic before the specified timeout.
+ *
+ * \param[out] out is the message to be filled when a new message is arriving.
+ * \param[in] node the node pointer to initialize the subscription on.
+ * \param[in] topic the topic to wait for messages.
+ * \param[in] time_to_wait parameter specifying the timeout before returning.
+ * \return true if a message was successfully received, false if message could not
+ * be obtained or shutdown was triggered asynchronously on the context.
+ */
+template<class MsgT, class Rep = int64_t, class Period = std::milli>
+bool wait_for_message(
+  MsgT & out,
+  rclcpp::Node::SharedPtr node,
+  const std::string & topic,
+  std::chrono::duration<Rep, Period> time_to_wait = std::chrono::duration<Rep, Period>(-1))
+{
+  auto sub = node->create_subscription<MsgT>(topic, 1, [](const std::shared_ptr<MsgT>) {});
+  return wait_for_message<MsgT, Rep, Period>(
+    out, sub, node->get_node_options().context(), time_to_wait);
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__WAIT_FOR_MESSAGE_HPP_

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -20,13 +20,13 @@
 #include <utility>
 
 #include "rcl/wait.h"
+#include "rcpputils/scope_exit.hpp"
 
 #include "rclcpp/client.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/scope_exit.hpp"
 #include "rclcpp/service.hpp"
 #include "rclcpp/subscription_base.hpp"
 #include "rclcpp/subscription_wait_set_mask.hpp"
@@ -657,7 +657,7 @@ public:
 
     // ensure the ownership of the entities in the wait set is shared for the duration of wait
     this->storage_acquire_ownerships();
-    RCLCPP_SCOPE_EXIT({this->storage_release_ownerships();});
+    RCPPUTILS_SCOPE_EXIT({this->storage_release_ownerships();});
 
     // this method comes from the SynchronizationPolicy
     return this->template sync_wait<WaitResult<WaitSetTemplate>>(

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>9.0.2</version>
+  <version>13.0.0</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>
@@ -11,6 +11,7 @@
   <author email="dthomas@openrobotics.org">Dirk Thomas</author>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>python3</buildtool_depend>
 
   <build_depend>ament_index_cpp</build_depend>
   <build_depend>builtin_interfaces</build_depend>

rclcpp/src/rclcpp/context.cpp

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

rclcpp/src/rclcpp/detail/mutex_two_priorities.cpp

@@ -1,104 +0,0 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "rclcpp/detail/mutex_two_priorities.hpp"
-
-#include <mutex>
-
-namespace rclcpp
-{
-namespace detail
-{
-
-using LowPriorityLockable = MutexTwoPriorities::LowPriorityLockable;
-using HighPriorityLockable = MutexTwoPriorities::HighPriorityLockable;
-
-HighPriorityLockable::HighPriorityLockable(MutexTwoPriorities & parent)
-: parent_(parent)
-{}
-
-void
-HighPriorityLockable::lock()
-{
-  std::unique_lock<std::mutex> guard{parent_.cv_mutex_};
-  if (parent_.data_taken_) {
-    ++parent_.hp_waiting_count_;
-    while (parent_.data_taken_) {
-      parent_.hp_cv_.wait(guard);
-    }
-    --parent_.hp_waiting_count_;
-  }
-  parent_.data_taken_ = true;
-}
-
-void
-HighPriorityLockable::unlock()
-{
-  bool notify_lp{false};
-  {
-    std::lock_guard<std::mutex> guard{parent_.cv_mutex_};
-    parent_.data_taken_ = false;
-    notify_lp = 0u == parent_.hp_waiting_count_;
-  }
-  if (notify_lp) {
-    parent_.lp_cv_.notify_one();
-  } else {
-    parent_.hp_cv_.notify_one();
-  }
-}
-
-LowPriorityLockable::LowPriorityLockable(MutexTwoPriorities & parent)
-: parent_(parent)
-{}
-
-void
-LowPriorityLockable::lock()
-{
-  std::unique_lock<std::mutex> guard{parent_.cv_mutex_};
-  while (parent_.data_taken_ || parent_.hp_waiting_count_) {
-    parent_.lp_cv_.wait(guard);
-  }
-  parent_.data_taken_ = true;
-}
-
-void
-LowPriorityLockable::unlock()
-{
-  bool notify_lp{false};
-  {
-    std::lock_guard<std::mutex> guard{parent_.cv_mutex_};
-    parent_.data_taken_ = false;
-    notify_lp = 0u == parent_.hp_waiting_count_;
-  }
-  if (notify_lp) {
-    parent_.lp_cv_.notify_one();
-  } else {
-    parent_.hp_cv_.notify_one();
-  }
-}
-
-HighPriorityLockable
-MutexTwoPriorities::get_high_priority_lockable()
-{
-  return HighPriorityLockable{*this};
-}
-
-LowPriorityLockable
-MutexTwoPriorities::get_low_priority_lockable()
-{
-  return LowPriorityLockable{*this};
-}
-
-}  // namespace detail
-}  // namespace rclcpp

rclcpp/src/rclcpp/detail/resolve_parameter_overrides.cpp

@@ -19,8 +19,8 @@
 #include <vector>
 
 #include "rcl_yaml_param_parser/parser.h"
+#include "rcpputils/scope_exit.hpp"
 
-#include "rclcpp/scope_exit.hpp"
 #include "rclcpp/parameter_map.hpp"
 
 std::map<std::string, rclcpp::ParameterValue>
@@ -47,7 +47,7 @@ rclcpp::detail::resolve_parameter_overrides(
       rclcpp::exceptions::throw_from_rcl_error(ret);
     }
     if (params) {
-      auto cleanup_params = make_scope_exit(
+      auto cleanup_params = rcpputils::make_scope_exit(
         [params]() {
           rcl_yaml_node_struct_fini(params);
         });

rclcpp/src/rclcpp/executor.cpp

@@ -22,17 +22,19 @@
 
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
+#include "rcpputils/scope_exit.hpp"
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/scope_exit.hpp"
 #include "rclcpp/utilities.hpp"
 
 #include "rcutils/logging_macros.h"
 
+#include "tracetools/tracetools.h"
+
 using namespace std::chrono_literals;
 
 using rclcpp::exceptions::throw_from_rcl_error;
@@ -56,7 +58,7 @@ Executor::Executor(const rclcpp::ExecutorOptions & options)
     throw_from_rcl_error(ret, "Failed to create interrupt guard condition in Executor constructor");
   }
 
-  context_->on_shutdown(
+  shutdown_callback_handle_ = context_->add_on_shutdown_callback(
     [weak_gc = std::weak_ptr<rclcpp::GuardCondition>{shutdown_guard_condition_}]() {
       auto strong_gc = weak_gc.lock();
       if (strong_gc) {
@@ -138,6 +140,14 @@ Executor::~Executor()
   }
   // Remove and release the sigint guard condition
   memory_strategy_->remove_guard_condition(&shutdown_guard_condition_->get_rcl_guard_condition());
+
+  // Remove shutdown callback handle registered to Context
+  if (!context_->remove_on_shutdown_callback(shutdown_callback_handle_)) {
+    RCUTILS_LOG_ERROR_NAMED(
+      "rclcpp",
+      "failed to remove registered on_shutdown callback");
+    rcl_reset_error();
+  }
 }
 
 std::vector<rclcpp::CallbackGroup::WeakPtr>
@@ -182,14 +192,12 @@ Executor::add_callback_groups_from_nodes_associated_to_executor()
   for (auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();
     if (node) {
-      auto group_ptrs = node->get_callback_groups();
-      std::for_each(
-        group_ptrs.begin(), group_ptrs.end(),
-        [this, node](rclcpp::CallbackGroup::WeakPtr group_ptr)
+      node->for_each_callback_group(
+        [this, node](rclcpp::CallbackGroup::SharedPtr shared_group_ptr)
         {
-          auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->automatically_add_to_executor_with_node() &&
-          !shared_group_ptr->get_associated_with_executor_atomic().load())
+          if (
+            shared_group_ptr->automatically_add_to_executor_with_node() &&
+            !shared_group_ptr->get_associated_with_executor_atomic().load())
           {
             this->add_callback_group_to_map(
               shared_group_ptr,
@@ -260,21 +268,25 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
   // If the node already has an executor
   std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
   if (has_executor.exchange(true)) {
-    throw std::runtime_error("Node has already been added to an executor.");
+    throw std::runtime_error(
+            std::string("Node '") + node_ptr->get_fully_qualified_name() +
+            "' has already been added to an executor.");
   }
   std::lock_guard<std::mutex> guard{mutex_};
-  for (auto & weak_group : node_ptr->get_callback_groups()) {
-    auto group_ptr = weak_group.lock();
-    if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
-      group_ptr->automatically_add_to_executor_with_node())
+  node_ptr->for_each_callback_group(
+    [this, node_ptr, notify](rclcpp::CallbackGroup::SharedPtr group_ptr)
     {
-      this->add_callback_group_to_map(
-        group_ptr,
-        node_ptr,
-        weak_groups_to_nodes_associated_with_executor_,
-        notify);
-    }
-  }
+      if (!group_ptr->get_associated_with_executor_atomic().load() &&
+      group_ptr->automatically_add_to_executor_with_node())
+      {
+        this->add_callback_group_to_map(
+          group_ptr,
+          node_ptr,
+          weak_groups_to_nodes_associated_with_executor_,
+          notify);
+      }
+    });
+
   weak_nodes_.push_back(node_ptr);
 }
 
@@ -440,7 +452,7 @@ Executor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin_some() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
   bool work_available = false;
   while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
@@ -474,7 +486,7 @@ Executor::spin_once(std::chrono::nanoseconds timeout)
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin_once() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
   spin_once_impl(timeout);
 }
 
@@ -505,9 +517,15 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
     return;
   }
   if (any_exec.timer) {
+    TRACEPOINT(
+      rclcpp_executor_execute,
+      static_cast<const void *>(any_exec.timer->get_timer_handle().get()));
     execute_timer(any_exec.timer);
   }
   if (any_exec.subscription) {
+    TRACEPOINT(
+      rclcpp_executor_execute,
+      static_cast<const void *>(any_exec.subscription->get_subscription_handle().get()));
     execute_subscription(any_exec.subscription);
   }
   if (any_exec.service) {
@@ -581,8 +599,7 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
       [&]() {return subscription->take_serialized(*serialized_msg.get(), message_info);},
       [&]()
       {
-        auto void_serialized_msg = std::static_pointer_cast<void>(serialized_msg);
-        subscription->handle_message(void_serialized_msg, message_info);
+        subscription->handle_serialized_message(serialized_msg, message_info);
       });
     subscription->return_serialized_message(serialized_msg);
   } else if (subscription->can_loan_messages()) {
@@ -669,6 +686,7 @@ Executor::execute_client(
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
+  TRACEPOINT(rclcpp_executor_wait_for_work, timeout.count());
   {
     std::lock_guard<std::mutex> guard(mutex_);
 
@@ -818,6 +836,7 @@ Executor::get_next_ready_executable_from_map(
   const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
   weak_groups_to_nodes)
 {
+  TRACEPOINT(rclcpp_executor_get_next_ready);
   bool success = false;
   std::lock_guard<std::mutex> guard{mutex_};
   // Check the timers to see if there are any that are ready

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -19,10 +19,10 @@
 #include <memory>
 #include <vector>
 
-#include "rclcpp/utilities.hpp"
-#include "rclcpp/scope_exit.hpp"
+#include "rcpputils/scope_exit.hpp"
+
+#include "rclcpp/utilities.hpp"
 
-using rclcpp::detail::MutexTwoPriorities;
 using rclcpp::executors::MultiThreadedExecutor;
 
 MultiThreadedExecutor::MultiThreadedExecutor(
@@ -48,12 +48,11 @@ MultiThreadedExecutor::spin()
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
   std::vector<std::thread> threads;
   size_t thread_id = 0;
   {
-    auto low_priority_wait_mutex = wait_mutex_.get_low_priority_lockable();
-    std::lock_guard<MutexTwoPriorities::LowPriorityLockable> wait_lock(low_priority_wait_mutex);
+    std::lock_guard wait_lock{wait_mutex_};
     for (; thread_id < number_of_threads_ - 1; ++thread_id) {
       auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id);
       threads.emplace_back(func);
@@ -78,26 +77,13 @@ MultiThreadedExecutor::run(size_t)
   while (rclcpp::ok(this->context_) && spinning.load()) {
     rclcpp::AnyExecutable any_exec;
     {
-      auto low_priority_wait_mutex = wait_mutex_.get_low_priority_lockable();
-      std::lock_guard<MutexTwoPriorities::LowPriorityLockable> wait_lock(low_priority_wait_mutex);
+      std::lock_guard wait_lock{wait_mutex_};
       if (!rclcpp::ok(this->context_) || !spinning.load()) {
         return;
       }
       if (!get_next_executable(any_exec, next_exec_timeout_)) {
         continue;
       }
-      if (any_exec.timer) {
-        // Guard against multiple threads getting the same timer.
-        if (scheduled_timers_.count(any_exec.timer) != 0) {
-          // Make sure that any_exec's callback group is reset before
-          // the lock is released.
-          if (any_exec.callback_group) {
-            any_exec.callback_group->can_be_taken_from().store(true);
-          }
-          continue;
-        }
-        scheduled_timers_.insert(any_exec.timer);
-      }
     }
     if (yield_before_execute_) {
       std::this_thread::yield();
@@ -105,14 +91,6 @@ MultiThreadedExecutor::run(size_t)
 
     execute_any_executable(any_exec);
 
-    if (any_exec.timer) {
-      auto high_priority_wait_mutex = wait_mutex_.get_high_priority_lockable();
-      std::lock_guard<MutexTwoPriorities::HighPriorityLockable> wait_lock(high_priority_wait_mutex);
-      auto it = scheduled_timers_.find(any_exec.timer);
-      if (it != scheduled_timers_.end()) {
-        scheduled_timers_.erase(it);
-      }
-    }
     // Clear the callback_group to prevent the AnyExecutable destructor from
     // resetting the callback group `can_be_taken_from`
     any_exec.callback_group.reset();

rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

@@ -12,9 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/any_executable.hpp"
-#include "rclcpp/scope_exit.hpp"
 
 using rclcpp::executors::SingleThreadedExecutor;
 
@@ -29,7 +30,7 @@ SingleThreadedExecutor::spin()
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
   while (rclcpp::ok(this->context_) && spinning.load()) {
     rclcpp::AnyExecutable any_executable;
     if (get_next_executable(any_executable)) {

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -61,8 +61,7 @@ StaticExecutorEntitiesCollector::~StaticExecutorEntitiesCollector()
 void
 StaticExecutorEntitiesCollector::init(
   rcl_wait_set_t * p_wait_set,
-  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
-  rcl_guard_condition_t * executor_guard_condition)
+  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy)
 {
   // Empty initialize executable list
   exec_list_ = rclcpp::experimental::ExecutableList();
@@ -74,9 +73,6 @@ StaticExecutorEntitiesCollector::init(
   }
   memory_strategy_ = memory_strategy;
 
-  // Add executor's guard condition
-  memory_strategy_->add_guard_condition(executor_guard_condition);
-
   // Get memory strategy and executable list. Prepare wait_set_
   std::shared_ptr<void> shared_ptr;
   execute(shared_ptr);
@@ -108,6 +104,14 @@ StaticExecutorEntitiesCollector::execute(std::shared_ptr<void> & data)
   fill_executable_list();
   // Resize the wait_set_ based on memory_strategy handles (rcl_wait_set_resize)
   prepare_wait_set();
+  // Add new nodes guard conditions to map
+  std::lock_guard<std::mutex> guard{new_nodes_mutex_};
+  for (const auto & weak_node : new_nodes_) {
+    if (auto node_ptr = weak_node.lock()) {
+      weak_nodes_to_guard_conditions_[node_ptr] = node_ptr->get_notify_guard_condition();
+    }
+  }
+  new_nodes_.clear();
 }
 
 void
@@ -277,7 +281,8 @@ StaticExecutorEntitiesCollector::add_to_wait_set(rcl_wait_set_t * wait_set)
 
 size_t StaticExecutorEntitiesCollector::get_number_of_ready_guard_conditions()
 {
-  return weak_nodes_to_guard_conditions_.size();
+  std::lock_guard<std::mutex> guard{new_nodes_mutex_};
+  return weak_nodes_to_guard_conditions_.size() + new_nodes_.size();
 }
 
 bool
@@ -290,18 +295,20 @@ StaticExecutorEntitiesCollector::add_node(
   if (has_executor.exchange(true)) {
     throw std::runtime_error("Node has already been added to an executor.");
   }
-  for (const auto & weak_group : node_ptr->get_callback_groups()) {
-    auto group_ptr = weak_group.lock();
-    if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
-      group_ptr->automatically_add_to_executor_with_node())
+  node_ptr->for_each_callback_group(
+    [this, node_ptr, &is_new_node](rclcpp::CallbackGroup::SharedPtr group_ptr)
     {
-      is_new_node = (add_callback_group(
+      if (
+        !group_ptr->get_associated_with_executor_atomic().load() &&
+        group_ptr->automatically_add_to_executor_with_node())
+      {
+        is_new_node = (add_callback_group(
           group_ptr,
           node_ptr,
           weak_groups_to_nodes_associated_with_executor_) ||
         is_new_node);
-    }
-  }
+      }
+    });
   weak_nodes_.push_back(node_ptr);
   return is_new_node;
 }
@@ -327,7 +334,8 @@ StaticExecutorEntitiesCollector::add_callback_group(
     throw std::runtime_error("Callback group was already added to executor.");
   }
   if (is_new_node) {
-    weak_nodes_to_guard_conditions_[node_ptr] = node_ptr->get_notify_guard_condition();
+    std::lock_guard<std::mutex> guard{new_nodes_mutex_};
+    new_nodes_.push_back(node_ptr);
     return true;
   }
   return false;
@@ -467,13 +475,10 @@ StaticExecutorEntitiesCollector::add_callback_groups_from_nodes_associated_to_ex
   for (const auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();
     if (node) {
-      auto group_ptrs = node->get_callback_groups();
-      std::for_each(
-        group_ptrs.begin(), group_ptrs.end(),
-        [this, node](rclcpp::CallbackGroup::WeakPtr group_ptr)
+      node->for_each_callback_group(
+        [this, node](rclcpp::CallbackGroup::SharedPtr shared_group_ptr)
         {
-          auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->automatically_add_to_executor_with_node() &&
+          if (shared_group_ptr->automatically_add_to_executor_with_node() &&
           !shared_group_ptr->get_associated_with_executor_atomic().load())
           {
             add_callback_group(

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -16,9 +16,10 @@
 
 #include <chrono>
 #include <memory>
+#include <utility>
 #include <vector>
 
-#include "rclcpp/scope_exit.hpp"
+#include "rcpputils/scope_exit.hpp"
 
 using rclcpp::executors::StaticSingleThreadedExecutor;
 using rclcpp::experimental::ExecutableList;
@@ -43,11 +44,11 @@ StaticSingleThreadedExecutor::spin()
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
 
