2.2.0

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

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

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

rclcpp/CHANGELOG.rst

@@ -2,6 +2,41 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2020-10-07)
+------------------
+* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_) (`#1372 <https://github.com/ros2/rclcpp/issues/1372>`_)
+* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_) (`#1371 <https://github.com/ros2/rclcpp/issues/1371>`_)
+* Call vector.erase with end iterator overload (`#1314 <https://github.com/ros2/rclcpp/issues/1314>`_) (`#1380 <https://github.com/ros2/rclcpp/issues/1380>`_)
+* Check waitable for nullptr during constructor (`#1315 <https://github.com/ros2/rclcpp/issues/1315>`_) (`#1379 <https://github.com/ros2/rclcpp/issues/1379>`_)
+* Fix pub/sub count API tests. (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_) (`#1319 <https://github.com/ros2/rclcpp/issues/1319>`_)
+* Reorganize test directory and split CMakeLists.txt (`#1173 <https://github.com/ros2/rclcpp/issues/1173>`_) (`#1262 <https://github.com/ros2/rclcpp/issues/1262>`_)
+* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_) (`#1278 <https://github.com/ros2/rclcpp/issues/1278>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron, Jannik Abbenseth, Johannes Meyer, Michel Hidalgo, Stephen Brawner
+
+2.1.0 (2020-08-03)
+------------------
+* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_) (`#1244 <https://github.com/ros2/rclcpp/issues/1244>`_)
+* Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (`#1227 <https://github.com/ros2/rclcpp/issues/1227>`_) (`#1228 <https://github.com/ros2/rclcpp/issues/1228>`_)
+* Remove recreation of entities_collector (`#1217 <https://github.com/ros2/rclcpp/issues/1217>`_) (`#1224 <https://github.com/ros2/rclcpp/issues/1224>`_)
+* Contributors: Jacob Perron, brawner
+
+2.0.2 (2020-07-07)
+------------------
+* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_) (`#1214 <https://github.com/ros2/rclcpp/issues/1214>`_)
+* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_) (`#1193 <https://github.com/ros2/rclcpp/issues/1193>`_)
+* Contributors: Dirk Thomas, tomoya
+
+2.0.1 (2020-06-23)
+------------------
+* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_) (`#1192 <https://github.com/ros2/rclcpp/issues/1192>`_)
+* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_) (`#1185 <https://github.com/ros2/rclcpp/issues/1185>`_)
+* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
+* Check if context is valid when looping in spin_some (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
+* Fix spin_until_future_complete: check spinning value (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
+  Make Executor::spin_once_impl private before backporting, to avoid API compatibility issues
+* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_) (`#1172 <https://github.com/ros2/rclcpp/issues/1172>`_)
+* Contributors: Alejandro Hernández Cordero, Devin Bonnie, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Stephen Brawner
+
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp/CMakeLists.txt

@@ -2,6 +2,8 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rclcpp)
 
+find_package(Threads REQUIRED)
+
 find_package(ament_cmake_ros REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(libstatistics_collector REQUIRED)
@@ -23,7 +25,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
+  # About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
+  # implicit sign conversions in rclcpp and gtest.cc, see https://ci.ros2.org/job/ci_osx/9265/.
+  # Hence disabling -Wsign-conversion for now until all those have eventually been fixed.
+  # (from https://github.com/ros2/rclcpp/pull/1188#issuecomment-650229140)
+  add_compile_options(-Wall -Wextra -Wconversion -Wno-sign-conversion -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
 endif()
 
 set(${PROJECT_NAME}_SRCS
@@ -166,6 +172,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
   "libstatistics_collector"
@@ -212,442 +219,10 @@ ament_export_dependencies(statistics_msgs)
 ament_export_dependencies(tracetools)
 