   // Set memory_strategy_ and exec_list_ based on weak_nodes_
   // Prepare wait_set_ based on memory_strategy_
-  entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
+  entities_collector_->init(&wait_set_, memory_strategy_);
 
   while (rclcpp::ok(this->context_) && spinning.load()) {
     // Refresh wait set and wait for work
@@ -81,7 +82,7 @@ StaticSingleThreadedExecutor::spin_some_impl(std::chrono::nanoseconds max_durati
 {
   // Make sure the entities collector has been initialized
   if (!entities_collector_->is_init()) {
-    entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
+    entities_collector_->init(&wait_set_, memory_strategy_);
   }
 
   auto start = std::chrono::steady_clock::now();
@@ -100,7 +101,7 @@ StaticSingleThreadedExecutor::spin_some_impl(std::chrono::nanoseconds max_durati
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin_some() called while already spinning");
   }
-  RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
 
   while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     // Get executables that are ready now
@@ -118,7 +119,7 @@ StaticSingleThreadedExecutor::spin_once_impl(std::chrono::nanoseconds timeout)
 {
   // Make sure the entities collector has been initialized
   if (!entities_collector_->is_init()) {
-    entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
+    entities_collector_->init(&wait_set_, memory_strategy_);
   }
 
   if (rclcpp::ok(context_) && spinning.load()) {
@@ -237,7 +238,9 @@ StaticSingleThreadedExecutor::execute_ready_executables(bool spin_once)
   for (size_t i = 0; i < wait_set_.size_of_timers; ++i) {
     if (i < entities_collector_->get_number_of_timers()) {
       if (wait_set_.timers[i] && entities_collector_->get_timer(i)->is_ready()) {
-        execute_timer(entities_collector_->get_timer(i));
+        auto timer = entities_collector_->get_timer(i);
+        timer->call();
+        execute_timer(std::move(timer));
         if (spin_once) {
           return true;
         }

rclcpp/src/rclcpp/expand_topic_or_service_name.cpp

@@ -19,7 +19,6 @@
 #include "rcl/expand_topic_name.h"
 #include "rcl/validate_topic_name.h"
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/scope_exit.hpp"
 #include "rcutils/logging_macros.h"
 #include "rcutils/types/string_map.h"
 #include "rmw/error_handling.h"

rclcpp/src/rclcpp/generic_subscription.cpp

@@ -36,11 +36,19 @@ std::shared_ptr<rclcpp::SerializedMessage> GenericSubscription::create_serialize
 }
 
 void GenericSubscription::handle_message(
-  std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info)
+  std::shared_ptr<void> &,
+  const rclcpp::MessageInfo &)
 {
-  (void) message_info;
-  auto typed_message = std::static_pointer_cast<rclcpp::SerializedMessage>(message);
-  callback_(typed_message);
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_message is not implemented for GenericSubscription");
+}
+
+void
+GenericSubscription::handle_serialized_message(
+  const std::shared_ptr<rclcpp::SerializedMessage> & message,
+  const rclcpp::MessageInfo &)
+{
+  callback_(message);
 }
 
 void GenericSubscription::handle_loaned_message(

rclcpp/src/rclcpp/intra_process_manager.cpp

@@ -36,23 +36,26 @@ IntraProcessManager::add_publisher(rclcpp::PublisherBase::SharedPtr publisher)
 {
   std::unique_lock<std::shared_timed_mutex> lock(mutex_);
 
-  auto id = IntraProcessManager::get_next_unique_id();
+  uint64_t pub_id = IntraProcessManager::get_next_unique_id();
 
-  publishers_[id].publisher = publisher;
-  publishers_[id].topic_name = publisher->get_topic_name();
-  publishers_[id].qos = publisher->get_actual_qos().get_rmw_qos_profile();
+  publishers_[pub_id] = publisher;
 
   // Initialize the subscriptions storage for this publisher.
-  pub_to_subs_[id] = SplittedSubscriptions();
+  pub_to_subs_[pub_id] = SplittedSubscriptions();
 
   // create an entry for the publisher id and populate with already existing subscriptions
   for (auto & pair : subscriptions_) {
-    if (can_communicate(publishers_[id], pair.second)) {
-      insert_sub_id_for_pub(pair.first, id, pair.second.use_take_shared_method);
+    auto subscription = pair.second.lock();
+    if (!subscription) {
+      continue;
+    }
+    if (can_communicate(publisher, subscription)) {
+      uint64_t sub_id = pair.first;
+      insert_sub_id_for_pub(sub_id, pub_id, subscription->use_take_shared_method());
     }
   }
 
-  return id;
+  return pub_id;
 }
 
 uint64_t
@@ -60,21 +63,23 @@ IntraProcessManager::add_subscription(SubscriptionIntraProcessBase::SharedPtr su
 {
   std::unique_lock<std::shared_timed_mutex> lock(mutex_);
 
-  auto id = IntraProcessManager::get_next_unique_id();
+  uint64_t sub_id = IntraProcessManager::get_next_unique_id();
 
-  subscriptions_[id].subscription = subscription;
-  subscriptions_[id].topic_name = subscription->get_topic_name();
-  subscriptions_[id].qos = subscription->get_actual_qos();
-  subscriptions_[id].use_take_shared_method = subscription->use_take_shared_method();
+  subscriptions_[sub_id] = subscription;
 
   // adds the subscription id to all the matchable publishers
   for (auto & pair : publishers_) {
-    if (can_communicate(pair.second, subscriptions_[id])) {
-      insert_sub_id_for_pub(id, pair.first, subscriptions_[id].use_take_shared_method);
+    auto publisher = pair.second.lock();
+    if (!publisher) {
+      continue;
+    }
+    if (can_communicate(publisher, subscription)) {
+      uint64_t pub_id = pair.first;
+      insert_sub_id_for_pub(sub_id, pub_id, subscription->use_take_shared_method());
     }
   }
 
-  return id;
+  return sub_id;
 }
 
 void
@@ -116,7 +121,7 @@ IntraProcessManager::matches_any_publishers(const rmw_gid_t * id) const
   std::shared_lock<std::shared_timed_mutex> lock(mutex_);
 
   for (auto & publisher_pair : publishers_) {
-    auto publisher = publisher_pair.second.publisher.lock();
+    auto publisher = publisher_pair.second.lock();
     if (!publisher) {
       continue;
     }
@@ -157,7 +162,7 @@ IntraProcessManager::get_subscription_intra_process(uint64_t intra_process_subsc
   if (subscription_it == subscriptions_.end()) {
     return nullptr;
   } else {
-    auto subscription = subscription_it->second.subscription.lock();
+    auto subscription = subscription_it->second.lock();
     if (subscription) {
       return subscription;
     } else {
@@ -204,25 +209,16 @@ IntraProcessManager::insert_sub_id_for_pub(
 
 bool
 IntraProcessManager::can_communicate(
-  PublisherInfo pub_info,
-  SubscriptionInfo sub_info) const
+  rclcpp::PublisherBase::SharedPtr pub,
+  rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr sub) const
 {
   // publisher and subscription must be on the same topic
-  if (strcmp(pub_info.topic_name, sub_info.topic_name) != 0) {
+  if (strcmp(pub->get_topic_name(), sub->get_topic_name()) != 0) {
     return false;
   }
 
-  // TODO(alsora): the following checks for qos compatibility should be provided by the RMW
-  // a reliable subscription can't be connected with a best effort publisher
-  if (
-    sub_info.qos.reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE &&
-    pub_info.qos.reliability == RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT)
-  {
-    return false;
-  }
-
-  // a publisher and a subscription with different durability can't communicate
-  if (sub_info.qos.durability != pub_info.qos.durability) {
+  auto check_result = rclcpp::qos_check_compatible(pub->get_actual_qos(), sub->get_actual_qos());
+  if (check_result.compatibility == rclcpp::QoSCompatibility::Error) {
     return false;
   }
 

rclcpp/src/rclcpp/node.cpp

@@ -61,6 +61,12 @@ extend_sub_namespace(const std::string & existing_sub_namespace, const std::stri
             extension.c_str(),
             "a sub-namespace should not have a leading /",
             0);
+  } else if (existing_sub_namespace.empty() && extension.empty()) {
+    throw rclcpp::exceptions::NameValidationError(
+            "sub_namespace",
+            extension.c_str(),
+            "sub-nodes should not extend nodes by an empty sub-namespace",
+            0);
   }
 
   std::string new_sub_namespace;
@@ -86,7 +92,11 @@ create_effective_namespace(const std::string & node_namespace, const std::string
   // and do not need trimming of `/` and other things, as they were validated
   // in other functions already.
 
-  if (node_namespace.back() == '/') {
+  // A node may not have a sub_namespace if it is no sub_node. In this case,
+  // just return the original namespace
+  if (sub_namespace.empty()) {
+    return node_namespace;
+  } else if (node_namespace.back() == '/') {
     // this is the special case where node_namespace is just `/`
     return node_namespace + sub_namespace;
   } else {
@@ -482,10 +492,11 @@ 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::CallbackGroup::WeakPtr> &
-Node::get_callback_groups() const
+void
+Node::for_each_callback_group(
+  const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func)
 {
-  return node_base_->get_callback_groups();
+  node_base_->for_each_callback_group(func);
 }
 
 rclcpp::Event::SharedPtr

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -221,12 +221,10 @@ NodeBase::create_callback_group(
   rclcpp::CallbackGroupType group_type,
   bool automatically_add_to_executor_with_node)
 {
-  using rclcpp::CallbackGroup;
-  using rclcpp::CallbackGroupType;
-  auto group = CallbackGroup::SharedPtr(
-    new CallbackGroup(
-      group_type,
-      automatically_add_to_executor_with_node));
+  auto group = std::make_shared<rclcpp::CallbackGroup>(
+    group_type,
+    automatically_add_to_executor_with_node);
+  std::lock_guard<std::mutex> lock(callback_groups_mutex_);
   callback_groups_.push_back(group);
   return group;
 }
@@ -240,20 +238,25 @@ NodeBase::get_default_callback_group()
 bool
 NodeBase::callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group)
 {
-  bool group_belongs_to_this_node = false;
+  std::lock_guard<std::mutex> lock(callback_groups_mutex_);
   for (auto & weak_group : this->callback_groups_) {
     auto cur_group = weak_group.lock();
     if (cur_group && (cur_group == group)) {
-      group_belongs_to_this_node = true;
+      return true;
     }
   }
-  return group_belongs_to_this_node;
+  return false;
 }
 
-const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-NodeBase::get_callback_groups() const
+void NodeBase::for_each_callback_group(const CallbackGroupFunction & func)
 {
-  return callback_groups_;
+  std::lock_guard<std::mutex> lock(callback_groups_mutex_);
+  for (rclcpp::CallbackGroup::WeakPtr & weak_group : this->callback_groups_) {
+    rclcpp::CallbackGroup::SharedPtr group = weak_group.lock();
+    if (group) {
+      func(group);
+    }
+  }
 }
 
 std::atomic_bool &

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -32,7 +32,6 @@
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/parameter_map.hpp"
-#include "rclcpp/scope_exit.hpp"
 #include "rcutils/logging_macros.h"
 #include "rmw/qos_profiles.h"
 
@@ -349,6 +348,21 @@ __declare_parameter_common(
     initial_value = &overrides_it->second;
   }
 
+  // If there is no initial value, then skip initialization
+  if (initial_value->get_type() == rclcpp::PARAMETER_NOT_SET) {
+    // Add declared parameters to storage (without a value)
+    parameter_infos[name].descriptor.name = name;
+    if (parameter_descriptor.dynamic_typing) {
+      parameter_infos[name].descriptor.type = rclcpp::PARAMETER_NOT_SET;
+    } else {
+      parameter_infos[name].descriptor.type = parameter_descriptor.type;
+    }
+    parameters_out[name] = parameter_infos.at(name);
+    rcl_interfaces::msg::SetParametersResult result;
+    result.successful = true;
+    return result;
+  }
+
   // Check with the user's callback to see if the initial value can be set.
   std::vector<rclcpp::Parameter> parameter_wrappers {rclcpp::Parameter(name, *initial_value)};
   // This function also takes care of default vs initial value.
@@ -413,14 +427,6 @@ declare_parameter_helper(
     parameter_descriptor.type = static_cast<uint8_t>(type);
   }
 
-  if (
-    rclcpp::PARAMETER_NOT_SET == default_value.get_type() &&
-    overrides.find(name) == overrides.end() &&
-    parameter_descriptor.dynamic_typing == false)
-  {
-    throw rclcpp::exceptions::NoParameterOverrideProvided(name);
-  }
-
   rcl_interfaces::msg::ParameterEvent parameter_event;
   auto result = __declare_parameter_common(
     name,
@@ -806,14 +812,21 @@ NodeParameters::get_parameters(const std::vector<std::string> & names) const
 rclcpp::Parameter
 NodeParameters::get_parameter(const std::string & name) const
 {
-  rclcpp::Parameter parameter;
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
 
-  if (get_parameter(name, parameter)) {
-    return parameter;
+  auto param_iter = parameters_.find(name);
+  if (
+    parameters_.end() != param_iter &&
+    (param_iter->second.value.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET ||
+    param_iter->second.descriptor.dynamic_typing))
+  {
+    return rclcpp::Parameter{name, param_iter->second.value};
   } else if (this->allow_undeclared_) {
-    return parameter;
-  } else {
+    return rclcpp::Parameter{};
+  } else if (parameters_.end() == param_iter) {
     throw rclcpp::exceptions::ParameterNotDeclaredException(name);
+  } else {
+    throw rclcpp::exceptions::ParameterUninitializedException(name);
   }
 }
 

rclcpp/src/rclcpp/subscription_base.cpp

@@ -143,6 +143,7 @@ SubscriptionBase::take_type_erased(void * message_out, rclcpp::MessageInfo & mes
     &message_info_out.get_rmw_message_info(),
     nullptr  // rmw_subscription_allocation_t is unused here
   );
+  TRACEPOINT(rclcpp_take, static_cast<const void *>(message_out));
   if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
     return false;
   } else if (RCL_RET_OK != ret) {

rclcpp/src/rclcpp/subscription_intra_process_base.cpp

@@ -31,7 +31,7 @@ SubscriptionIntraProcessBase::get_topic_name() const
   return topic_name_.c_str();
 }
 
-rmw_qos_profile_t
+rclcpp::QoS
 SubscriptionIntraProcessBase::get_actual_qos() const
 {
   return qos_profile_;

rclcpp/src/rclcpp/utilities.cpp

@@ -156,12 +156,6 @@ ok(Context::SharedPtr context)
   return context->is_valid();
 }
 
-bool
-is_initialized(Context::SharedPtr context)
-{
-  return ok(context);
-}
-
 bool
 shutdown(Context::SharedPtr context, const std::string & reason)
 {

rclcpp/test/benchmark/benchmark_executor.cpp

@@ -20,7 +20,7 @@
 #include "performance_test_fixture/performance_test_fixture.hpp"
 
 #include "rclcpp/rclcpp.hpp"
-#include "rclcpp/scope_exit.hpp"
+#include "rcpputils/scope_exit.hpp"
 #include "test_msgs/msg/empty.hpp"
 
 using namespace std::chrono_literals;
@@ -366,7 +366,7 @@ BENCHMARK_F(
   if (ret != RCL_RET_OK) {
     st.SkipWithError(rcutils_get_error_string().str);
   }
-  RCLCPP_SCOPE_EXIT(
+  RCPPUTILS_SCOPE_EXIT(
   {
     rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
     if (ret != RCL_RET_OK) {
@@ -376,10 +376,9 @@ BENCHMARK_F(
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
 
   reset_heap_counters();
 

rclcpp/test/msg/String.msg

@@ -0,0 +1 @@
+string data

rclcpp/test/rclcpp/CMakeLists.txt

@@ -7,10 +7,13 @@ add_definitions(-DTEST_RESOURCES_DIRECTORY="${TEST_RESOURCES_DIRECTORY}")
 rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
   ../msg/Header.msg
   ../msg/MessageWithHeader.msg
+  ../msg/String.msg
   DEPENDENCIES builtin_interfaces
   LIBRARY_NAME ${PROJECT_NAME}
   SKIP_INSTALL
 )
+# Need the target name to depend on generated interface libraries
+rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}_test_msgs" "rosidl_typesupport_cpp")
 
 ament_add_gtest(
   test_allocator_common
@@ -143,6 +146,13 @@ if(TARGET test_intra_process_manager)
   )
   target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
 endif()
+ament_add_gmock(test_intra_process_manager_with_allocators test_intra_process_manager_with_allocators.cpp)
+if(TARGET test_intra_process_manager_with_allocators)
+  ament_target_dependencies(test_intra_process_manager_with_allocators
+    "test_msgs"
+  )
+  target_link_libraries(test_intra_process_manager_with_allocators ${PROJECT_NAME})
+endif()
 ament_add_gtest(test_ring_buffer_implementation test_ring_buffer_implementation.cpp)
 if(TARGET test_ring_buffer_implementation)
   ament_target_dependencies(test_ring_buffer_implementation
@@ -348,6 +358,48 @@ if(TARGET test_publisher)
   )
   target_link_libraries(test_publisher ${PROJECT_NAME} mimick)
 endif()
+
+set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
+if(WIN32)
+  set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
+endif()
+
+ament_add_gtest(test_publisher_with_type_adapter test_publisher_with_type_adapter.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+)
+if(TARGET test_publisher_with_type_adapter)
+  ament_target_dependencies(test_publisher_with_type_adapter
+    "rcutils"
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_publisher_with_type_adapter
+    ${PROJECT_NAME}
+    mimick
+    ${cpp_typesupport_target})
+endif()
+
+ament_add_gtest(test_subscription_with_type_adapter test_subscription_with_type_adapter.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+)
+if(TARGET test_subscription_with_type_adapter)
+  ament_target_dependencies(test_subscription_with_type_adapter
+    "rcutils"
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription_with_type_adapter
+    ${PROJECT_NAME}
+    mimick
+    ${cpp_typesupport_target})
+endif()
+
 ament_add_gtest(test_publisher_subscription_count_api test_publisher_subscription_count_api.cpp)
 if(TARGET test_publisher_subscription_count_api)
   ament_target_dependencies(test_publisher_subscription_count_api
@@ -500,11 +552,6 @@ if(TARGET test_find_weak_nodes)
   target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
 endif()
 
-set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
-if(WIN32)
-  set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
-endif()
-
 ament_add_gtest(test_externally_defined_services test_externally_defined_services.cpp)
 ament_target_dependencies(test_externally_defined_services
   "rcl"
@@ -558,6 +605,13 @@ if(TARGET test_utilities)
   target_link_libraries(test_utilities ${PROJECT_NAME} mimick)
 endif()
 
+ament_add_gtest(test_wait_for_message test_wait_for_message.cpp)
+if(TARGET test_wait_for_message)
+  ament_target_dependencies(test_wait_for_message
+    "test_msgs")
+  target_link_libraries(test_wait_for_message ${PROJECT_NAME})
+endif()
+
 ament_add_gtest(test_interface_traits test_interface_traits.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_interface_traits)
@@ -632,8 +686,9 @@ if(TARGET test_subscription_topic_statistics)
     "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})
+  target_link_libraries(test_subscription_topic_statistics
+    ${PROJECT_NAME}
+    ${cpp_typesupport_target})
 endif()
 
 ament_add_gtest(test_subscription_options test_subscription_options.cpp)

rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp

@@ -20,6 +20,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/srv/empty.hpp"
 
@@ -41,38 +43,38 @@ struct NumberOfEntities
 std::unique_ptr<NumberOfEntities> get_number_of_default_entities(rclcpp::Node::SharedPtr node)
 {
   auto number_of_entities = std::make_unique<NumberOfEntities>();
-  for (auto & weak_group : node->get_callback_groups()) {
-    auto group = weak_group.lock();
-    EXPECT_NE(nullptr, group);
-    if (!group || !group->can_be_taken_from().load()) {
-      return nullptr;
-    }
-    group->find_subscription_ptrs_if(
-      [&number_of_entities](rclcpp::SubscriptionBase::SharedPtr &)
-      {
-        number_of_entities->subscriptions++; return false;
-      });
-    group->find_timer_ptrs_if(
-      [&number_of_entities](rclcpp::TimerBase::SharedPtr &)
-      {
-        number_of_entities->timers++; return false;
-      });
-    group->find_service_ptrs_if(
-      [&number_of_entities](rclcpp::ServiceBase::SharedPtr &)
-      {
-        number_of_entities->services++; return false;
-      });
-    group->find_client_ptrs_if(
-      [&number_of_entities](rclcpp::ClientBase::SharedPtr &)
-      {
-        number_of_entities->clients++; return false;
-      });
-    group->find_waitable_ptrs_if(
-      [&number_of_entities](rclcpp::Waitable::SharedPtr &)
-      {
-        number_of_entities->waitables++; return false;
-      });
-  }
+  node->for_each_callback_group(
+    [&number_of_entities](rclcpp::CallbackGroup::SharedPtr group)
+    {
+      if (!group->can_be_taken_from().load()) {
+        return;
+      }
+      group->find_subscription_ptrs_if(
+        [&number_of_entities](rclcpp::SubscriptionBase::SharedPtr &)
+        {
+          number_of_entities->subscriptions++; return false;
+        });
+      group->find_timer_ptrs_if(
+        [&number_of_entities](rclcpp::TimerBase::SharedPtr &)
+        {
+          number_of_entities->timers++; return false;
+        });
+      group->find_service_ptrs_if(
+        [&number_of_entities](rclcpp::ServiceBase::SharedPtr &)
+        {
+          number_of_entities->services++; return false;
+        });
+      group->find_client_ptrs_if(
+        [&number_of_entities](rclcpp::ClientBase::SharedPtr &)
+        {
+          number_of_entities->clients++; return false;
+        });
+      group->find_waitable_ptrs_if(
+        [&number_of_entities](rclcpp::Waitable::SharedPtr &)
+        {
+          number_of_entities->waitables++; return false;
+        });
+    });
 
   return number_of_entities;
 }
@@ -138,15 +140,14 @@ TEST_F(TestStaticExecutorEntitiesCollector, init_bad_arguments) {
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
   // Check memory strategy is nullptr
   rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy = nullptr;
   EXPECT_THROW(
-    entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition),
+    entities_collector_->init(&wait_set, memory_strategy),
     std::runtime_error);
 }
 
@@ -163,14 +164,13 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_basic_node) {
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
   EXPECT_EQ(
     expected_number_of_entities->subscriptions,
     entities_collector_->get_number_of_subscriptions());
@@ -183,7 +183,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_basic_node) {
     entities_collector_->get_number_of_waitables());
 
   EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
+  entities_collector_->init(&wait_set, memory_strategy);
   EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
   EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
   EXPECT_EQ(0u, entities_collector_->get_number_of_services());
@@ -210,15 +210,14 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_out_of_scope) {
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
   // Expect weak_node pointers to be cleaned up and used
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
   EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
   EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
   EXPECT_EQ(0u, entities_collector_->get_number_of_services());
@@ -281,15 +280,14 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
 
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
 
   EXPECT_EQ(
     1u + expected_number_of_entities->subscriptions,
@@ -308,7 +306,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
     entities_collector_->get_number_of_waitables());
 
   entities_collector_->remove_node(node->get_node_base_interface());
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
+  entities_collector_->init(&wait_set, memory_strategy);
   EXPECT_EQ(0u, entities_collector_->get_number_of_subscriptions());
   EXPECT_EQ(0u, entities_collector_->get_number_of_timers());
   EXPECT_EQ(0u, entities_collector_->get_number_of_services());
@@ -361,14 +359,13 @@ TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_clear_
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
 
   {
     auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_clear, RCL_RET_ERROR);
@@ -392,14 +389,13 @@ TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_resize
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
 
   {
     auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_resize, RCL_RET_ERROR);
@@ -430,14 +426,13 @@ TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_rcl_wait_failed) {
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
 
   {
     auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait, RCL_RET_ERROR);
@@ -478,15 +473,14 @@ TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_add_handles_to_wait
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
 
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
 
   {
     auto mock = mocking_utils::patch_and_return(
@@ -511,14 +505,13 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_to_wait_set_nullptr) {
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
 
   RCLCPP_EXPECT_THROW_EQ(
     entities_collector_->add_to_wait_set(nullptr),
@@ -539,11 +532,10 @@ TEST_F(TestStaticExecutorEntitiesCollector, fill_memory_strategy_invalid_group)
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
   rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -553,8 +545,8 @@ TEST_F(TestStaticExecutorEntitiesCollector, fill_memory_strategy_invalid_group)
 
   cb_group.reset();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
   ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
 
   EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
@@ -617,14 +609,13 @@ TEST_F(
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
+  RCPPUTILS_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
 
   auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
   rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
 
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
+  entities_collector_->init(&wait_set, memory_strategy);
+  RCPPUTILS_SCOPE_EXIT(entities_collector_->fini());
 
   cb_group->get_associated_with_executor_atomic().exchange(false);
   std::shared_ptr<void> data = entities_collector_->take_data();

rclcpp/test/rclcpp/node_interfaces/test_node_timers.cpp

@@ -32,6 +32,7 @@ public:
   : TimerBase(node->get_clock(), std::chrono::nanoseconds(1),
       node->get_node_base_interface()->get_context()) {}
 
+  bool call() override {return true;}
   void execute_callback() override {}
   bool is_steady() override {return false;}
 };

rclcpp/test/rclcpp/node_interfaces/test_node_topics.cpp

@@ -71,6 +71,8 @@ public:
 
   void handle_message(std::shared_ptr<void> &, const rclcpp::MessageInfo &) override {}
   void handle_loaned_message(void *, const rclcpp::MessageInfo &) override {}
+  void handle_serialized_message(
+    const std::shared_ptr<rclcpp::SerializedMessage> &, const rclcpp::MessageInfo &) override {}
   void return_message(std::shared_ptr<void> &) override {}
   void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> &) override {}
 };

rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp

@@ -21,8 +21,8 @@
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/scope_exit.hpp"
 #include "rclcpp/strategies/allocator_memory_strategy.hpp"
+#include "rcpputils/scope_exit.hpp"
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/srv/empty.hpp"
 
@@ -114,12 +114,11 @@ protected:
   {
     auto node = std::make_shared<rclcpp::Node>(name, "ns");
 
-    for (auto & group_weak_ptr : node->get_callback_groups()) {
-      auto group = group_weak_ptr.lock();
-      if (group) {
+    node->for_each_callback_group(
+      [](rclcpp::CallbackGroup::SharedPtr group)
+      {
         group->can_be_taken_from() = false;
-      }
-    }
+      });
     return node;
   }
 
@@ -201,15 +200,13 @@ protected:
     const RclWaitSetSizes & expected)
   {
     WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes,
-      &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -234,15 +231,13 @@ protected:
     const RclWaitSetSizes & insufficient_capacities)
   {
     WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes,
-      &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -268,7 +263,7 @@ protected:
              "Calling rcl_wait_set_init() with expected sufficient capacities failed";
     }
 
-    RCLCPP_SCOPE_EXIT(
+    RCPPUTILS_SCOPE_EXIT(
     {
       EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
     });
@@ -296,7 +291,7 @@ protected:
              "Calling rcl_wait_set_init() with expected insufficient capacities failed";
     }
 
-    RCLCPP_SCOPE_EXIT(
+    RCPPUTILS_SCOPE_EXIT(
     {
       EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set_no_capacity));
     });
@@ -316,26 +311,22 @@ protected:
   {
     auto basic_node = create_node_with_disabled_callback_groups("basic_node");
     WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = basic_node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes,
-      &basic_node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    basic_node->for_each_callback_group(
+      [basic_node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             basic_node->get_node_base_interface()));
       });
-    auto callback_groups1 = node_with_entity1->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups1.begin(), callback_groups1.end(),
-      [&weak_groups_to_nodes,
-      &node_with_entity1](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node_with_entity1->for_each_callback_group(
+      [node_with_entity1, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node_with_entity1->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -348,26 +339,23 @@ protected:
 
     auto basic_node2 = std::make_shared<rclcpp::Node>("basic_node2", "ns");
     WeakCallbackGroupsToNodesMap weak_groups_to_uncollected_nodes;
-    auto callback_groups2 = basic_node2->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups2.begin(), callback_groups2.end(),
-      [&weak_groups_to_uncollected_nodes,
-      &basic_node2](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    basic_node2->for_each_callback_group(
+      [basic_node2, &weak_groups_to_uncollected_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_uncollected_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             basic_node2->get_node_base_interface()));
       });
-    auto callback_groups3 = node_with_entity2->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups3.begin(), callback_groups3.end(),
-      [&weak_groups_to_uncollected_nodes,
-      &node_with_entity2](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node_with_entity2->for_each_callback_group(
+      [node_with_entity2,
+      &weak_groups_to_uncollected_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_uncollected_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node_with_entity2->get_node_base_interface()));
       });
     rclcpp::AnyExecutable failed_result = get_next_entity_func(weak_groups_to_uncollected_nodes);
@@ -388,24 +376,22 @@ protected:
     auto basic_node_base = basic_node->get_node_base_interface();
     auto node_base = node_with_entity->get_node_base_interface();
     WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = basic_node_base->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &basic_node_base](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    basic_node_base->for_each_callback_group(
+      [basic_node_base, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             basic_node_base));
       });
-    callback_groups = node_base->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node_base](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node_base->for_each_callback_group(
+      [node_base, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node_base));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -447,14 +433,13 @@ private:
 TEST_F(TestAllocatorMemoryStrategy, construct_destruct) {
   auto basic_node = create_node_with_disabled_callback_groups("basic_node");
   WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  auto callback_groups = basic_node->get_node_base_interface()->get_callback_groups();
-  std::for_each(
-    callback_groups.begin(), callback_groups.end(),
-    [&weak_groups_to_nodes, &basic_node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+  basic_node->for_each_callback_group(
+    [basic_node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+    {
       weak_groups_to_nodes.insert(
         std::pair<rclcpp::CallbackGroup::WeakPtr,
         rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          weak_group_ptr,
+          group_ptr,
           basic_node->get_node_base_interface()));
     });
   allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -546,14 +531,13 @@ TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_timer) {
 TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_bad_arguments) {
   auto node = create_node_with_subscription("subscription_node");
   WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-  std::for_each(
-    callback_groups.begin(), callback_groups.end(),
-    [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+  node->for_each_callback_group(
+    [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+    {
       weak_groups_to_nodes.insert(
         std::pair<rclcpp::CallbackGroup::WeakPtr,
         rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          weak_group_ptr,
+          group_ptr,
           node->get_node_base_interface()));
     });
   allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -594,7 +578,7 @@ TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_guard_condition) {
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_guard_condition_init(&guard_condition, rcl_context, guard_condition_options));
-  RCLCPP_SCOPE_EXIT(
+  RCPPUTILS_SCOPE_EXIT(
   {
     EXPECT_EQ(RCL_RET_OK, rcl_guard_condition_fini(&guard_condition));
   });
@@ -787,14 +771,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_out_of_scope) {
       test_msgs::msg::Empty, decltype(subscription_callback)>(
       "topic", qos, std::move(subscription_callback), subscription_options);
 
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -821,14 +804,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
     auto service = node->create_service<test_msgs::srv::Empty>(
       "service", std::move(service_callback), rmw_qos_profile_services_default, callback_group);
 
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -843,14 +825,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
 TEST_F(TestAllocatorMemoryStrategy, get_next_client_out_of_scope) {
   auto node = create_node_with_disabled_callback_groups("node");
   WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-  std::for_each(
-    callback_groups.begin(), callback_groups.end(),
-    [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+  node->for_each_callback_group(
+    [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+    {
       weak_groups_to_nodes.insert(
         std::pair<rclcpp::CallbackGroup::WeakPtr,
         rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          weak_group_ptr,
+          group_ptr,
           node->get_node_base_interface()));
     });
   // Force client to go out of scope and cleanup after collecting entities.
@@ -886,14 +867,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_timer_out_of_scope) {
       rclcpp::CallbackGroupType::MutuallyExclusive);
     auto timer = node->create_wall_timer(
       std::chrono::seconds(10), []() {}, callback_group);
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -913,14 +893,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_out_of_scope) {
     auto callback_group =
       node->create_callback_group(
       rclcpp::CallbackGroupType::MutuallyExclusive);
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);

rclcpp/test/rclcpp/test_any_service_callback.cpp

@@ -22,6 +22,7 @@
 #include <utility>
 
 #include "rclcpp/any_service_callback.hpp"
+#include "rclcpp/service.hpp"
 #include "test_msgs/srv/empty.hpp"
 #include "test_msgs/srv/empty.h"
 
@@ -44,7 +45,7 @@ protected:
 
 TEST_F(TestAnyServiceCallback, no_set_and_dispatch_throw) {
   EXPECT_THROW(
-    any_service_callback_.dispatch(request_header_, request_, response_),
+    any_service_callback_.dispatch(nullptr, request_header_, request_),
     std::runtime_error);
 }
 
@@ -57,7 +58,7 @@ TEST_F(TestAnyServiceCallback, set_and_dispatch_no_header) {
 
   any_service_callback_.set(callback);
   EXPECT_NO_THROW(
-    any_service_callback_.dispatch(request_header_, request_, response_));
+    EXPECT_NE(nullptr, any_service_callback_.dispatch(nullptr, request_header_, request_)));
   EXPECT_EQ(callback_calls, 1);
 }
 
@@ -73,6 +74,36 @@ TEST_F(TestAnyServiceCallback, set_and_dispatch_header) {
 
   any_service_callback_.set(callback_with_header);
   EXPECT_NO_THROW(
-    any_service_callback_.dispatch(request_header_, request_, response_));
+    EXPECT_NE(nullptr, any_service_callback_.dispatch(nullptr, request_header_, request_)));
+  EXPECT_EQ(callback_with_header_calls, 1);
+}
+
+TEST_F(TestAnyServiceCallback, set_and_dispatch_defered) {
+  int callback_with_header_calls = 0;
+  auto callback_with_header =
+    [&callback_with_header_calls](const std::shared_ptr<rmw_request_id_t>,
+      const std::shared_ptr<test_msgs::srv::Empty::Request>) {
+      callback_with_header_calls++;
+    };
+
+  any_service_callback_.set(callback_with_header);
+  EXPECT_NO_THROW(
+    EXPECT_EQ(nullptr, any_service_callback_.dispatch(nullptr, request_header_, request_)));
+  EXPECT_EQ(callback_with_header_calls, 1);
+}
+
+TEST_F(TestAnyServiceCallback, set_and_dispatch_defered_with_service_handle) {
+  int callback_with_header_calls = 0;
+  auto callback_with_header =
+    [&callback_with_header_calls](std::shared_ptr<rclcpp::Service<test_msgs::srv::Empty>>,
+      const std::shared_ptr<rmw_request_id_t>,
+      const std::shared_ptr<test_msgs::srv::Empty::Request>)
+    {
+      callback_with_header_calls++;
+    };
+
+  any_service_callback_.set(callback_with_header);
+  EXPECT_NO_THROW(
+    EXPECT_EQ(nullptr, any_service_callback_.dispatch(nullptr, request_header_, request_)));
   EXPECT_EQ(callback_with_header_calls, 1);
 }

rclcpp/test/rclcpp/test_any_subscription_callback.cpp

@@ -67,7 +67,7 @@ void construct_with_null_allocator()
 TEST(AnySubscriptionCallback, null_allocator) {
   EXPECT_THROW(
     construct_with_null_allocator(),
-    std::runtime_error);
+    std::invalid_argument);
 }
 
 TEST_F(TestAnySubscriptionCallback, construct_destruct) {
@@ -95,44 +95,69 @@ TEST_F(TestAnySubscriptionCallback, unset_dispatch_throw) {
 // Parameterized test to test across all callback types and dispatch types.
 //
 
+// Type adapter to be used in tests.
+struct MyEmpty {};
+
+template<>
+struct rclcpp::TypeAdapter<MyEmpty, test_msgs::msg::Empty>
+{
+  using is_specialized = std::true_type;
+  using custom_type = MyEmpty;
+  using ros_message_type = test_msgs::msg::Empty;
+
+  static
+  void
+  convert_to_ros_message(const custom_type &, ros_message_type &)
+  {}
+
+  static
+  void
+  convert_to_custom(const ros_message_type &, custom_type &)
+  {}
+};
+
+using MyTA = rclcpp::TypeAdapter<MyEmpty, test_msgs::msg::Empty>;
+
+template<typename MessageT>
 class InstanceContextImpl
 {
 public:
   InstanceContextImpl() = default;
   virtual ~InstanceContextImpl() = default;
 
-  explicit InstanceContextImpl(rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc)
+  explicit InstanceContextImpl(rclcpp::AnySubscriptionCallback<MessageT> asc)
   : any_subscription_callback_(asc)
   {}
 
   virtual
-  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>
+  rclcpp::AnySubscriptionCallback<MessageT>
   get_any_subscription_callback_to_test() const
   {
     return any_subscription_callback_;
   }
 
 protected:
-  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> any_subscription_callback_;
+  rclcpp::AnySubscriptionCallback<MessageT> any_subscription_callback_;
 };
 
+template<typename MessageT>
 class InstanceContext
 {
 public:
-  InstanceContext(const std::string & name, std::shared_ptr<InstanceContextImpl> impl)
+  InstanceContext(const std::string & name, std::shared_ptr<InstanceContextImpl<MessageT>> impl)
   : name(name), impl_(impl)
   {}
 
   InstanceContext(
     const std::string & name,
-    rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc)
-  : name(name), impl_(std::make_shared<InstanceContextImpl>(asc))
+    rclcpp::AnySubscriptionCallback<MessageT> asc)
+  : name(name), impl_(std::make_shared<InstanceContextImpl<MessageT>>(asc))
   {}
 
   InstanceContext(const InstanceContext & other)
   : InstanceContext(other.name, other.impl_) {}
 
-  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>
+  rclcpp::AnySubscriptionCallback<MessageT>
   get_any_subscription_callback_to_test() const
   {
     return impl_->get_any_subscription_callback_to_test();
@@ -141,12 +166,17 @@ public:
   std::string name;
 
 protected:
-  std::shared_ptr<InstanceContextImpl> impl_;
+  std::shared_ptr<InstanceContextImpl<MessageT>> impl_;
 };
 
 class DispatchTests
   : public TestAnySubscriptionCallback,
-  public ::testing::WithParamInterface<InstanceContext>
+  public ::testing::WithParamInterface<InstanceContext<test_msgs::msg::Empty>>
+{};
+
+class DispatchTestsWithTA
+  : public TestAnySubscriptionCallback,
+  public ::testing::WithParamInterface<InstanceContext<MyTA>>
 {};
 
 auto
@@ -155,57 +185,67 @@ format_parameter(const ::testing::TestParamInfo<DispatchTests::ParamType> & info
   return info.param.name;
 }
 
-// Testing dispatch with shared_ptr<MessageT> as input
-TEST_P(DispatchTests, test_inter_shared_dispatch) {
-  auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test();
-  any_subscription_callback_to_test.dispatch(msg_shared_ptr_, message_info_);
+auto
+format_parameter_with_ta(const ::testing::TestParamInfo<DispatchTestsWithTA::ParamType> & info)
+{
+  return info.param.name;
 }
 
-// Testing dispatch with shared_ptr<const MessageT> as input
-TEST_P(DispatchTests, test_intra_shared_dispatch) {
-  auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test();
-  any_subscription_callback_to_test.dispatch_intra_process(msg_shared_ptr_, message_info_);
-}
+#define PARAMETERIZED_TESTS(DispatchTests_name) \
+  /* Testing dispatch with shared_ptr<MessageT> as input */ \
+  TEST_P(DispatchTests_name, test_inter_shared_dispatch) { \
+    auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test(); \
+    any_subscription_callback_to_test.dispatch(msg_shared_ptr_, message_info_); \
+  } \
+ \
+  /* Testing dispatch with shared_ptr<const MessageT> as input */ \
+  TEST_P(DispatchTests_name, test_intra_shared_dispatch) { \
+    auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test(); \
+    any_subscription_callback_to_test.dispatch_intra_process(msg_shared_ptr_, message_info_); \
+  } \
+ \
+  /* Testing dispatch with unique_ptr<MessageT> as input */ \
+  TEST_P(DispatchTests_name, test_intra_unique_dispatch) { \
+    auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test(); \
+    any_subscription_callback_to_test.dispatch_intra_process(get_unique_ptr_msg(), message_info_); \
+  }
 
-// Testing dispatch with unique_ptr<MessageT> as input
-TEST_P(DispatchTests, test_intra_unique_dispatch) {
-  auto any_subscription_callback_to_test = GetParam().get_any_subscription_callback_to_test();
-  any_subscription_callback_to_test.dispatch_intra_process(get_unique_ptr_msg(), message_info_);
-}
+PARAMETERIZED_TESTS(DispatchTests)
+PARAMETERIZED_TESTS(DispatchTestsWithTA)
 
 // Generic classes for testing callbacks using std::bind to class methods.
-template<typename ... CallbackArgs>
-class BindContextImpl : public InstanceContextImpl
+template<typename MessageT, typename ... CallbackArgs>
+class BindContextImpl : public InstanceContextImpl<MessageT>
 {
   static constexpr size_t number_of_callback_args{sizeof...(CallbackArgs)};
 
 public:
-  using InstanceContextImpl::InstanceContextImpl;
+  using InstanceContextImpl<MessageT>::InstanceContextImpl;
   virtual ~BindContextImpl() = default;
 
   void on_message(CallbackArgs ...) const {}
 
-  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>
+  rclcpp::AnySubscriptionCallback<MessageT>
   get_any_subscription_callback_to_test() const override
   {
     if constexpr (number_of_callback_args == 1) {
-      return rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+      return rclcpp::AnySubscriptionCallback<MessageT>().set(
         std::bind(&BindContextImpl::on_message, this, std::placeholders::_1)
       );
     } else {
-      return rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
+      return rclcpp::AnySubscriptionCallback<MessageT>().set(
         std::bind(&BindContextImpl::on_message, this, std::placeholders::_1, std::placeholders::_2)
       );
     }
   }
 };
 