 if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  find_package(rmw_implementation_cmake REQUIRED)
-  find_package(rosidl_default_generators REQUIRED)
-
-  find_package(test_msgs REQUIRED)
-
-  include(cmake/rclcpp_add_build_failure_test.cmake)
-
-  add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/test/resources")
-
-  rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
-    test/msg/Header.msg
-    test/msg/MessageWithHeader.msg
-    DEPENDENCIES builtin_interfaces
-    LIBRARY_NAME ${PROJECT_NAME}
-    SKIP_INSTALL
-  )
-
-  ament_add_gtest(test_client test/test_client.cpp)
-  if(TARGET test_client)
-    ament_target_dependencies(test_client
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_client ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_create_timer test/test_create_timer.cpp)
-  if(TARGET test_create_timer)
-    ament_target_dependencies(test_create_timer
-      "rcl_interfaces"
-      "rmw"
-      "rcl"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_create_timer ${PROJECT_NAME})
-    target_include_directories(test_create_timer PRIVATE test/)
-  endif()
-  ament_add_gtest(test_expand_topic_or_service_name test/test_expand_topic_or_service_name.cpp)
-  if(TARGET test_expand_topic_or_service_name)
-    ament_target_dependencies(test_expand_topic_or_service_name
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_function_traits test/test_function_traits.cpp)
-  if(TARGET test_function_traits)
-    target_include_directories(test_function_traits PUBLIC include)
-    ament_target_dependencies(test_function_traits
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-  endif()
-  ament_add_gmock(test_intra_process_manager test/test_intra_process_manager.cpp)
-  if(TARGET test_intra_process_manager)
-    ament_target_dependencies(test_intra_process_manager
-      "rcl"
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_ring_buffer_implementation test/test_ring_buffer_implementation.cpp)
-  if(TARGET test_ring_buffer_implementation)
-    ament_target_dependencies(test_ring_buffer_implementation
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_intra_process_buffer test/test_intra_process_buffer.cpp)
-  if(TARGET test_intra_process_buffer)
-    ament_target_dependencies(test_intra_process_buffer
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_loaned_message test/test_loaned_message.cpp)
-  ament_target_dependencies(test_loaned_message
-    "test_msgs"
-  )
-  target_link_libraries(test_loaned_message ${PROJECT_NAME})
-
-  ament_add_gtest(test_node test/test_node.cpp TIMEOUT 240)
-  if(TARGET test_node)
-    ament_target_dependencies(test_node
-      "rcl_interfaces"
-      "rcpputils"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_node ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_node_interfaces__get_node_interfaces
-    test/node_interfaces/test_get_node_interfaces.cpp)
-  if(TARGET test_node_interfaces__get_node_interfaces)
-    target_link_libraries(test_node_interfaces__get_node_interfaces ${PROJECT_NAME})
-  endif()
-
-  # TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output
-  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_rclcpp_node
-  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_rclcpp_node.cpp)
-  # target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
-  #   ${PROJECT_NAME})
-
-  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
-  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_rclcpp_node.cpp)
-  # target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
-  #   ${PROJECT_NAME})
-
-  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_wrapped_node
-  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_wrapped_node.cpp)
-  # target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
-  #   ${PROJECT_NAME})
-
-  # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_wrapped_node
-  #   test/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_wrapped_node.cpp)
-  # target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
-  #   ${PROJECT_NAME})
-
-  ament_add_gtest(test_node_global_args test/test_node_global_args.cpp)
-  if(TARGET test_node_global_args)
-    ament_target_dependencies(test_node_global_args
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_node_global_args ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_node_options test/test_node_options.cpp)
-  if(TARGET test_node_options)
-    ament_target_dependencies(test_node_options "rcl")
-    target_link_libraries(test_node_options ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_parameter_client test/test_parameter_client.cpp)
-  if(TARGET test_parameter_client)
-    ament_target_dependencies(test_parameter_client
-      "rcl_interfaces"
-    )
-    target_link_libraries(test_parameter_client ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
-  if(TARGET test_parameter_events_filter)
-    ament_target_dependencies(test_parameter_events_filter
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_parameter test/test_parameter.cpp)
-  if(TARGET test_parameter)
-    ament_target_dependencies(test_parameter
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_parameter ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_parameter_map test/test_parameter_map.cpp)
-  if(TARGET test_parameter_map)
-    target_link_libraries(test_parameter_map ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_publisher test/test_publisher.cpp)
-  if(TARGET test_publisher)
-    ament_target_dependencies(test_publisher
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_publisher ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_publisher_subscription_count_api test/test_publisher_subscription_count_api.cpp)
-  if(TARGET test_publisher_subscription_count_api)
-    ament_target_dependencies(test_publisher_subscription_count_api
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_qos test/test_qos.cpp)
-  if(TARGET test_qos)
-    ament_target_dependencies(test_qos
-      "rmw"
-    )
-    target_link_libraries(test_qos
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_qos_event test/test_qos_event.cpp)
-  if(TARGET test_qos_event)
-    ament_target_dependencies(test_qos_event
-      "rmw"
-      "test_msgs"
-    )
-    target_link_libraries(test_qos_event
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_rate test/test_rate.cpp)
-  if(TARGET test_rate)
-    ament_target_dependencies(test_rate
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_rate
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_serialized_message_allocator test/test_serialized_message_allocator.cpp)
-  if(TARGET test_serialized_message_allocator)
-    ament_target_dependencies(test_serialized_message_allocator
-      test_msgs
-    )
-    target_link_libraries(test_serialized_message_allocator
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_serialized_message test/test_serialized_message.cpp)
-  if(TARGET test_serialized_message)
-    ament_target_dependencies(test_serialized_message
-      test_msgs
-    )
-    target_link_libraries(test_serialized_message
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_service test/test_service.cpp)
-  if(TARGET test_service)
-    ament_target_dependencies(test_service
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_service ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_subscription test/test_subscription.cpp)
-  if(TARGET test_subscription)
-    ament_target_dependencies(test_subscription
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_subscription ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_subscription_publisher_count_api test/test_subscription_publisher_count_api.cpp)
-  if(TARGET test_subscription_publisher_count_api)
-    ament_target_dependencies(test_subscription_publisher_count_api
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-    target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_subscription_traits test/test_subscription_traits.cpp)
-  if(TARGET test_subscription_traits)
-    ament_target_dependencies(test_subscription_traits
-      "rcl"
-      "test_msgs"
-    )
-    target_link_libraries(test_subscription_traits ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_find_weak_nodes test/test_find_weak_nodes.cpp)
-  if(TARGET test_find_weak_nodes)
-    ament_target_dependencies(test_find_weak_nodes
-      "rcl"
-    )
-    target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
-  endif()
-
-  set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
-  if(WIN32)
-    set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
-  endif()
-
-  ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp)
-  ament_target_dependencies(test_externally_defined_services
-    "rcl"
-    "test_msgs"
-  )
-  target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
-
-  ament_add_gtest(test_duration test/test_duration.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_duration)
-    ament_target_dependencies(test_duration
-      "rcl")
-    target_link_libraries(test_duration ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_executor test/test_executor.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_executor)
-    ament_target_dependencies(test_executor
-      "rcl")
-    target_link_libraries(test_executor ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_logger test/test_logger.cpp)
-  target_link_libraries(test_logger ${PROJECT_NAME})
-
-  ament_add_gmock(test_logging test/test_logging.cpp)
-  target_link_libraries(test_logging ${PROJECT_NAME})
-
-  ament_add_gtest(test_time test/test_time.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_time)
-    ament_target_dependencies(test_time
-      "rcl")
-    target_link_libraries(test_time ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_timer test/test_timer.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_timer)
-    ament_target_dependencies(test_timer
-      "rcl")
-    target_link_libraries(test_timer ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_time_source test/test_time_source.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_time_source)
-    ament_target_dependencies(test_time_source
-      "rcl")
-    target_link_libraries(test_time_source ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_utilities test/test_utilities.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_utilities)
-    ament_target_dependencies(test_utilities
-      "rcl")
-    target_link_libraries(test_utilities ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_init test/test_init.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_init)
-    ament_target_dependencies(test_init
-      "rcl")
-    target_link_libraries(test_init ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_interface_traits test/test_interface_traits.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_interface_traits)
-    ament_target_dependencies(test_interface_traits
-      "rcl")
-    target_link_libraries(test_interface_traits ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_multi_threaded_executor test/executors/test_multi_threaded_executor.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_multi_threaded_executor)
-    ament_target_dependencies(test_multi_threaded_executor
-      "rcl")
-    target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_guard_condition test/test_guard_condition.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_guard_condition)
-    target_link_libraries(test_guard_condition ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_wait_set test/test_wait_set.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_wait_set)
-    ament_target_dependencies(test_wait_set "test_msgs")
-    target_link_libraries(test_wait_set ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_subscription_topic_statistics test/topic_statistics/test_subscription_topic_statistics.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}"
-  )
-  if(TARGET test_subscription_topic_statistics)
-    ament_target_dependencies(test_subscription_topic_statistics
-      "builtin_interfaces"
-      "libstatistics_collector"
-      "rcl_interfaces"
-      "rcutils"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-      "statistics_msgs"
-      "test_msgs")
-    rosidl_target_interfaces(test_subscription_topic_statistics ${PROJECT_NAME}_test_msgs "rosidl_typesupport_cpp")
-    target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_subscription_options test/test_subscription_options.cpp)
-  if(TARGET test_subscription_options)
-    ament_target_dependencies(test_subscription_options "rcl")
-    target_link_libraries(test_subscription_options ${PROJECT_NAME})
-  endif()
-
-  # Install test resources
-  install(
-    DIRECTORY test/resources
-    DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/test)
+  add_subdirectory(test)
 endif()
 