-template<typename ... CallbackArgs>
-class BindContext : public InstanceContext
+template<typename MessageT, typename ... CallbackArgs>
+class BindContext : public InstanceContext<MessageT>
 {
 public:
   explicit BindContext(const std::string & name)
-  : InstanceContext(name, std::make_shared<BindContextImpl<CallbackArgs ...>>())
+  : InstanceContext<MessageT>(name, std::make_shared<BindContextImpl<MessageT, CallbackArgs ...>>())
   {}
 };
 
@@ -232,13 +272,53 @@ INSTANTIATE_TEST_SUITE_P(
       rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
         const_ref_w_info_free_func)},
     // bind function
-    BindContext<const test_msgs::msg::Empty &>("bind_method"),
-    BindContext<const test_msgs::msg::Empty &, const rclcpp::MessageInfo &>(
+    BindContext<test_msgs::msg::Empty, const test_msgs::msg::Empty &>("bind_method"),
+    BindContext<test_msgs::msg::Empty, const test_msgs::msg::Empty &, const rclcpp::MessageInfo &>(
       "bind_method_with_info")
   ),
   format_parameter
 );
 
+void const_ref_ta_free_func(const MyEmpty &) {}
+void const_ref_ta_w_info_free_func(const MyEmpty &, const rclcpp::MessageInfo &) {}
+
+INSTANTIATE_TEST_SUITE_P(
+  ConstRefTACallbackTests,
+  DispatchTestsWithTA,
+  ::testing::Values(
+    // lambda
+    InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](const MyEmpty &) {})},
+    InstanceContext<MyTA>{"lambda_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](const MyEmpty &, const rclcpp::MessageInfo &) {})},
+    InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](const test_msgs::msg::Empty &) {})},
+    InstanceContext<MyTA>{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](const test_msgs::msg::Empty &, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        const_ref_ta_free_func)},
+    InstanceContext<MyTA>{"free_function_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        const_ref_ta_w_info_free_func)},
+    InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        const_ref_free_func)},
+    InstanceContext<MyTA>{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        const_ref_w_info_free_func)},
+    // bind function
+    BindContext<MyTA, const MyEmpty &>("bind_method_ta"),
+    BindContext<MyTA, const MyEmpty &, const rclcpp::MessageInfo &>(
+      "bind_method_ta_with_info"),
+    BindContext<MyTA, const test_msgs::msg::Empty &>("bind_method"),
+    BindContext<MyTA, const test_msgs::msg::Empty &, const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter_with_ta
+);
+
 //
 // Versions of `std::unique_ptr<MessageT, MessageDeleter>`
 //
@@ -264,13 +344,56 @@ INSTANTIATE_TEST_SUITE_P(
       rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
         unique_ptr_w_info_free_func)},
     // bind function
-    BindContext<std::unique_ptr<test_msgs::msg::Empty>>("bind_method"),
-    BindContext<std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
-      "bind_method_with_info")
+    BindContext<test_msgs::msg::Empty, std::unique_ptr<test_msgs::msg::Empty>>("bind_method"),
+    BindContext<
+      test_msgs::msg::Empty,
+      std::unique_ptr<test_msgs::msg::Empty>,
+      const rclcpp::MessageInfo &
+    >("bind_method_with_info")
   ),
   format_parameter
 );
 
+void unique_ptr_ta_free_func(std::unique_ptr<MyEmpty>) {}
+void unique_ptr_ta_w_info_free_func(std::unique_ptr<MyEmpty>, const rclcpp::MessageInfo &) {}
+
+INSTANTIATE_TEST_SUITE_P(
+  UniquePtrCallbackTests,
+  DispatchTestsWithTA,
+  ::testing::Values(
+    // lambda
+    InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::unique_ptr<MyEmpty>) {})},
+    InstanceContext<MyTA>{"lambda_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::unique_ptr<MyEmpty>, const rclcpp::MessageInfo &) {})},
+    InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::unique_ptr<test_msgs::msg::Empty>) {})},
+    InstanceContext<MyTA>{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        unique_ptr_ta_free_func)},
+    InstanceContext<MyTA>{"free_function_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        unique_ptr_ta_w_info_free_func)},
+    InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        unique_ptr_free_func)},
+    InstanceContext<MyTA>{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        unique_ptr_w_info_free_func)},
+    // bind function
+    BindContext<MyTA, std::unique_ptr<test_msgs::msg::Empty>>("bind_method_ta"),
+    BindContext<MyTA, std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
+      "bind_method_ta_with_info"),
+    BindContext<MyTA, std::unique_ptr<test_msgs::msg::Empty>>("bind_method"),
+    BindContext<MyTA, std::unique_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter_with_ta
+);
+
 //
 // Versions of `std::shared_ptr<const MessageT>`
 //
@@ -296,13 +419,56 @@ INSTANTIATE_TEST_SUITE_P(
       rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
         shared_const_ptr_w_info_free_func)},
     // bind function
-    BindContext<std::shared_ptr<const test_msgs::msg::Empty>>("bind_method"),
-    BindContext<std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
+    BindContext<test_msgs::msg::Empty, std::shared_ptr<const test_msgs::msg::Empty>>("bind_method"),
+    BindContext<test_msgs::msg::Empty, std::shared_ptr<const test_msgs::msg::Empty>,
+    const rclcpp::MessageInfo &>(
       "bind_method_with_info")
   ),
   format_parameter
 );
 
+void shared_const_ptr_ta_free_func(std::shared_ptr<const MyEmpty>) {}
+void shared_const_ptr_ta_w_info_free_func(
+  std::shared_ptr<const MyEmpty>, const rclcpp::MessageInfo &)
+{}
+
+INSTANTIATE_TEST_SUITE_P(
+  SharedConstPtrCallbackTests,
+  DispatchTestsWithTA,
+  ::testing::Values(
+    // lambda
+    InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::shared_ptr<const MyEmpty>) {})},
+    InstanceContext<MyTA>{"lambda_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::shared_ptr<const MyEmpty>, const rclcpp::MessageInfo &) {})},
+    InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::shared_ptr<const test_msgs::msg::Empty>) {})},
+    InstanceContext<MyTA>{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        shared_const_ptr_ta_free_func)},
+    InstanceContext<MyTA>{"free_function_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        shared_const_ptr_ta_w_info_free_func)},
+    InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        shared_const_ptr_free_func)},
+    InstanceContext<MyTA>{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        shared_const_ptr_w_info_free_func)},
+    // bind function
+    BindContext<MyTA, std::shared_ptr<const MyEmpty>>("bind_method_ta"),
+    BindContext<MyTA, std::shared_ptr<const MyEmpty>, const rclcpp::MessageInfo &>(
+      "bind_method_ta_with_info"),
+    BindContext<MyTA, std::shared_ptr<const test_msgs::msg::Empty>>("bind_method"),
+    BindContext<MyTA, std::shared_ptr<const test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter_with_ta
+);
+
 //
 // Versions of `const std::shared_ptr<const MessageT> &`
 //
@@ -328,13 +494,58 @@ INSTANTIATE_TEST_SUITE_P(
       rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
         const_ref_shared_const_ptr_w_info_free_func)},
     // bind function
-    BindContext<const std::shared_ptr<const test_msgs::msg::Empty> &>("bind_method"),
-    BindContext<const std::shared_ptr<const test_msgs::msg::Empty> &, const rclcpp::MessageInfo &>(
+    BindContext<test_msgs::msg::Empty,
+    const std::shared_ptr<const test_msgs::msg::Empty> &>("bind_method"),
+    BindContext<test_msgs::msg::Empty, const std::shared_ptr<const test_msgs::msg::Empty> &,
+    const rclcpp::MessageInfo &>(
       "bind_method_with_info")
   ),
   format_parameter
 );
 
+void const_ref_shared_const_ptr_ta_free_func(const std::shared_ptr<const MyEmpty> &) {}
+void const_ref_shared_const_ptr_ta_w_info_free_func(
+  const std::shared_ptr<const MyEmpty> &, const rclcpp::MessageInfo &)
+{}
+
+INSTANTIATE_TEST_SUITE_P(
+  ConstRefSharedConstPtrCallbackTests,
+  DispatchTestsWithTA,
+  ::testing::Values(
+    // lambda
+    InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](const std::shared_ptr<const MyEmpty> &) {})},
+    InstanceContext<MyTA>{"lambda_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](const std::shared_ptr<const MyEmpty> &, const rclcpp::MessageInfo &) {})},
+    InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](const std::shared_ptr<const test_msgs::msg::Empty> &) {})},
+    InstanceContext<MyTA>{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](const std::shared_ptr<const test_msgs::msg::Empty> &, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        const_ref_shared_const_ptr_ta_free_func)},
+    InstanceContext<MyTA>{"free_function_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        const_ref_shared_const_ptr_ta_w_info_free_func)},
+    InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        const_ref_shared_const_ptr_free_func)},
+    InstanceContext<MyTA>{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        const_ref_shared_const_ptr_w_info_free_func)},
+    // bind function
+    BindContext<MyTA, const std::shared_ptr<const MyEmpty> &>("bind_method_ta"),
+    BindContext<MyTA, const std::shared_ptr<const MyEmpty> &, const rclcpp::MessageInfo &>(
+      "bind_method_ta_with_info"),
+    BindContext<MyTA, const std::shared_ptr<const test_msgs::msg::Empty> &>("bind_method"),
+    BindContext<MyTA, const std::shared_ptr<const test_msgs::msg::Empty> &,
+    const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter_with_ta
+);
+
 //
 // Versions of `std::shared_ptr<MessageT>`
 //
@@ -360,9 +571,52 @@ INSTANTIATE_TEST_SUITE_P(
       rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
         shared_ptr_w_info_free_func)},
     // bind function
-    BindContext<std::shared_ptr<test_msgs::msg::Empty>>("bind_method"),
-    BindContext<std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
+    BindContext<test_msgs::msg::Empty, std::shared_ptr<test_msgs::msg::Empty>>("bind_method"),
+    BindContext<test_msgs::msg::Empty, std::shared_ptr<test_msgs::msg::Empty>,
+    const rclcpp::MessageInfo &>(
       "bind_method_with_info")
   ),
   format_parameter
 );
+
+void shared_ptr_ta_free_func(std::shared_ptr<MyEmpty>) {}
+void shared_ptr_ta_w_info_free_func(
+  std::shared_ptr<MyEmpty>, const rclcpp::MessageInfo &)
+{}
+
+INSTANTIATE_TEST_SUITE_P(
+  SharedPtrCallbackTests,
+  DispatchTestsWithTA,
+  ::testing::Values(
+    // lambda
+    InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::shared_ptr<MyEmpty>) {})},
+    InstanceContext<MyTA>{"lambda_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::shared_ptr<MyEmpty>, const rclcpp::MessageInfo &) {})},
+    InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::shared_ptr<test_msgs::msg::Empty>) {})},
+    InstanceContext<MyTA>{"lambda_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        [](std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
+    // free function
+    InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        shared_ptr_ta_free_func)},
+    InstanceContext<MyTA>{"free_function_ta_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        shared_ptr_ta_w_info_free_func)},
+    InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
+        shared_ptr_free_func)},
+    InstanceContext<MyTA>{"free_function_with_info",
+      rclcpp::AnySubscriptionCallback<MyTA>().set(
+        shared_ptr_w_info_free_func)},
+    // bind function
+    BindContext<MyTA, std::shared_ptr<MyEmpty>>("bind_method_ta"),
+    BindContext<MyTA, std::shared_ptr<MyEmpty>, const rclcpp::MessageInfo &>(
+      "bind_method_ta_with_info"),
+    BindContext<MyTA, std::shared_ptr<test_msgs::msg::Empty>>("bind_method"),
+    BindContext<MyTA, std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
+      "bind_method_with_info")
+  ),
+  format_parameter_with_ta
+);

rclcpp/test/rclcpp/test_client.cpp

@@ -216,7 +216,7 @@ protected:
         received_response = true;
       };
 
-    auto future = client->async_send_request(request, std::move(callback));
+    auto req_id = client->async_send_request(request, std::move(callback));
 
     auto start = std::chrono::steady_clock::now();
     while (!received_response &&
@@ -228,6 +228,9 @@ protected:
     if (!received_response) {
       return ::testing::AssertionFailure() << "Waiting for response timed out";
     }
+    if (client->remove_pending_request(req_id)) {
+      return ::testing::AssertionFailure() << "Should not be able to remove a finished request";
+    }
 
     return request_result;
   }
@@ -256,7 +259,7 @@ TEST_F(TestClientWithServer, async_send_request_callback_with_request) {
       EXPECT_NE(nullptr, request_response_pair.second);
       received_response = true;
     };
-  auto future = client->async_send_request(request, std::move(callback));
+  auto req_id = client->async_send_request(request, std::move(callback));
 
   auto start = std::chrono::steady_clock::now();
   while (!received_response &&
@@ -265,6 +268,15 @@ TEST_F(TestClientWithServer, async_send_request_callback_with_request) {
     rclcpp::spin_some(node);
   }
   EXPECT_TRUE(received_response);
+  EXPECT_FALSE(client->remove_pending_request(req_id));
+}
+
+TEST_F(TestClientWithServer, test_client_remove_pending_request) {
+  auto client = node->create_client<test_msgs::srv::Empty>("no_service_server_available_here");
+  auto request = std::make_shared<test_msgs::srv::Empty::Request>();
+  auto future = client->async_send_request(request);
+
+  EXPECT_TRUE(client->remove_pending_request(future));
 }
 
 TEST_F(TestClientWithServer, async_send_request_rcl_send_request_error) {

rclcpp/test/rclcpp/test_intra_process_manager.cpp

@@ -52,8 +52,8 @@ class PublisherBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase)
 
-  PublisherBase()
-  : qos(rclcpp::QoS(10)),
+  explicit PublisherBase(rclcpp::QoS qos = rclcpp::QoS(10))
+  : qos_profile(qos),
     topic_name("topic")
   {}
 
@@ -76,7 +76,7 @@ public:
   rclcpp::QoS
   get_actual_qos() const
   {
-    return qos;
+    return qos_profile;
   }
 
   bool
@@ -93,7 +93,7 @@ public:
     return false;
   }
 
-  rclcpp::QoS qos;
+  rclcpp::QoS qos_profile;
   std::string topic_name;
   uint64_t intra_process_publisher_id_;
   IntraProcessManagerWeakPtr weak_ipm_;
@@ -111,9 +111,9 @@ public:
 
   RCLCPP_SMART_PTR_DEFINITIONS(Publisher<T, Alloc>)
 
-  Publisher()
+  explicit Publisher(rclcpp::QoS qos = rclcpp::QoS(10))
+  : PublisherBase(qos)
   {
-    qos = rclcpp::QoS(10);
     auto allocator = std::make_shared<Alloc>();
     message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
   }
@@ -136,7 +136,10 @@ namespace buffers
 {
 namespace mock
 {
-template<typename MessageT>
+template<
+  typename MessageT,
+  typename Alloc = std::allocator<void>,
+  typename MessageDeleter = std::default_delete<MessageT>>
 class IntraProcessBuffer
 {
 public:
@@ -191,8 +194,8 @@ class SubscriptionIntraProcessBase
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(SubscriptionIntraProcessBase)
 
-  SubscriptionIntraProcessBase()
-  : qos_profile(rmw_qos_profile_default), topic_name("topic")
+  explicit SubscriptionIntraProcessBase(rclcpp::QoS qos = rclcpp::QoS(10))
+  : qos_profile(qos), topic_name("topic")
   {}
 
   virtual ~SubscriptionIntraProcessBase() {}
@@ -200,7 +203,7 @@ public:
   virtual bool
   use_take_shared_method() const = 0;
 
-  rmw_qos_profile_t
+  QoS
   get_actual_qos()
   {
     return qos_profile;
@@ -212,18 +215,21 @@ public:
     return topic_name;
   }
 
-  rmw_qos_profile_t qos_profile;
+  rclcpp::QoS qos_profile;
   const char * topic_name;
 };
 
-template<typename MessageT>
-class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
+template<
+  typename MessageT,
+  typename Alloc = std::allocator<void>,
+  typename Deleter = std::default_delete<MessageT>>
+class SubscriptionIntraProcessBuffer : public SubscriptionIntraProcessBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcess)
+  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcessBuffer)
 
-  SubscriptionIntraProcess()
-  : take_shared_method(false)
+  explicit SubscriptionIntraProcessBuffer(rclcpp::QoS qos)
+  : SubscriptionIntraProcessBase(qos), take_shared_method(false)
   {
     buffer = std::make_unique<rclcpp::experimental::buffers::mock::IntraProcessBuffer<MessageT>>();
   }
@@ -259,6 +265,25 @@ public:
   typename rclcpp::experimental::buffers::mock::IntraProcessBuffer<MessageT>::UniquePtr buffer;
 };
 
+template<
+  typename MessageT,
+  typename Alloc = std::allocator<void>,
+  typename Deleter = std::default_delete<MessageT>>
+class SubscriptionIntraProcess : public SubscriptionIntraProcessBuffer<
+    MessageT,
+    Alloc,
+    Deleter
+>
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcess)
+
+  explicit SubscriptionIntraProcess(rclcpp::QoS qos = rclcpp::QoS(10))
+  : SubscriptionIntraProcessBuffer<MessageT, Alloc, Deleter>(qos)
+  {
+  }
+};
+
 }  // namespace mock
 }  // namespace experimental
 }  // namespace rclcpp
@@ -267,12 +292,14 @@ public:
 #define RCLCPP__PUBLISHER_HPP_
 #define RCLCPP__PUBLISHER_BASE_HPP_
 #define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_HPP_
+#define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_
 #define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BASE_HPP_
 // Force ipm to use our mock publisher class.
 #define Publisher mock::Publisher
 #define PublisherBase mock::PublisherBase
 #define IntraProcessBuffer mock::IntraProcessBuffer
 #define SubscriptionIntraProcessBase mock::SubscriptionIntraProcessBase
+#define SubscriptionIntraProcessBuffer mock::SubscriptionIntraProcessBuffer
 #define SubscriptionIntraProcess mock::SubscriptionIntraProcess
 #include "../src/rclcpp/intra_process_manager.cpp"
 #undef Publisher
@@ -304,7 +331,7 @@ void Publisher<T, Alloc>::publish(MessageUniquePtr msg)
   ipm->template do_intra_process_publish<T, Alloc>(
     intra_process_publisher_id_,
     std::move(msg),
-    message_allocator_);
+    *message_allocator_);
 }
 
 }  // namespace mock
@@ -332,15 +359,12 @@ TEST(TestIntraProcessManager, add_pub_sub) {
 
   auto ipm = std::make_shared<IntraProcessManagerT>();
 
-  auto p1 = std::make_shared<PublisherT>();
-  p1->qos.get_rmw_qos_profile().reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  auto p1 = std::make_shared<PublisherT>(rclcpp::QoS(10).best_effort());
 
-  auto p2 = std::make_shared<PublisherT>();
-  p2->qos.get_rmw_qos_profile().reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  auto p2 = std::make_shared<PublisherT>(rclcpp::QoS(10).best_effort());
   p2->topic_name = "different_topic_name";
 
-  auto s1 = std::make_shared<SubscriptionIntraProcessT>();
-  s1->qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  auto s1 = std::make_shared<SubscriptionIntraProcessT>(rclcpp::QoS(10).best_effort());
 
   auto p1_id = ipm->add_publisher(p1);
   auto p2_id = ipm->add_publisher(p2);
@@ -356,11 +380,9 @@ TEST(TestIntraProcessManager, add_pub_sub) {
   ASSERT_EQ(0u, p2_subs);
   ASSERT_EQ(0u, non_existing_pub_subs);
 
-  auto p3 = std::make_shared<PublisherT>();
-  p3->qos.get_rmw_qos_profile().reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  auto p3 = std::make_shared<PublisherT>(rclcpp::QoS(10).reliable());
 
-  auto s2 = std::make_shared<SubscriptionIntraProcessT>();
-  s2->qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  auto s2 = std::make_shared<SubscriptionIntraProcessT>(rclcpp::QoS(10).reliable());
 
   auto s2_id = ipm->add_subscription(s2);
   auto p3_id = ipm->add_publisher(p3);

rclcpp/test/rclcpp/test_intra_process_manager_with_allocators.cpp

@@ -0,0 +1,303 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gmock/gmock.h>
+
+#include <chrono>
+#include <list>
+#include <memory>
+#include <string>
+#include <type_traits>
+#include <utility>
+
+#include "test_msgs/msg/empty.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/allocator/allocator_common.hpp"
+#include "rclcpp/strategies/allocator_memory_strategy.hpp"
+
+// For demonstration purposes only, not necessary for allocator_traits
+static uint32_t num_allocs = 0;
+static uint32_t num_deallocs = 0;
+// A very simple custom allocator. Counts calls to allocate and deallocate.
+template<typename T>
+struct MyAllocator
+{
+public:
+  using value_type = T;
+  using size_type = std::size_t;
+  using pointer = T *;
+  using const_pointer = const T *;
+  using difference_type = typename std::pointer_traits<pointer>::difference_type;
+
+  MyAllocator() noexcept
+  {
+  }
+
+  ~MyAllocator() noexcept {}
+
+  template<typename U>
+  MyAllocator(const MyAllocator<U> &) noexcept
+  {
+  }
+
+  T * allocate(size_t size, const void * = 0)
+  {
+    if (size == 0) {
+      return nullptr;
+    }
+    num_allocs++;
+    return static_cast<T *>(std::malloc(size * sizeof(T)));
+  }
+
+  void deallocate(T * ptr, size_t size)
+  {
+    (void)size;
+    if (!ptr) {
+      return;
+    }
+    num_deallocs++;
+    std::free(ptr);
+  }
+
+  template<typename U>
+  struct rebind
+  {
+    typedef MyAllocator<U> other;
+  };
+};
+
+// Explicit specialization for void
+template<>
+struct MyAllocator<void>
+{
+public:
+  using value_type = void;
+  using pointer = void *;
+  using const_pointer = const void *;
+
+  MyAllocator() noexcept
+  {
+  }
+
+  ~MyAllocator() noexcept {}
+
+  template<typename U>
+  MyAllocator(const MyAllocator<U> &) noexcept
+  {
+  }
+
+  template<typename U>
+  struct rebind
+  {
+    typedef MyAllocator<U> other;
+  };
+};
+
+template<typename T, typename U>
+constexpr bool operator==(
+  const MyAllocator<T> &,
+  const MyAllocator<U> &) noexcept
+{
+  return true;
+}
+
+template<typename T, typename U>
+constexpr bool operator!=(
+  const MyAllocator<T> &,
+  const MyAllocator<U> &) noexcept
+{
+  return false;
+}
+
+template<
+  typename PublishedMessageAllocatorT,
+  typename PublisherAllocatorT,
+  typename SubscribedMessageAllocatorT,
+  typename SubscriptionAllocatorT,
+  typename MessageMemoryStrategyAllocatorT,
+  typename MemoryStrategyAllocatorT,
+  typename ExpectedExceptionT
+>
+void
+do_custom_allocator_test(
+  PublishedMessageAllocatorT published_message_allocator,
+  PublisherAllocatorT publisher_allocator,
+  SubscribedMessageAllocatorT /* subscribed_message_allocator */,  // intentionally unused
+  SubscriptionAllocatorT subscription_allocator,
+  MessageMemoryStrategyAllocatorT message_memory_strategy,
+  MemoryStrategyAllocatorT memory_strategy_allocator)
+{
+  using PublishedMessageAllocTraits =
+    rclcpp::allocator::AllocRebind<test_msgs::msg::Empty, PublishedMessageAllocatorT>;
+  using PublishedMessageAlloc = typename PublishedMessageAllocTraits::allocator_type;
+  using PublishedMessageDeleter =
+    rclcpp::allocator::Deleter<PublishedMessageAlloc, test_msgs::msg::Empty>;
+
+  using SubscribedMessageAllocTraits =
+    rclcpp::allocator::AllocRebind<test_msgs::msg::Empty, SubscribedMessageAllocatorT>;
+  using SubscribedMessageAlloc = typename SubscribedMessageAllocTraits::allocator_type;
+  using SubscribedMessageDeleter =
+    rclcpp::allocator::Deleter<SubscribedMessageAlloc, test_msgs::msg::Empty>;
+
+  // init and node
+  auto context = std::make_shared<rclcpp::Context>();
+  context->init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>(
+    "custom_allocator_test",
+    rclcpp::NodeOptions().context(context).use_intra_process_comms(true));
+
+  // publisher
+  auto shared_publisher_allocator = std::make_shared<PublisherAllocatorT>(publisher_allocator);
+  rclcpp::PublisherOptionsWithAllocator<PublisherAllocatorT> publisher_options;
+  publisher_options.allocator = shared_publisher_allocator;
+  auto publisher =
+    node->create_publisher<test_msgs::msg::Empty>("custom_allocator_test", 10, publisher_options);
+
+  // callback for subscription
+  uint32_t counter = 0;
+  std::promise<std::unique_ptr<test_msgs::msg::Empty, SubscribedMessageDeleter>> received_message;
+  auto received_message_future = received_message.get_future();
+  auto callback =
+    [&counter, &received_message](
+    std::unique_ptr<test_msgs::msg::Empty, SubscribedMessageDeleter> msg)
+    {
+      ++counter;
+      received_message.set_value(std::move(msg));
+    };
+
+  // subscription
+  auto shared_subscription_allocator =
+    std::make_shared<SubscriptionAllocatorT>(subscription_allocator);
+  rclcpp::SubscriptionOptionsWithAllocator<SubscriptionAllocatorT> subscription_options;
+  subscription_options.allocator = shared_subscription_allocator;
+  auto shared_message_strategy_allocator =
+    std::make_shared<MessageMemoryStrategyAllocatorT>(message_memory_strategy);
+  auto msg_mem_strat = std::make_shared<
+    rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      test_msgs::msg::Empty,
+      MessageMemoryStrategyAllocatorT
+    >
+    >(shared_message_strategy_allocator);
+  using CallbackMessageT =
+    typename rclcpp::subscription_traits::has_message_type<decltype(callback)>::type;
+  auto subscriber = node->create_subscription<
+    test_msgs::msg::Empty,
+    decltype(callback),
+    SubscriptionAllocatorT,
+    rclcpp::Subscription<CallbackMessageT, SubscriptionAllocatorT>,
+    rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      CallbackMessageT,
+      MessageMemoryStrategyAllocatorT
+    >
+    >(
+    "custom_allocator_test",
+    10,
+    std::forward<decltype(callback)>(callback),
+    subscription_options,
+    msg_mem_strat);
+
+  // executor memory strategy
+  using rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy;
+  auto shared_memory_strategy_allocator = std::make_shared<MemoryStrategyAllocatorT>(
+    memory_strategy_allocator);
+  std::shared_ptr<rclcpp::memory_strategy::MemoryStrategy> memory_strategy =
+    std::make_shared<AllocatorMemoryStrategy<MemoryStrategyAllocatorT>>(
+    shared_memory_strategy_allocator);
+
+  // executor
+  rclcpp::ExecutorOptions options;
+  options.memory_strategy = memory_strategy;
+  options.context = context;
+  rclcpp::executors::SingleThreadedExecutor executor(options);
+
+  executor.add_node(node);
+
+  // rebind message_allocator to ensure correct type
+  PublishedMessageDeleter message_deleter;
+  PublishedMessageAlloc rebound_message_allocator = published_message_allocator;
+  rclcpp::allocator::set_allocator_for_deleter(&message_deleter, &rebound_message_allocator);
+
+  // allocate a message
+  auto ptr = PublishedMessageAllocTraits::allocate(rebound_message_allocator, 1);
+  PublishedMessageAllocTraits::construct(rebound_message_allocator, ptr);
+  std::unique_ptr<test_msgs::msg::Empty, PublishedMessageDeleter> msg(ptr, message_deleter);
+
+  // publisher and receive
+  if constexpr (std::is_same_v<ExpectedExceptionT, void>) {
+    // no exception expected
+    EXPECT_NO_THROW(
+    {
+      publisher->publish(std::move(msg));
+      executor.spin_until_future_complete(received_message_future, std::chrono::seconds(10));
+    });
+    EXPECT_EQ(ptr, received_message_future.get().get());
+    EXPECT_EQ(1u, counter);
+  } else {
+    // exception expected
+    EXPECT_THROW(
+    {
+      publisher->publish(std::move(msg));
+      executor.spin_until_future_complete(received_message_future, std::chrono::seconds(10));
+    }, ExpectedExceptionT);
+  }
+}
+
+/*
+   This tests the case where a custom allocator is used correctly, i.e. the same
+   custom allocator on both sides.
+ */
+TEST(TestIntraProcessManagerWithAllocators, custom_allocator) {
+  using PublishedMessageAllocatorT = std::allocator<void>;
+  using PublisherAllocatorT = std::allocator<void>;
+  using SubscribedMessageAllocatorT = std::allocator<void>;
+  using SubscriptionAllocatorT = std::allocator<void>;
+  using MessageMemoryStrategyAllocatorT = std::allocator<void>;
+  using MemoryStrategyAllocatorT = std::allocator<void>;
+  auto allocator = std::allocator<void>();
+  do_custom_allocator_test<
+    PublishedMessageAllocatorT,
+    PublisherAllocatorT,
+    SubscribedMessageAllocatorT,
+    SubscriptionAllocatorT,
+    MessageMemoryStrategyAllocatorT,
+    MemoryStrategyAllocatorT,
+    void  // no exception expected
+  >(allocator, allocator, allocator, allocator, allocator, allocator);
+}
+
+/*
+   This tests the case where a custom allocator is used incorrectly, i.e. different
+   custom allocators on both sides.
+ */
+TEST(TestIntraProcessManagerWithAllocators, custom_allocator_wrong) {
+  // explicitly use a different allocator here to provoke a failure
+  using PublishedMessageAllocatorT = std::allocator<void>;
+  using PublisherAllocatorT = std::allocator<void>;
+  using SubscribedMessageAllocatorT = MyAllocator<void>;
+  using SubscriptionAllocatorT = MyAllocator<void>;
+  using MessageMemoryStrategyAllocatorT = MyAllocator<void>;
+  using MemoryStrategyAllocatorT = std::allocator<void>;
+  auto allocator = std::allocator<void>();
+  auto my_allocator = MyAllocator<void>();
+  do_custom_allocator_test<
+    PublishedMessageAllocatorT,
+    PublisherAllocatorT,
+    SubscribedMessageAllocatorT,
+    SubscriptionAllocatorT,
+    MessageMemoryStrategyAllocatorT,
+    MemoryStrategyAllocatorT,
+    std::runtime_error  // expected exception
+  >(allocator, allocator, my_allocator, my_allocator, my_allocator, allocator);
+}

rclcpp/test/rclcpp/test_loaned_message.cpp

@@ -43,7 +43,42 @@ TEST_F(TestLoanedMessage, initialize) {
   auto node = std::make_shared<rclcpp::Node>("loaned_message_test_node");
   auto pub = node->create_publisher<MessageT>("loaned_message_test_topic", 1);
 
-  auto loaned_msg = rclcpp::LoanedMessage<MessageT>(pub.get(), pub->get_allocator());
+// suppress deprecated function warning
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+
+  auto pub_allocator = pub->get_allocator();
+
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
+// suppress deprecated function warning
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+
+  auto loaned_msg = rclcpp::LoanedMessage<MessageT>(pub.get(), pub_allocator);
+
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
   ASSERT_TRUE(loaned_msg.is_valid());
   loaned_msg.get().float32_value = 42.0f;
   ASSERT_EQ(42.0f, loaned_msg.get().float32_value);

rclcpp/test/rclcpp/test_memory_strategy.cpp

@@ -84,14 +84,13 @@ TEST_F(TestMemoryStrategy, get_subscription_by_handle) {
   rclcpp::SubscriptionBase::SharedPtr found_subscription = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -131,14 +130,13 @@ TEST_F(TestMemoryStrategy, get_service_by_handle) {
   rclcpp::ServiceBase::SharedPtr found_service = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -184,14 +182,13 @@ TEST_F(TestMemoryStrategy, get_client_by_handle) {
   rclcpp::ClientBase::SharedPtr found_client = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -232,14 +229,13 @@ TEST_F(TestMemoryStrategy, get_timer_by_handle) {
   rclcpp::TimerBase::SharedPtr found_timer = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -281,14 +277,13 @@ TEST_F(TestMemoryStrategy, get_node_by_group) {
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
     auto node_handle = node->get_node_base_interface();
-    auto callback_groups = node_handle->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node_handle](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node_handle->for_each_callback_group(
+      [node_handle, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node_handle));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -325,14 +320,13 @@ TEST_F(TestMemoryStrategy, get_group_by_subscription) {
   rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -379,14 +373,13 @@ TEST_F(TestMemoryStrategy, get_group_by_service) {
   rclcpp::ServiceBase::SharedPtr service = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -424,14 +417,13 @@ TEST_F(TestMemoryStrategy, get_group_by_client) {
   rclcpp::ClientBase::SharedPtr client = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -464,14 +456,13 @@ TEST_F(TestMemoryStrategy, get_group_by_timer) {
   rclcpp::TimerBase::SharedPtr timer = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);
@@ -504,14 +495,13 @@ TEST_F(TestMemoryStrategy, get_group_by_waitable) {
   rclcpp::Waitable::SharedPtr waitable = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
+    node->for_each_callback_group(
+      [node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
+      {
         weak_groups_to_nodes.insert(
           std::pair<rclcpp::CallbackGroup::WeakPtr,
           rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
+            group_ptr,
             node->get_node_base_interface()));
       });
     memory_strategy()->collect_entities(weak_groups_to_nodes);

rclcpp/test/rclcpp/test_node.cpp

@@ -14,6 +14,9 @@
 
 #include <gtest/gtest.h>
 
+#include <chrono>
+#include <functional>
+#include <limits>
 #include <map>
 #include <memory>
 #include <string>
@@ -22,10 +25,10 @@
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/scope_exit.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include "rcpputils/filesystem_helper.hpp"
+#include "rcpputils/scope_exit.hpp"
 
 #include "rmw/validate_namespace.h"
 
@@ -99,6 +102,7 @@ TEST_F(TestNode, get_name_and_namespace) {
     auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/ns", node->get_namespace());
+    EXPECT_STREQ("/ns", node->get_effective_namespace().c_str());
     EXPECT_STREQ("/ns/my_node", node->get_fully_qualified_name());
   }
   {
@@ -113,30 +117,35 @@ TEST_F(TestNode, get_name_and_namespace) {
     auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/ns", node->get_namespace());
+    EXPECT_STREQ("/ns", node->get_effective_namespace().c_str());
     EXPECT_STREQ("/ns/my_node", node->get_fully_qualified_name());
   }
   {
     auto node = std::make_shared<rclcpp::Node>("my_node");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/", node->get_namespace());
+    EXPECT_STREQ("/", node->get_effective_namespace().c_str());
     EXPECT_STREQ("/my_node", node->get_fully_qualified_name());
   }
   {
     auto node = std::make_shared<rclcpp::Node>("my_node", "");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/", node->get_namespace());
+    EXPECT_STREQ("/", node->get_effective_namespace().c_str());
     EXPECT_STREQ("/my_node", node->get_fully_qualified_name());
   }
   {
     auto node = std::make_shared<rclcpp::Node>("my_node", "/my/ns");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/my/ns", node->get_namespace());
+    EXPECT_STREQ("/my/ns", node->get_effective_namespace().c_str());
     EXPECT_STREQ("/my/ns/my_node", node->get_fully_qualified_name());
   }
   {
     auto node = std::make_shared<rclcpp::Node>("my_node", "my/ns");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/my/ns", node->get_namespace());
+    EXPECT_STREQ("/my/ns", node->get_effective_namespace().c_str());
     EXPECT_STREQ("/my/ns/my_node", node->get_fully_qualified_name());
   }
   {
@@ -275,6 +284,13 @@ TEST_F(TestNode, subnode_construction_and_destruction) {
       auto subnode = node->create_sub_node("~sub_ns");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
+  {
+    ASSERT_THROW(
+    {
+      auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+      auto subnode = node->create_sub_node("");
+    }, rclcpp::exceptions::NameValidationError);
+  }
 }
 
 TEST_F(TestNode, get_logger) {
@@ -333,9 +349,14 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.dynamic_typing = true;
     // no default, no initial
+    const std::string parameter_name = "parameter"_unq;
     rclcpp::ParameterValue value = node->declare_parameter(
-      "parameter"_unq, rclcpp::ParameterValue{}, descriptor);
+      parameter_name, rclcpp::ParameterValue{}, descriptor);
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_NOT_SET);
+    // Does not throw if unset before access
+    EXPECT_EQ(
+      rclcpp::PARAMETER_NOT_SET,
+      node->get_parameter(parameter_name).get_parameter_value().get_type());
   }
   {
     // int default, no initial
@@ -402,7 +423,8 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
         return result;
       };
     auto handler = node->add_on_set_parameters_callback(on_set_parameters);
-    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});   // always reset
+    RCPPUTILS_SCOPE_EXIT(
+      {node->remove_on_set_parameters_callback(handler.get());});  // always reset
     EXPECT_THROW(
       {node->declare_parameter<std::string>(name, "not an int");},
       rclcpp::exceptions::InvalidParameterValueException);
@@ -649,7 +671,8 @@ TEST_F(TestNode, declare_parameter_with_overrides) {
         return result;
       };
     auto handler = node->add_on_set_parameters_callback(on_set_parameters);
-    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
+    RCPPUTILS_SCOPE_EXIT(
+      {node->remove_on_set_parameters_callback(handler.get());});  // always reset
     EXPECT_THROW(
       {node->declare_parameter<int>(name, 43);},
       rclcpp::exceptions::InvalidParameterValueException);
@@ -776,7 +799,8 @@ TEST_F(TestNode, declare_parameters_with_no_initial_values) {
         return result;
       };
     auto handler = node->add_on_set_parameters_callback(on_set_parameters);
-    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
+    RCPPUTILS_SCOPE_EXIT(
+      {node->remove_on_set_parameters_callback(handler.get());});  // always reset
     EXPECT_THROW(
       {node->declare_parameters<std::string>("", {{name, "not an int"}});},
       rclcpp::exceptions::InvalidParameterValueException);
@@ -1004,7 +1028,8 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
         return result;
       };
     auto handler = node->add_on_set_parameters_callback(on_set_parameters);
-    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
+    RCPPUTILS_SCOPE_EXIT(
+      {node->remove_on_set_parameters_callback(handler.get());});  // always reset
 
     EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 43)).successful);
   }
@@ -1512,7 +1537,8 @@ TEST_F(TestNode, set_parameters_undeclared_parameters_not_allowed) {
         return result;
       };
     auto handler = node->add_on_set_parameters_callback(on_set_parameters);
-    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
+    RCPPUTILS_SCOPE_EXIT(
+      {node->remove_on_set_parameters_callback(handler.get());});  // always reset
 
     auto rets = node->set_parameters(
     {
@@ -1704,7 +1730,8 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_not_allowed) {
         return result;
       };
     auto handler = node->add_on_set_parameters_callback(on_set_parameters);
-    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
+    RCPPUTILS_SCOPE_EXIT(
+      {node->remove_on_set_parameters_callback(handler.get());});  // always reset
 
     auto ret = node->set_parameters_atomically(
     {
@@ -1830,7 +1857,8 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_allowed) {
         return result;
       };
     auto handler = node->add_on_set_parameters_callback(on_set_parameters);
-    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
+    RCPPUTILS_SCOPE_EXIT(
+      {node->remove_on_set_parameters_callback(handler.get());});  // always reset
 
     auto ret = node->set_parameters_atomically(
     {
@@ -2508,6 +2536,59 @@ TEST_F(TestNode, get_parameter_types_undeclared_parameters_allowed) {
   }
 }
 
+// test declare parameter with int, int64_t, float and double vector
+TEST_F(TestNode, declare_parameter_with_vector) {
+  auto node = std::make_shared<rclcpp::Node>(
+    "test_declare_parameter_with_vector"_unq,
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+  {
+    // declare parameter and then get types to check
+    auto name1 = "parameter"_unq;
+    auto name2 = "parameter"_unq;
+    auto name3 = "parameter"_unq;
+    auto name4 = "parameter"_unq;
+
+    node->declare_parameter(name1, std::vector<int>{});
+    node->declare_parameter(name2, std::vector<int64_t>{});
+    node->declare_parameter(name3, std::vector<float>{});
+    node->declare_parameter(name4, std::vector<double>{});
+
+    EXPECT_TRUE(node->has_parameter(name1));
+    EXPECT_TRUE(node->has_parameter(name2));
+    EXPECT_TRUE(node->has_parameter(name3));
+    EXPECT_TRUE(node->has_parameter(name4));
+
+    auto results = node->get_parameter_types({name1, name2, name3, name4});
+    EXPECT_EQ(results.size(), 4u);
+    EXPECT_EQ(results[0], rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(results[1], rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(results[2], rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY);
+    EXPECT_EQ(results[3], rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY);
+  }
+  {
+    // declare parameter and then get values to check
+    auto name1 = "parameter"_unq;
+    auto name2 = "parameter"_unq;
+    auto name3 = "parameter"_unq;
+    auto name4 = "parameter"_unq;
+
+    int64_t bigger_than_int = INT64_MAX - 42;
+    double bigger_than_float = std::numeric_limits<double>::max() - 42;
+    node->declare_parameter(name1, std::vector<int>{1, 2});
+    node->declare_parameter(name2, std::vector<int64_t>{3, bigger_than_int});
+    node->declare_parameter(name3, std::vector<float>{1.5f, 2.8f});
+    node->declare_parameter(name4, std::vector<double>{3.0, bigger_than_float});
+
+    std::vector<rclcpp::Parameter> expected = {
+      {name1, std::vector<int>{1, 2}},
+      {name2, std::vector<int64_t>{3, bigger_than_int}},
+      {name3, std::vector<float>{1.5f, 2.8f}},
+      {name4, std::vector<double>{3.0, bigger_than_float}},
+    };
+    EXPECT_EQ(node->get_parameters({name1, name2, name3, name4}), expected);
+  }
+}
+
 void expect_qos_profile_eq(
   const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2, bool is_publisher)
 {
@@ -2525,6 +2606,34 @@ void expect_qos_profile_eq(
   EXPECT_EQ(qos1.liveliness_lease_duration.nsec, qos2.liveliness_lease_duration.nsec);
 }
 
+namespace
+{
+
+constexpr std::chrono::nanoseconds DEFAULT_EVENT_TIMEOUT = std::chrono::seconds(3);
+
+constexpr std::chrono::nanoseconds DEFAULT_EVENT_SLEEP_PERIOD = std::chrono::milliseconds(100);
+
+bool wait_for_event(
+  std::shared_ptr<rclcpp::Node> node,
+  std::function<bool()> predicate,
+  std::chrono::nanoseconds timeout = DEFAULT_EVENT_TIMEOUT,
+  std::chrono::nanoseconds sleep_period = DEFAULT_EVENT_SLEEP_PERIOD)
+{
+  auto start = std::chrono::steady_clock::now();
+  std::chrono::nanoseconds time_slept(0);
+
+  bool predicate_result;
+  while (!(predicate_result = predicate()) && time_slept < timeout) {
+    rclcpp::Event::SharedPtr graph_event = node->get_graph_event();
+    node->wait_for_graph_change(graph_event, sleep_period);
+    time_slept = std::chrono::duration_cast<std::chrono::nanoseconds>(
+      std::chrono::steady_clock::now() - start);
+  }
+  return predicate_result;
+}
+
+}  // namespace
+
 // test that calling get_publishers_info_by_topic and get_subscriptions_info_by_topic
 TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
@@ -2556,6 +2665,10 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
   };
   rclcpp::QoS qos = rclcpp::QoS(qos_initialization, rmw_qos_profile_default);
   auto publisher = node->create_publisher<test_msgs::msg::BasicTypes>(topic_name, qos);
+  // Wait for the underlying RMW implementation to catch up with graph changes
+  auto topic_is_published =
+    [&]() {return node->get_publishers_info_by_topic(fq_topic_name).size() > 0u;};
+  ASSERT_TRUE(wait_for_event(node, topic_is_published));
   // List should have one item
   auto publisher_list = node->get_publishers_info_by_topic(fq_topic_name);
   ASSERT_EQ(publisher_list.size(), (size_t)1);
@@ -2596,7 +2709,10 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
     };
   auto subscriber =
     node->create_subscription<test_msgs::msg::BasicTypes>(topic_name, qos2, callback);
-
+  // Wait for the underlying RMW implementation to catch up with graph changes
+  auto topic_is_subscribed =
+    [&]() {return node->get_subscriptions_info_by_topic(fq_topic_name).size() > 0u;};
+  ASSERT_TRUE(wait_for_event(node, topic_is_subscribed));
   // Both lists should have one item
   publisher_list = node->get_publishers_info_by_topic(fq_topic_name);
   auto subscription_list = node->get_subscriptions_info_by_topic(fq_topic_name);
@@ -2637,13 +2753,33 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
 
 TEST_F(TestNode, callback_groups) {
   auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  size_t num_callback_groups_in_basic_node = node->get_callback_groups().size();
+  size_t num_callback_groups_in_basic_node = 0;
+  node->for_each_callback_group(
+    [&num_callback_groups_in_basic_node](rclcpp::CallbackGroup::SharedPtr group)
+    {
+      (void)group;
+      num_callback_groups_in_basic_node++;
+    });
 
   auto group1 = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  EXPECT_EQ(1u + num_callback_groups_in_basic_node, node->get_callback_groups().size());
+  size_t num_callback_groups = 0;
+  node->for_each_callback_group(
+    [&num_callback_groups](rclcpp::CallbackGroup::SharedPtr group)
+    {
+      (void)group;
+      num_callback_groups++;
+    });
+  EXPECT_EQ(1u + num_callback_groups_in_basic_node, num_callback_groups);
 
   auto group2 = node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  EXPECT_EQ(2u + num_callback_groups_in_basic_node, node->get_callback_groups().size());
+  size_t num_callback_groups2 = 0;
+  node->for_each_callback_group(
+    [&num_callback_groups2](rclcpp::CallbackGroup::SharedPtr group)
+    {
+      (void)group;
+      num_callback_groups2++;
+    });
+  EXPECT_EQ(2u + num_callback_groups_in_basic_node, num_callback_groups2);
 }
 
 // This is tested more thoroughly in node_interfaces/test_node_graph
@@ -2761,9 +2897,20 @@ TEST_F(TestNode, static_and_dynamic_typing) {
     EXPECT_EQ("hello!", param);
   }
   {
+    auto param = node->declare_parameter("integer_override_not_given", rclcpp::PARAMETER_INTEGER);
+    EXPECT_EQ(rclcpp::PARAMETER_NOT_SET, param.get_type());
+    // Throws if not set before access
     EXPECT_THROW(
-      node->declare_parameter("integer_override_not_given", rclcpp::PARAMETER_INTEGER),
-      rclcpp::exceptions::NoParameterOverrideProvided);
+      node->get_parameter("integer_override_not_given"),
+      rclcpp::exceptions::ParameterUninitializedException);
+  }
+  {
+    auto param = node->declare_parameter("integer_set_after_declare", rclcpp::PARAMETER_INTEGER);
+    EXPECT_EQ(rclcpp::PARAMETER_NOT_SET, param.get_type());
+    auto result = node->set_parameter(rclcpp::Parameter{"integer_set_after_declare", 44});
+    ASSERT_TRUE(result.successful) << result.reason;
+    auto get_param = node->get_parameter("integer_set_after_declare");
+    EXPECT_EQ(44, get_param.as_int());
   }
   {
     EXPECT_THROW(

rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp

@@ -0,0 +1,335 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+#include <thread>
+#include <utility>
+#include <vector>
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/loaned_message.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "../mocking_utils/patch.hpp"
+#include "../utils/rclcpp_gtest_macros.hpp"
+
+#include "test_msgs/msg/empty.hpp"
+#include "rclcpp/msg/string.hpp"
+
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+
+using namespace std::chrono_literals;
+
+static const int g_max_loops = 200;
+static const std::chrono::milliseconds g_sleep_per_loop(10);
+
+
+class TestPublisher : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    if (!rclcpp::ok()) {
+      rclcpp::init(0, nullptr);
+    }
+  }
+
+protected:
+  void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
+  {
+    node = std::make_shared<rclcpp::Node>("my_node", "/ns", node_options);
+  }
+
+  void TearDown()
+  {
+    node.reset();
+  }
+
+  rclcpp::Node::SharedPtr node;
+};
+
+class CLASSNAME (test_intra_process_within_one_node, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+namespace rclcpp
+{
+
+template<>
+struct TypeAdapter<std::string, rclcpp::msg::String>
+{
+  using is_specialized = std::true_type;
+  using custom_type = std::string;
+  using ros_message_type = rclcpp::msg::String;
+
+  static void
+  convert_to_ros_message(
+    const custom_type & source,
+    ros_message_type & destination)
+  {
+    destination.data = source;
+  }
+
+  static void
+  convert_to_custom(
+    const ros_message_type & source,
+    custom_type & destination)
+  {
+    destination = source.data;
+  }
+};
+
+// Throws in conversion
+template<>
+struct TypeAdapter<int, rclcpp::msg::String>
+{
+  using is_specialized = std::true_type;
+  using custom_type = int;
+  using ros_message_type = rclcpp::msg::String;
+
+  static void
+  convert_to_ros_message(
+    const custom_type & source,
+    ros_message_type & destination)
+  {
+    (void) source;
+    (void) destination;
+    throw std::runtime_error("This should happen");
+  }
+
+  static void
+  convert_to_custom(
+    const ros_message_type & source,
+    custom_type & destination)
+  {
+    (void) source;
+    (void) destination;
+  }
+};
+
+}  // namespace rclcpp
+
+/*
+ * Testing publisher creation signatures with a type adapter.
+ */
+TEST_F(TestPublisher, various_creation_signatures) {
+  for (auto is_intra_process : {true, false}) {
+    rclcpp::NodeOptions options;
+    options.use_intra_process_comms(is_intra_process);
+    initialize(options);
+    {
+      using StringTypeAdapter = rclcpp::TypeAdapter<std::string, rclcpp::msg::String>;
+      auto publisher = node->create_publisher<StringTypeAdapter>("topic", 42);
+      (void)publisher;
+    }
+    {
+      using StringTypeAdapter = rclcpp::adapt_type<std::string>::as<rclcpp::msg::String>;
+      auto publisher = node->create_publisher<StringTypeAdapter>("topic", 42);
+      (void)publisher;
+    }
+  }
+}
+
+/*
+ * Testing that conversion errors are passed up.
+ */
+TEST_F(TestPublisher, conversion_exception_is_passed_up) {
+  using BadStringTypeAdapter = rclcpp::TypeAdapter<int, rclcpp::msg::String>;
+  for (auto is_intra_process : {true, false}) {
+    rclcpp::NodeOptions options;
+    options.use_intra_process_comms(is_intra_process);
+    initialize(options);
+    auto pub = node->create_publisher<BadStringTypeAdapter>("topic_name", 1);
+    EXPECT_THROW(pub->publish(1), std::runtime_error);
+  }
+}
+
+/*
+ * Testing that publisher sends type adapted types and ROS message types with intra proccess communications.
+ */
+TEST_F(
+  CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION),
+  check_type_adapted_message_is_sent_and_received_intra_process) {
+  using StringTypeAdapter = rclcpp::TypeAdapter<std::string, rclcpp::msg::String>;
+  const std::string message_data = "Message Data";
+  const std::string topic_name = "topic_name";
+  bool is_received;
+
+  auto callback =
+    [message_data, &is_received](
+    const rclcpp::msg::String::SharedPtr msg,
+    const rclcpp::MessageInfo & message_info
+    ) -> void
+    {
+      is_received = true;
+      ASSERT_STREQ(message_data.c_str(), msg->data.c_str());
+      ASSERT_TRUE(message_info.get_rmw_message_info().from_intra_process);
+    };
+
+  auto node = rclcpp::Node::make_shared(
+    "test_intra_process",
+    rclcpp::NodeOptions().use_intra_process_comms(true));
+  auto pub = node->create_publisher<StringTypeAdapter>(topic_name, 10);
+  auto sub = node->create_subscription<rclcpp::msg::String>(topic_name, 1, callback);
+
+  auto wait_for_message_to_be_received = [&is_received, &node]() {
+      rclcpp::executors::SingleThreadedExecutor executor;
+      int i = 0;
+      executor.add_node(node);
+      executor.spin_once(std::chrono::milliseconds(0));
+      while (!is_received && i < g_max_loops) {
+        printf("spin_node_once() - callback (1) expected - try %d/%d\n", ++i, g_max_loops);
+        executor.spin_once(g_sleep_per_loop);
+      }
+    };
+  {
+    { // std::string passed by reference
+      is_received = false;
+      pub->publish(message_data);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received();
+      ASSERT_TRUE(is_received);
+    }
+    { // unique pointer to std::string
+      is_received = false;
+      auto pu_message = std::make_unique<std::string>(message_data);
+      pub->publish(std::move(pu_message));
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received();
+      ASSERT_TRUE(is_received);
+    }
+    { // ROS message passed by reference
+      is_received = false;
+      rclcpp::msg::String msg;
+      msg.data = message_data;
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received();
+      ASSERT_TRUE(is_received);
+    }
+    { // unique ptr to ROS message
+      is_received = false;
+      auto pu_msg = std::make_unique<rclcpp::msg::String>();
+      pu_msg->data = message_data;
+      pub->publish(std::move(pu_msg));
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received();
+      ASSERT_TRUE(is_received);
+    }
+    /* TODO(audrow) Enable once loaned messages are supported for intra process communication
+    { // loaned ROS message
+      // is_received = false;
+      // std::allocator<void> allocator;
+      // rclcpp::LoanedMessage<rclcpp::msg::String> loaned_msg(*pub, allocator);
+      // loaned_msg.get().data = message_data;
+      // pub->publish(std::move(loaned_msg));
+      // ASSERT_FALSE(is_received);
+      // wait_for_message_to_be_received();
+      // ASSERT_TRUE(is_received);
+    }
+    */
+  }
+}
+
+/*
+ * Testing that publisher sends type adapted types and ROS message types with inter proccess communications.
+ */
+TEST_F(TestPublisher, check_type_adapted_message_is_sent_and_received) {
+  using StringTypeAdapter = rclcpp::TypeAdapter<std::string, rclcpp::msg::String>;
+
+  initialize();
+
+  const std::string message_data = "Message Data";
+  const std::string topic_name = "topic_name";
+
+  auto do_nothing = [](std::shared_ptr<const rclcpp::msg::String>) {FAIL();};
+  auto pub = node->create_publisher<StringTypeAdapter>(topic_name, 1);
+  auto sub = node->create_subscription<rclcpp::msg::String>(topic_name, 1, do_nothing);
+
+  auto assert_no_message_was_received_yet = [sub]() {
+      rclcpp::msg::String msg;
+      rclcpp::MessageInfo msg_info;
+      EXPECT_FALSE(sub->take(msg, msg_info));
+    };
+  auto assert_message_was_received = [sub, message_data]() {
+      rclcpp::msg::String msg;
+      rclcpp::MessageInfo msg_info;
+      bool message_received = false;
+      auto start = std::chrono::steady_clock::now();
+      do {
+        message_received = sub->take(msg, msg_info);
+        std::this_thread::sleep_for(100ms);
+      } while (!message_received && std::chrono::steady_clock::now() - start < 10s);
+      EXPECT_TRUE(message_received);
+      ASSERT_STREQ(message_data.c_str(), msg.data.c_str());
+    };
+
+  { // std::string passed by reference
+    assert_no_message_was_received_yet();
+    pub->publish(message_data);
+    assert_message_was_received();
+  }
+  { // unique pointer to std::string
+    assert_no_message_was_received_yet();
+    auto pu_message = std::make_unique<std::string>(message_data);
+    pub->publish(std::move(pu_message));
+    assert_message_was_received();
+  }
+  { // ROS message passed by reference
+    assert_no_message_was_received_yet();
+    rclcpp::msg::String msg;
+    msg.data = message_data;
+    pub->publish(msg);
+    assert_message_was_received();
+  }
+  { // unique ptr to ROS message
+    assert_no_message_was_received_yet();
+    auto pu_msg = std::make_unique<rclcpp::msg::String>();
+    pu_msg->data = message_data;
+    pub->publish(std::move(pu_msg));
+    assert_message_was_received();
+  }
+  { // loaned ROS message
+    assert_no_message_was_received_yet();
+    std::allocator<void> allocator;
+    rclcpp::LoanedMessage<rclcpp::msg::String> loaned_msg(*pub, allocator);
+    loaned_msg.get().data = message_data;
+    pub->publish(std::move(loaned_msg));
+    rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
+    assert_message_was_received();
+  }
+}

rclcpp/test/rclcpp/test_subscription.cpp

@@ -510,7 +510,7 @@ INSTANTIATE_TEST_SUITE_P(
 TEST_F(TestSubscription, get_network_flow_endpoints_errors) {
   initialize();
   const rclcpp::QoS subscription_qos(1);
-  auto subscription_callback = [](const test_msgs::msg::Empty::SharedPtr msg) {
+  auto subscription_callback = [](test_msgs::msg::Empty::SharedPtr msg) {
       (void)msg;
     };
   auto subscription = node->create_subscription<test_msgs::msg::Empty>(

rclcpp/test/rclcpp/test_subscription_with_type_adapter.cpp

@@ -0,0 +1,563 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+#include <thread>
+#include <utility>
+#include <vector>
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/loaned_message.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "../mocking_utils/patch.hpp"
+#include "../utils/rclcpp_gtest_macros.hpp"
+
+#include "test_msgs/msg/empty.hpp"
+#include "rclcpp/msg/string.hpp"
+
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+
+using namespace std::chrono_literals;
+
+static const int g_max_loops = 200;
+static const std::chrono::milliseconds g_sleep_per_loop(10);
+
+
+class TestSubscription : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    if (!rclcpp::ok()) {
+      rclcpp::init(0, nullptr);
+    }
+  }
+
+protected:
+  void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
+  {
+    node = std::make_shared<rclcpp::Node>("my_node", "/ns", node_options);
+  }
+
+  void TearDown()
+  {
+    node.reset();
+  }
+
+  rclcpp::Node::SharedPtr node;
+};
+
+class CLASSNAME (test_intra_process_within_one_node, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+namespace rclcpp
+{
+
+template<>
+struct TypeAdapter<std::string, rclcpp::msg::String>
+{
+  using is_specialized = std::true_type;
+  using custom_type = std::string;
+  using ros_message_type = rclcpp::msg::String;
+
+  static void
+  convert_to_ros_message(
+    const custom_type & source,
+    ros_message_type & destination)
+  {
+    destination.data = source;
+  }
+
+  static void
+  convert_to_custom(
+    const ros_message_type & source,
+    custom_type & destination)
+  {
+    destination = source.data;
+  }
+};
+
+}  // namespace rclcpp
+
+void wait_for_message_to_be_received(
+  bool & is_received,
+  const std::shared_ptr<rclcpp::Node> & node)
+{
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+  executor.spin_once(std::chrono::milliseconds(0));
+  int i = 0;
+  while (!is_received && i < g_max_loops) {
+    printf("spin_node_once() - callback (1) expected - try %d/%d\n", ++i, g_max_loops);
+    executor.spin_once(g_sleep_per_loop);
+  }
+}
+/*
+ * Testing publisher creation signatures with a type adapter.
+ */
+TEST_F(TestSubscription, various_creation_signatures) {
+  initialize();
+  {
+    using StringTypeAdapter = rclcpp::TypeAdapter<std::string, rclcpp::msg::String>;
+    auto sub =
+      node->create_subscription<StringTypeAdapter>("topic", 42, [](const std::string &) {});
+    (void)sub;
+  }
+  {
+    using StringTypeAdapter = rclcpp::adapt_type<std::string>::as<rclcpp::msg::String>;
+    auto sub =
+      node->create_subscription<StringTypeAdapter>("topic", 42, [](const std::string &) {});
+    (void)sub;
+  }
+}
+
+/*
+ * Testing that subscriber receives type adapted types and ROS message types with intra proccess communications.
+ */
+TEST_F(
+  CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION),
+  check_type_adapted_messages_are_received_by_intra_process_subscription) {
+  using StringTypeAdapter = rclcpp::TypeAdapter<std::string, rclcpp::msg::String>;
+  const std::string message_data = "Message Data";
+  const std::string topic_name = "topic_name";
+
+  auto node = rclcpp::Node::make_shared(
+    "test_intra_process",
+    rclcpp::NodeOptions().use_intra_process_comms(true));
+  auto pub = node->create_publisher<rclcpp::msg::String>(topic_name, 1);
+
+  rclcpp::msg::String msg;
+  msg.data = message_data;
+
+  {
+    { // const std::string &
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        const std::string & msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg.c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // const std::string & with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        const std::string & msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg.c_str());
+          ASSERT_TRUE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // std::shared_ptr<std::string>
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::shared_ptr<const std::string> msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), (*msg).c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // std::shared_ptr<const std::string> with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::shared_ptr<const std::string> msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), (*msg).c_str());
+          ASSERT_TRUE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // std::unique_ptr<std::string>
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::unique_ptr<std::string> msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), (*msg).c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // std::unique_ptr<std::string> with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::unique_ptr<std::string> msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), (*msg).c_str());
+          ASSERT_TRUE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // const rclcpp::msg::String &
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        const rclcpp::msg::String & msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg.data.c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // const rclcpp::msg::String & with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        const rclcpp::msg::String & msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg.data.c_str());
+          ASSERT_TRUE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // std::shared_ptr<rclcpp::msg::String>
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::shared_ptr<const rclcpp::msg::String> msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg->data.c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // std::shared_ptr<rclcpp::msg::String> with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::shared_ptr<const rclcpp::msg::String> msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg->data.c_str());
+          ASSERT_TRUE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // std::unique_ptr<rclcpp::msg::String>
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::unique_ptr<rclcpp::msg::String> msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg->data.c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // std::unique_ptr<rclcpp::msg::String> with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::unique_ptr<rclcpp::msg::String> msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg->data.c_str());
+          ASSERT_TRUE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+  }
+}
+
+/*
+ * Testing that subscriber receives type adapted types and ROS message types with inter proccess communications.
+ */
+TEST_F(
+  CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION),
+  check_type_adapted_messages_are_received_by_inter_process_subscription) {
+  using StringTypeAdapter = rclcpp::TypeAdapter<std::string, rclcpp::msg::String>;
+  const std::string message_data = "Message Data";
+  const std::string topic_name = "topic_name";
+
+  auto node = rclcpp::Node::make_shared(
+    "test_intra_process",
+    rclcpp::NodeOptions().use_intra_process_comms(false));
+  auto pub = node->create_publisher<rclcpp::msg::String>(topic_name, 1);
+
+  rclcpp::msg::String msg;
+  msg.data = message_data;
+
+  {
+    { // const std::string &
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](const std::string & msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg.c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // const std::string & with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        const std::string & msg, const rclcpp::MessageInfo & message_info) -> void
+        {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg.c_str());
+          ASSERT_FALSE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // std::shared_ptr<std::string>
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::shared_ptr<const std::string> msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), (*msg).c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // std::shared_ptr<const std::string> with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::shared_ptr<const std::string> msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), (*msg).c_str());
+          ASSERT_FALSE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // std::unique_ptr<std::string>
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::unique_ptr<std::string> msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), (*msg).c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // std::unique_ptr<std::string> with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::unique_ptr<std::string> msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), (*msg).c_str());
+          ASSERT_FALSE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // const rclcpp::msg::String &
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        const rclcpp::msg::String & msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg.data.c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // const rclcpp::msg::String & with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        const rclcpp::msg::String & msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg.data.c_str());
+          ASSERT_FALSE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // std::shared_ptr<rclcpp::msg::String>
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::shared_ptr<const rclcpp::msg::String> msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg->data.c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // std::shared_ptr<rclcpp::msg::String> with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::shared_ptr<const rclcpp::msg::String> msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg->data.c_str());
+          ASSERT_FALSE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+
+    { // std::unique_ptr<rclcpp::msg::String>
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::unique_ptr<rclcpp::msg::String> msg) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg->data.c_str());
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+    { // std::unique_ptr<rclcpp::msg::String> with message info
+      bool is_received = false;
+      auto callback =
+        [message_data, &is_received](
+        std::unique_ptr<rclcpp::msg::String> msg,
+        const rclcpp::MessageInfo & message_info) -> void {
+          is_received = true;
+          ASSERT_STREQ(message_data.c_str(), msg->data.c_str());
+          ASSERT_FALSE(message_info.get_rmw_message_info().from_intra_process);
+        };
+      auto sub = node->create_subscription<StringTypeAdapter>(topic_name, 1, callback);
+      pub->publish(msg);
+      ASSERT_FALSE(is_received);
+      wait_for_message_to_be_received(is_received, node);
+      ASSERT_TRUE(is_received);
+    }
+  }
+}

rclcpp/test/rclcpp/test_utilities.cpp

@@ -24,7 +24,6 @@
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/utilities.hpp"
-#include "rclcpp/scope_exit.hpp"
 
 #include "../mocking_utils/patch.hpp"
 #include "../utils/rclcpp_gtest_macros.hpp"

rclcpp/test/rclcpp/test_wait_for_message.cpp

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

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,33 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+13.0.0 (2021-08-23)
+-------------------
+* Use rcpputils/scope_exit.hpp and remove rclcpp/scope_exit.hpp. (`#1727 <https://github.com/ros2/rclcpp/issues/1727>`_)
+* Contributors: Christophe Bedard
+
+12.0.0 (2021-07-26)
+-------------------
+
+11.2.0 (2021-07-21)
+-------------------
+
+11.1.0 (2021-07-13)
+-------------------
+* Fixed occasionally missing goal result caused by race condition (`#1677 <https://github.com/ros2/rclcpp/issues/1677>`_)
+* Contributors: Kaven Yau
+
+11.0.0 (2021-05-18)
+-------------------
+* Bump the benchmark timeout for benchmark_action_client (`#1671 <https://github.com/ros2/rclcpp/issues/1671>`_)
+* Contributors: Scott K Logan
+
+10.0.0 (2021-05-11)
+-------------------
+* Returns CancelResponse::REJECT while goal handle failed to transit to CANCELING state (`#1641 <https://github.com/ros2/rclcpp/issues/1641>`_)
+* Fix action server deadlock issue that caused by other mutexes locked in CancelCallback (`#1635 <https://github.com/ros2/rclcpp/issues/1635>`_)
+* Contributors: Kaven Yau
+
 9.0.2 (2021-04-14)
 ------------------
 

rclcpp_action/CMakeLists.txt

@@ -6,6 +6,7 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(action_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcl_action REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 
 # Default to C++14
@@ -39,6 +40,7 @@ ament_target_dependencies(${PROJECT_NAME}
   "action_msgs"
   "rcl_action"
   "rclcpp"
+  "rcpputils"
   "rosidl_runtime_c"
 )
 
@@ -94,6 +96,7 @@ if(BUILD_TESTING)
   ament_add_gtest(test_server test/test_server.cpp TIMEOUT 180)
   if(TARGET test_server)
     ament_target_dependencies(test_server
+      "rcpputils"
       "rcutils"
       "test_msgs"
     )

rclcpp_action/include/rclcpp_action/server.hpp

@@ -356,15 +356,26 @@ protected:
   CancelResponse
   call_handle_cancel_callback(const GoalUUID & uuid) override
   {
-    std::lock_guard<std::mutex> lock(goal_handles_mutex_);
+    std::shared_ptr<ServerGoalHandle<ActionT>> goal_handle;
+    {
+      std::lock_guard<std::mutex> lock(goal_handles_mutex_);
+      auto element = goal_handles_.find(uuid);
+      if (element != goal_handles_.end()) {
+        goal_handle = element->second.lock();
+      }
+    }
+
     CancelResponse resp = CancelResponse::REJECT;
-    auto element = goal_handles_.find(uuid);
-    if (element != goal_handles_.end()) {
-      std::shared_ptr<ServerGoalHandle<ActionT>> goal_handle = element->second.lock();
-      if (goal_handle) {
-        resp = handle_cancel_(goal_handle);
-        if (CancelResponse::ACCEPT == resp) {
+    if (goal_handle) {
+      resp = handle_cancel_(goal_handle);
+      if (CancelResponse::ACCEPT == resp) {
+        try {
           goal_handle->_cancel_goal();
+        } catch (const rclcpp::exceptions::RCLError & ex) {
+          RCLCPP_DEBUG(
+            rclcpp::get_logger("rclcpp_action"),
+            "Failed to cancel goal in call_handle_cancel_callback: %s", ex.what());
+          return CancelResponse::REJECT;
         }
       }
     }

rclcpp_action/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_action</name>
-  <version>9.0.2</version>
+  <version>13.0.0</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>
@@ -19,6 +19,7 @@
   <depend>action_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rcl_action</depend>
+  <depend>rcpputils</depend>
 
   <depend>ament_cmake</depend>
 

rclcpp_action/src/server.cpp

@@ -15,10 +15,11 @@
 #include <rcl_action/action_server.h>
 #include <rcl_action/wait.h>
 
+#include <rcpputils/scope_exit.hpp>
+
 #include <action_msgs/msg/goal_status_array.hpp>
 #include <action_msgs/srv/cancel_goal.hpp>
 #include <rclcpp/exceptions.hpp>
-#include <rclcpp/scope_exit.hpp>
 #include <rclcpp_action/server.hpp>
 
 #include <memory>
@@ -416,7 +417,7 @@ ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
 
-  RCLCPP_SCOPE_EXIT(
+  RCPPUTILS_SCOPE_EXIT(
   {
     ret = rcl_action_cancel_response_fini(&cancel_response);
     if (RCL_RET_OK != ret) {
@@ -500,9 +501,13 @@ ServerBase::execute_result_request_received(std::shared_ptr<void> & data)
     result_response = create_result_response(action_msgs::msg::GoalStatus::STATUS_UNKNOWN);
   } else {
     // Goal exists, check if a result is already available
+    std::lock_guard<std::recursive_mutex> lock(pimpl_->unordered_map_mutex_);
     auto iter = pimpl_->goal_results_.find(uuid);
     if (iter != pimpl_->goal_results_.end()) {
       result_response = iter->second;
+    } else {
+      // Store the request so it can be responded to later
+      pimpl_->result_requests_[uuid].push_back(request_header);
     }
   }
 
@@ -514,10 +519,6 @@ ServerBase::execute_result_request_received(std::shared_ptr<void> & data)
     if (RCL_RET_OK != rcl_ret) {
       rclcpp::exceptions::throw_from_rcl_error(rcl_ret);
     }
-  } else {
-    // Store the request so it can be responded to later
-    std::lock_guard<std::recursive_mutex> lock(pimpl_->unordered_map_mutex_);
-    pimpl_->result_requests_[uuid].push_back(request_header);
   }
   data.reset();
 }
@@ -581,7 +582,7 @@ ServerBase::publish_status()
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
 
-  RCLCPP_SCOPE_EXIT(
+  RCPPUTILS_SCOPE_EXIT(
   {
     ret = rcl_action_goal_status_array_fini(&c_status_array);
     if (RCL_RET_OK != ret) {
@@ -627,19 +628,30 @@ ServerBase::publish_result(const GoalUUID & uuid, std::shared_ptr<void> result_m
   }
 
   {
-    std::lock_guard<std::recursive_mutex> lock(pimpl_->unordered_map_mutex_);
+    /**
+    * NOTE: There is a potential deadlock issue if both unordered_map_mutex_ and
+    * action_server_reentrant_mutex_ locked in other block scopes. Unless using
+    * std::scoped_lock, locking order must be consistent with the current.
+    *
+    * Current locking order:
+    *
+    *   1. unordered_map_mutex_
+    *   2. action_server_reentrant_mutex_
+    *
+    */
+    std::lock_guard<std::recursive_mutex> unordered_map_lock(pimpl_->unordered_map_mutex_);
     pimpl_->goal_results_[uuid] = result_msg;
-  }
 
-  // if there are clients who already asked for the result, send it to them
-  auto iter = pimpl_->result_requests_.find(uuid);
-  if (iter != pimpl_->result_requests_.end()) {
-    for (auto & request_header : iter->second) {
+    // if there are clients who already asked for the result, send it to them
+    auto iter = pimpl_->result_requests_.find(uuid);
+    if (iter != pimpl_->result_requests_.end()) {
       std::lock_guard<std::recursive_mutex> lock(pimpl_->action_server_reentrant_mutex_);
-      rcl_ret_t ret = rcl_action_send_result_response(
-        pimpl_->action_server_.get(), &request_header, result_msg.get());
-      if (RCL_RET_OK != ret) {
-        rclcpp::exceptions::throw_from_rcl_error(ret);
+      for (auto & request_header : iter->second) {
+        rcl_ret_t ret = rcl_action_send_result_response(
+          pimpl_->action_server_.get(), &request_header, result_msg.get());
+        if (RCL_RET_OK != ret) {
+          rclcpp::exceptions::throw_from_rcl_error(ret);
+        }
       }
     }
   }

rclcpp_action/test/benchmark/CMakeLists.txt

@@ -7,7 +7,7 @@ find_package(performance_test_fixture REQUIRED)
 add_performance_test(
   benchmark_action_client
   benchmark_action_client.cpp
-  TIMEOUT 120)
+  TIMEOUT 240)
 if(TARGET benchmark_action_client)
   target_link_libraries(benchmark_action_client ${PROJECT_NAME})
   ament_target_dependencies(benchmark_action_client rclcpp test_msgs)

rclcpp_action/test/test_server.cpp

@@ -15,7 +15,7 @@
 #include <rclcpp/exceptions.hpp>
 #include <rclcpp/node.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <rclcpp/scope_exit.hpp>
+#include <rcpputils/scope_exit.hpp>
 #include <test_msgs/action/fibonacci.hpp>
 
 #include <gtest/gtest.h>
@@ -1082,7 +1082,7 @@ TEST_F(TestGoalRequestServer, is_ready_rcl_error) {
   ASSERT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 10, 10, 10, 10, 10, 10, rcl_context, allocator));
-  RCLCPP_SCOPE_EXIT(
+  RCPPUTILS_SCOPE_EXIT(
   {
     EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
   });
@@ -1306,3 +1306,15 @@ TEST_F(TestDeadlockServer, deadlock_while_canceled)
   send_goal_request(node_, uuid2_);  // deadlock here
   t.join();
 }
+
+TEST_F(TestDeadlockServer, deadlock_while_succeed_and_canceled)
+{
+  send_goal_request(node_, uuid1_);
+  std::thread t(&TestDeadlockServer::GoalSucceeded, this);
+  rclcpp::sleep_for(std::chrono::milliseconds(50));
+  auto response_ptr = send_cancel_request(node_, uuid1_);
+
+  // current goal handle is not cancelable, so it returns ERROR_REJECTED
+  EXPECT_EQ(CancelResponse::ERROR_REJECTED, response_ptr->return_code);
+  t.join();
+}

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,30 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+13.0.0 (2021-08-23)
+-------------------
+* Update client API to be able to remove pending requests. (`#1734 <https://github.com/ros2/rclcpp/issues/1734>`_)
+* Contributors: Ivan Santiago Paunovic
+
+12.0.0 (2021-07-26)
+-------------------
+
+11.2.0 (2021-07-21)
+-------------------
+* Deprecate method names that use CamelCase in rclcpp_components. (`#1716 <https://github.com/ros2/rclcpp/issues/1716>`_)
+* Contributors: Rebecca Butler
+
+11.1.0 (2021-07-13)
+-------------------
+* Added a hook to generate node options in ComponentManager (`#1702 <https://github.com/ros2/rclcpp/issues/1702>`_)
+* Contributors: Rebecca Butler
+
+11.0.0 (2021-05-18)
+-------------------
+
+10.0.0 (2021-05-11)
+-------------------
+
 9.0.2 (2021-04-14)
 ------------------
 

rclcpp_components/include/rclcpp_components/component_manager.hpp

@@ -109,7 +109,7 @@ public:
   virtual ~ComponentManager();
 
   /// Return a list of valid loadable components in a given package.
-  /*
+  /**
    * \param package_name name of the package
    * \param resource_index name of the executable
    * \throws ComponentManagerException if the resource was not found or a invalid resource entry
@@ -122,7 +122,7 @@ public:
     const std::string & resource_index = "rclcpp_components") const;
 
   /// Instantiate a component from a dynamic library.
-  /*
+  /**
    * \param resource a component resource (class name + library path)
    * \return a NodeFactory interface
    */
@@ -131,8 +131,17 @@ public:
   create_component_factory(const ComponentResource & resource);
 
 protected:
+  /// Create node options for loaded component
+  /**
+   * \param request information with the node to load
+   * \return node options
+   */
+  RCLCPP_COMPONENTS_PUBLIC
+  virtual rclcpp::NodeOptions
+  create_node_options(const std::shared_ptr<LoadNode::Request> request);
+
   /// Service callback to load a new node in the component
-  /*
+  /**
    * This function allows to add parameters, remap rules, a specific node, name a namespace
    * and/or additional arguments.
    *
@@ -146,13 +155,27 @@ protected:
    */
   RCLCPP_COMPONENTS_PUBLIC
   virtual void
-  OnLoadNode(
+  on_load_node(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<LoadNode::Request> request,
     std::shared_ptr<LoadNode::Response> response);
 
+  /**
+   * \deprecated Use on_load_node() instead
+   */
+  [[deprecated("Use on_load_node() instead")]]
+  RCLCPP_COMPONENTS_PUBLIC
+  virtual void
+  OnLoadNode(
+    const std::shared_ptr<rmw_request_id_t> request_header,
+    const std::shared_ptr<LoadNode::Request> request,
+    std::shared_ptr<LoadNode::Response> response)
+  {
+    on_load_node(request_header, request, response);
+  }
+
   /// Service callback to unload a node in the component
-  /*
+  /**
    * \param request_header unused
    * \param request unique identifier to remove from the component
    * \param response true on the success field if the node unload was succefully, otherwise false
@@ -160,13 +183,27 @@ protected:
    */
   RCLCPP_COMPONENTS_PUBLIC
   virtual void
-  OnUnloadNode(
+  on_unload_node(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<UnloadNode::Request> request,
     std::shared_ptr<UnloadNode::Response> response);
 
+  /**
+   * \deprecated Use on_unload_node() instead
+   */
+  [[deprecated("Use on_unload_node() instead")]]
+  RCLCPP_COMPONENTS_PUBLIC
+  virtual void
+  OnUnloadNode(
+    const std::shared_ptr<rmw_request_id_t> request_header,
+    const std::shared_ptr<UnloadNode::Request> request,
+    std::shared_ptr<UnloadNode::Response> response)
+  {
+    on_unload_node(request_header, request, response);
+  }
+
   /// Service callback to get the list of nodes in the component
-  /*
+  /**
    * Return a two list: one with the unique identifiers and other with full name of the nodes.
    *
    * \param request_header unused
@@ -175,11 +212,25 @@ protected:
    */
   RCLCPP_COMPONENTS_PUBLIC
   virtual void
-  OnListNodes(
+  on_list_nodes(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<ListNodes::Request> request,
     std::shared_ptr<ListNodes::Response> response);
 
+  /**
+   * \deprecated Use on_list_nodes() instead
+   */
+  [[deprecated("Use on_list_nodes() instead")]]
+  RCLCPP_COMPONENTS_PUBLIC
+  virtual void
+  OnListNodes(
+    const std::shared_ptr<rmw_request_id_t> request_header,
+    const std::shared_ptr<ListNodes::Request> request,
+    std::shared_ptr<ListNodes::Response> response)
+  {
+    on_list_nodes(request_header, request, response);
+  }
+
 private:
   std::weak_ptr<rclcpp::Executor> executor_;
 

rclcpp_components/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_components</name>
-  <version>9.0.2</version>
+  <version>13.0.0</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>

rclcpp_components/src/component_manager.cpp

@@ -39,13 +39,13 @@ ComponentManager::ComponentManager(
 {
   loadNode_srv_ = create_service<LoadNode>(
     "~/_container/load_node",
-    std::bind(&ComponentManager::OnLoadNode, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3));
   unloadNode_srv_ = create_service<UnloadNode>(
     "~/_container/unload_node",
-    std::bind(&ComponentManager::OnUnloadNode, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3));
   listNodes_srv_ = create_service<ListNodes>(
     "~/_container/list_nodes",
-    std::bind(&ComponentManager::OnListNodes, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));
 }
 
 ComponentManager::~ComponentManager()
@@ -121,8 +121,53 @@ ComponentManager::create_component_factory(const ComponentResource & resource)
   return {};
 }
 
+rclcpp::NodeOptions
+ComponentManager::create_node_options(const std::shared_ptr<LoadNode::Request> request)
+{
+  std::vector<rclcpp::Parameter> parameters;
+  for (const auto & p : request->parameters) {
+    parameters.push_back(rclcpp::Parameter::from_parameter_msg(p));
+  }
+
+  std::vector<std::string> remap_rules;
+  remap_rules.reserve(request->remap_rules.size() * 2 + 1);
+  remap_rules.push_back("--ros-args");
+  for (const std::string & rule : request->remap_rules) {
+    remap_rules.push_back("-r");
+    remap_rules.push_back(rule);
+  }
+
+  if (!request->node_name.empty()) {
+    remap_rules.push_back("-r");
+    remap_rules.push_back("__node:=" + request->node_name);
+  }
+
+  if (!request->node_namespace.empty()) {
+    remap_rules.push_back("-r");
+    remap_rules.push_back("__ns:=" + request->node_namespace);
+  }
+
+  auto options = rclcpp::NodeOptions()
+    .use_global_arguments(false)
+    .parameter_overrides(parameters)
+    .arguments(remap_rules);
+
+  for (const auto & a : request->extra_arguments) {
+    const rclcpp::Parameter extra_argument = rclcpp::Parameter::from_parameter_msg(a);
+    if (extra_argument.get_name() == "use_intra_process_comms") {
+      if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
+        throw ComponentManagerException(
+                "Extra component argument 'use_intra_process_comms' must be a boolean");
+      }
+      options.use_intra_process_comms(extra_argument.get_value<bool>());
+    }
+  }
+
+  return options;
+}
+
 void
-ComponentManager::OnLoadNode(
+ComponentManager::on_load_node(
   const std::shared_ptr<rmw_request_id_t> request_header,
   const std::shared_ptr<LoadNode::Request> request,
   std::shared_ptr<LoadNode::Response> response)
@@ -142,45 +187,7 @@ ComponentManager::OnLoadNode(
         continue;
       }
 
-      std::vector<rclcpp::Parameter> parameters;
-      for (const auto & p : request->parameters) {
-        parameters.push_back(rclcpp::Parameter::from_parameter_msg(p));
-      }
-
-      std::vector<std::string> remap_rules;
-      remap_rules.reserve(request->remap_rules.size() * 2 + 1);
-      remap_rules.push_back("--ros-args");
-      for (const std::string & rule : request->remap_rules) {
-        remap_rules.push_back("-r");
-        remap_rules.push_back(rule);
-      }
-
-      if (!request->node_name.empty()) {
-        remap_rules.push_back("-r");
-        remap_rules.push_back("__node:=" + request->node_name);
-      }
-
-      if (!request->node_namespace.empty()) {
-        remap_rules.push_back("-r");
-        remap_rules.push_back("__ns:=" + request->node_namespace);
-      }
-
-      auto options = rclcpp::NodeOptions()
-        .use_global_arguments(false)
-        .parameter_overrides(parameters)
-        .arguments(remap_rules);
-
-      for (const auto & a : request->extra_arguments) {
-        const rclcpp::Parameter extra_argument = rclcpp::Parameter::from_parameter_msg(a);
-        if (extra_argument.get_name() == "use_intra_process_comms") {
-          if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
-            throw ComponentManagerException(
-                    "Extra component argument 'use_intra_process_comms' must be a boolean");
-          }
-          options.use_intra_process_comms(extra_argument.get_value<bool>());
-        }
-      }
-
+      auto options = create_node_options(request);
       auto node_id = unique_id_++;
 
       if (0 == node_id) {
@@ -230,7 +237,7 @@ ComponentManager::OnLoadNode(
 }
 
 void
-ComponentManager::OnUnloadNode(
+ComponentManager::on_unload_node(
   const std::shared_ptr<rmw_request_id_t> request_header,
   const std::shared_ptr<UnloadNode::Request> request,
   std::shared_ptr<UnloadNode::Response> response)
@@ -255,7 +262,7 @@ ComponentManager::OnUnloadNode(
 }
 
 void
-ComponentManager::OnListNodes(
+ComponentManager::on_list_nodes(
   const std::shared_ptr<rmw_request_id_t> request_header,
   const std::shared_ptr<ListNodes::Request> request,
   std::shared_ptr<ListNodes::Response> response)

rclcpp_components/test/test_component_manager_api.cpp

@@ -57,13 +57,14 @@ TEST_F(TestComponentManager, components_api)
     request->package_name = "rclcpp_components";
     request->plugin_name = "test_rclcpp_components::TestComponentFoo";
 
-    auto result = composition_client->async_send_request(request);
-    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+    auto future = composition_client->async_send_request(request);
+    auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
+    auto result = future.get();
     EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-    EXPECT_EQ(result.get()->success, true);
-    EXPECT_EQ(result.get()->error_message, "");
-    EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
-    EXPECT_EQ(result.get()->unique_id, 1u);
+    EXPECT_EQ(result->success, true);
+    EXPECT_EQ(result->error_message, "");
+    EXPECT_EQ(result->full_node_name, "/test_component_foo");
+    EXPECT_EQ(result->unique_id, 1u);
   }
 
   {
@@ -71,13 +72,14 @@ TEST_F(TestComponentManager, components_api)
     request->package_name = "rclcpp_components";
     request->plugin_name = "test_rclcpp_components::TestComponentBar";
 
-    auto result = composition_client->async_send_request(request);
-    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+    auto future = composition_client->async_send_request(request);
+    auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
+    auto result = future.get();
     EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-    EXPECT_EQ(result.get()->success, true);
-    EXPECT_EQ(result.get()->error_message, "");
-    EXPECT_EQ(result.get()->full_node_name, "/test_component_bar");
-    EXPECT_EQ(result.get()->unique_id, 2u);
+    EXPECT_EQ(result->success, true);
+    EXPECT_EQ(result->error_message, "");
+    EXPECT_EQ(result->full_node_name, "/test_component_bar");
+    EXPECT_EQ(result->unique_id, 2u);
   }
 
   // Test remapping the node name
@@ -87,13 +89,14 @@ TEST_F(TestComponentManager, components_api)
     request->plugin_name = "test_rclcpp_components::TestComponentFoo";
     request->node_name = "test_component_baz";
 
-    auto result = composition_client->async_send_request(request);
-    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+    auto future = composition_client->async_send_request(request);
+    auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
+    auto result = future.get();
     EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-    EXPECT_EQ(result.get()->success, true);
-    EXPECT_EQ(result.get()->error_message, "");
-    EXPECT_EQ(result.get()->full_node_name, "/test_component_baz");
-    EXPECT_EQ(result.get()->unique_id, 3u);
+    EXPECT_EQ(result->success, true);
+    EXPECT_EQ(result->error_message, "");
+    EXPECT_EQ(result->full_node_name, "/test_component_baz");
+    EXPECT_EQ(result->unique_id, 3u);
   }
 
   // Test remapping the node namespace
@@ -104,13 +107,14 @@ TEST_F(TestComponentManager, components_api)
     request->node_namespace = "/ns";
     request->node_name = "test_component_bing";
 
-    auto result = composition_client->async_send_request(request);
-    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+    auto future = composition_client->async_send_request(request);
+    auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
+    auto result = future.get();
     EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-    EXPECT_EQ(result.get()->success, true);
-    EXPECT_EQ(result.get()->error_message, "");
-    EXPECT_EQ(result.get()->full_node_name, "/ns/test_component_bing");
-    EXPECT_EQ(result.get()->unique_id, 4u);
+    EXPECT_EQ(result->success, true);
+    EXPECT_EQ(result->error_message, "");
+    EXPECT_EQ(result->full_node_name, "/ns/test_component_bing");
+    EXPECT_EQ(result->unique_id, 4u);
   }
 
   {
@@ -119,13 +123,14 @@ TEST_F(TestComponentManager, components_api)
     request->package_name = "rclcpp_components";
     request->plugin_name = "test_rclcpp_components::TestComponent";
 
-    auto result = composition_client->async_send_request(request);
-    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+    auto future = composition_client->async_send_request(request);
+    auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
     EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-    EXPECT_EQ(result.get()->success, false);
-    EXPECT_EQ(result.get()->error_message, "Failed to find class with the requested plugin name.");
-    EXPECT_EQ(result.get()->full_node_name, "");
-    EXPECT_EQ(result.get()->unique_id, 0u);
+    auto result = future.get();
+    EXPECT_EQ(result->success, false);
+    EXPECT_EQ(result->error_message, "Failed to find class with the requested plugin name.");
+    EXPECT_EQ(result->full_node_name, "");
+    EXPECT_EQ(result->unique_id, 0u);
   }
 
   {
@@ -134,13 +139,14 @@ TEST_F(TestComponentManager, components_api)
     request->package_name = "rclcpp_components_foo";
     request->plugin_name = "test_rclcpp_components::TestComponentFoo";
 
-    auto result = composition_client->async_send_request(request);
-    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+    auto future = composition_client->async_send_request(request);
+    auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
     EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-    EXPECT_EQ(result.get()->success, false);
-    EXPECT_EQ(result.get()->error_message, "Could not find requested resource in ament index");
-    EXPECT_EQ(result.get()->full_node_name, "");
-    EXPECT_EQ(result.get()->unique_id, 0u);
+    auto result = future.get();
+    EXPECT_EQ(result->success, false);
+    EXPECT_EQ(result->error_message, "Could not find requested resource in ament index");
+    EXPECT_EQ(result->full_node_name, "");
+    EXPECT_EQ(result->unique_id, 0u);
   }
 
   {
@@ -151,13 +157,14 @@ TEST_F(TestComponentManager, components_api)
     request->node_name = "test_component_remap";
     request->remap_rules.push_back("alice:=bob");
 
-    auto result = composition_client->async_send_request(request);
-    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+    auto future = composition_client->async_send_request(request);
+    auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
+    auto result = future.get();
     EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-    EXPECT_EQ(result.get()->success, true);
-    EXPECT_EQ(result.get()->error_message, "");
-    EXPECT_EQ(result.get()->full_node_name, "/test_component_remap");
-    EXPECT_EQ(result.get()->unique_id, 5u);
+    EXPECT_EQ(result->success, true);
+    EXPECT_EQ(result->error_message, "");
+    EXPECT_EQ(result->full_node_name, "/test_component_remap");
+    EXPECT_EQ(result->unique_id, 5u);
   }
 
   {
@@ -170,14 +177,15 @@ TEST_F(TestComponentManager, components_api)
       rclcpp::ParameterValue(true));
     request->extra_arguments.push_back(use_intraprocess_comms.to_parameter_msg());
 
-    auto result = composition_client->async_send_request(request);
-    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+    auto future = composition_client->async_send_request(request);
+    auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
+    auto result = future.get();
     EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-    EXPECT_EQ(result.get()->success, true);
-    EXPECT_EQ(result.get()->error_message, "");
-    std::cout << result.get()->full_node_name << std::endl;
-    EXPECT_EQ(result.get()->full_node_name, "/test_component_intra_process");
-    EXPECT_EQ(result.get()->unique_id, 6u);
+    EXPECT_EQ(result->success, true);
+    EXPECT_EQ(result->error_message, "");
+    std::cout << result->full_node_name << std::endl;
+    EXPECT_EQ(result->full_node_name, "/test_component_intra_process");
+    EXPECT_EQ(result->unique_id, 6u);
   }
 
   {
@@ -191,15 +199,16 @@ TEST_F(TestComponentManager, components_api)
       rclcpp::ParameterValue("hello"));
     request->extra_arguments.push_back(use_intraprocess_comms.to_parameter_msg());
 
-    auto result = composition_client->async_send_request(request);
-    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+    auto future = composition_client->async_send_request(request);
+    auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
+    auto result = future.get();
     EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-    EXPECT_EQ(result.get()->success, false);
+    EXPECT_EQ(result->success, false);
     EXPECT_EQ(
-      result.get()->error_message,
+      result->error_message,
       "Extra component argument 'use_intra_process_comms' must be a boolean");
-    EXPECT_EQ(result.get()->full_node_name, "");
-    EXPECT_EQ(result.get()->unique_id, 0u);
+    EXPECT_EQ(result->full_node_name, "");
+    EXPECT_EQ(result->unique_id, 0u);
   }
 
   auto node_names = node->get_node_names();
@@ -223,11 +232,12 @@ TEST_F(TestComponentManager, components_api)
 
     {
       auto request = std::make_shared<composition_interfaces::srv::ListNodes::Request>();
-      auto result = client->async_send_request(request);
-      auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+      auto future = client->async_send_request(request);
+      auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
       EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-      auto result_node_names = result.get()->full_node_names;
-      auto result_unique_ids = result.get()->unique_ids;
+      auto result = future.get();
+      auto result_node_names = result->full_node_names;
+      auto result_unique_ids = result->unique_ids;
 
       EXPECT_EQ(result_node_names.size(), 6u);
       EXPECT_EQ(result_node_names[0], "/test_component_foo");
@@ -258,22 +268,24 @@ TEST_F(TestComponentManager, components_api)
       auto request = std::make_shared<composition_interfaces::srv::UnloadNode::Request>();
       request->unique_id = 1;
 
-      auto result = client->async_send_request(request);
-      auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+      auto future = client->async_send_request(request);
+      auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
+      auto result = future.get();
       EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-      EXPECT_EQ(result.get()->success, true);
-      EXPECT_EQ(result.get()->error_message, "");
+      EXPECT_EQ(result->success, true);
+      EXPECT_EQ(result->error_message, "");
     }
 
     {
       auto request = std::make_shared<composition_interfaces::srv::UnloadNode::Request>();
       request->unique_id = 1;
 
-      auto result = client->async_send_request(request);
-      auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+      auto future = client->async_send_request(request);
+      auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
+      auto result = future.get();
       EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-      EXPECT_EQ(result.get()->success, false);
-      EXPECT_EQ(result.get()->error_message, "No node found with unique_id: 1");
+      EXPECT_EQ(result->success, false);
+      EXPECT_EQ(result->error_message, "No node found with unique_id: 1");
     }
   }
 
@@ -287,11 +299,12 @@ TEST_F(TestComponentManager, components_api)
 
     {
       auto request = std::make_shared<composition_interfaces::srv::ListNodes::Request>();
-      auto result = client->async_send_request(request);
-      auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
+      auto future = client->async_send_request(request);
+      auto ret = exec->spin_until_future_complete(future, 5s);  // Wait for the result.
       EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
-      auto result_node_names = result.get()->full_node_names;
-      auto result_unique_ids = result.get()->unique_ids;
+      auto result = future.get();
+      auto result_node_names = result->full_node_names;
+      auto result_unique_ids = result->unique_ids;
 
       EXPECT_EQ(result_node_names.size(), 5u);
       EXPECT_EQ(result_node_names[0], "/test_component_bar");

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,46 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+13.0.0 (2021-08-23)
+-------------------
+* Update client API to be able to remove pending requests. (`#1734 <https://github.com/ros2/rclcpp/issues/1734>`_)
+* Change log level for lifecycle_publisher. (`#1715 <https://github.com/ros2/rclcpp/issues/1715>`_)
+* Fix: RCLCPP_PUBLIC -> RCLCPP_LIFECYCLE_PUBLIC (`#1732 <https://github.com/ros2/rclcpp/issues/1732>`_)
+* Use rcpputils/scope_exit.hpp and remove rclcpp/scope_exit.hpp (`#1727 <https://github.com/ros2/rclcpp/issues/1727>`_)
+* Contributors: Alberto Soragna, Christophe Bedard, Ivan Santiago Paunovic, Shane Loretz
+
+12.0.0 (2021-07-26)
+-------------------
+* Remove unsafe get_callback_groups API.
+  Callers should change to using for_each_callback_group(), or
+  store the callback groups they need internally.
+* Add in callback_groups_for_each.
+  The main reason to add this method in is to make accesses to the
+  callback_groups\_ vector thread-safe.  By having a
+  callback_groups_for_each that accepts a std::function, we can
+  just have the callers give us the callback they are interested
+  in, and we can take care of the locking.
+  The rest of this fairly large PR is cleaning up all of the places
+  that use get_callback_groups() to instead use
+  callback_groups_for_each().
+* Contributors: Chris Lalancette
+
+11.2.0 (2021-07-21)
+-------------------
+
+11.1.0 (2021-07-13)
+-------------------
+
+11.0.0 (2021-05-18)
+-------------------
+* Fix destruction order in lifecycle benchmark (`#1675 <https://github.com/ros2/rclcpp/issues/1675>`_)
+* Contributors: Scott K Logan
+
+10.0.0 (2021-05-11)
+-------------------
+* [rclcpp] Type Adaptation feature (`#1557 <https://github.com/ros2/rclcpp/issues/1557>`_)
+* Contributors: Audrow Nash, William Woodall
+
 9.0.2 (2021-04-14)
 ------------------
 

rclcpp_lifecycle/CMakeLists.txt

@@ -103,6 +103,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_lifecycle_service_client
       "rcl_lifecycle"
       "rclcpp"
+      "rcpputils"
       "rcutils"
     )
     target_link_libraries(test_lifecycle_service_client ${PROJECT_NAME} mimick)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -192,13 +192,11 @@ public:
     rclcpp::CallbackGroupType group_type,
     bool automatically_add_to_executor_with_node = true);
 
-  /// Return the list of callback groups in the node.
-  /**
-   * \return list of callback groups in the node.
-   */
+  /// Iterate over the callback groups in the node, calling func on each valid one.
   RCLCPP_LIFECYCLE_PUBLIC
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-  get_callback_groups() const;
+  void
+  for_each_callback_group(
+    const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction & func);
 
   /// Create and return a Publisher.
   /**
@@ -230,13 +228,8 @@ public:
     typename MessageT,
     typename CallbackT,
     typename AllocatorT = std::allocator<void>,
-    typename CallbackMessageT =
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
     typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
-    typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      CallbackMessageT,
-      AllocatorT
-    >>
+    typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -61,7 +61,6 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename CallbackMessageT,
   typename SubscriptionT,
   typename MessageMemoryStrategyT>
 std::shared_ptr<SubscriptionT>

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp

@@ -65,6 +65,7 @@ public:
     const rclcpp::PublisherOptionsWithAllocator<Alloc> & options)
   : rclcpp::Publisher<MessageT, Alloc>(node_base, topic, qos, options),
     enabled_(false),
+    should_log_(true),
     logger_(rclcpp::get_logger("LifecyclePublisher"))
   {
   }
@@ -81,11 +82,7 @@ public:
   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
   {
     if (!enabled_) {
-      RCLCPP_WARN(
-        logger_,
-        "Trying to publish message on the topic '%s', but the publisher is not activated",
-        this->get_topic_name());
-
+      log_publisher_not_enabled();
       return;
     }
     rclcpp::Publisher<MessageT, Alloc>::publish(std::move(msg));
@@ -101,11 +98,7 @@ public:
   publish(const MessageT & msg)
   {
     if (!enabled_) {
-      RCLCPP_WARN(
-        logger_,
-        "Trying to publish message on the topic '%s', but the publisher is not activated",
-        this->get_topic_name());
-
+      log_publisher_not_enabled();
       return;
     }
     rclcpp::Publisher<MessageT, Alloc>::publish(msg);
@@ -121,6 +114,7 @@ public:
   on_deactivate()
   {
     enabled_ = false;
+    should_log_ = true;
   }
 
   virtual bool
@@ -130,7 +124,30 @@ public:
   }
 
 private:
+  /// LifecyclePublisher log helper function
+  /**
+   * Helper function that logs a message saying that publisher can't publish
+   * because it's not enabled.
+   */
+  void log_publisher_not_enabled()
+  {
+    // Nothing to do if we are not meant to log
+    if (!should_log_) {
+      return;
+    }
+
+    // Log the message
+    RCLCPP_WARN(
+      logger_,
+      "Trying to publish message on the topic '%s', but the publisher is not activated",
+      this->get_topic_name());
+
+    // We stop logging until the flag gets enabled again
+    should_log_ = false;
+  }
+
   bool enabled_ = false;
+  bool should_log_ = true;
   rclcpp::Logger logger_;
 };
 

rclcpp_lifecycle/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_lifecycle</name>
-  <version>9.0.2</version>
+  <version>13.0.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>
@@ -29,6 +29,7 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>mimick_vendor</test_depend>
   <test_depend>performance_test_fixture</test_depend>
+  <test_depend>rcpputils</test_depend>
   <test_depend>rcutils</test_depend>
   <test_depend>test_msgs</test_depend>
 

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -365,10 +365,11 @@ LifecycleNode::get_subscriptions_info_by_topic(const std::string & topic_name, b
   return node_graph_->get_subscriptions_info_by_topic(topic_name, no_mangle);
 }
 
-const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-LifecycleNode::get_callback_groups() const
+void
+LifecycleNode::for_each_callback_group(
+  const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction & func)
 {
-  return node_base_->get_callback_groups();
+  node_base_->for_each_callback_group(func);
 }
 
 rclcpp::Event::SharedPtr