 ament_package()

rclcpp/include/rclcpp/clock.hpp

@@ -115,9 +115,9 @@ public:
    *
    * Function is only applicable if the clock_type is `RCL_ROS_TIME`
    *
-   * \param pre_callback. Must be non-throwing
-   * \param post_callback. Must be non-throwing.
-   * \param threshold. Callbacks will be triggered if the time jump is greater
+   * \param pre_callback Must be non-throwing
+   * \param post_callback Must be non-throwing.
+   * \param threshold Callbacks will be triggered if the time jump is greater
    * then the threshold.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    * \throws std::bad_alloc if the allocation of the JumpHandler fails.

rclcpp/include/rclcpp/create_subscription.hpp

@@ -18,6 +18,7 @@
 #include <chrono>
 #include <functional>
 #include <memory>
+#include <stdexcept>
 #include <string>
 #include <utility>
 
@@ -28,6 +29,7 @@
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
+#include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_timer.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/subscription_factory.hpp"
@@ -44,6 +46,23 @@ namespace rclcpp
  * The NodeT type only needs to have a method called get_node_topics_interface()
  * which returns a shared_ptr to a NodeTopicsInterface, or be a
  * NodeTopicsInterface pointer itself.
+ *
+ * \tparam MessageT
+ * \tparam CallbackT
+ * \tparam AllocatorT
+ * \tparam CallbackMessageT
+ * \tparam SubscriptionT
+ * \tparam MessageMemoryStrategyT
+ * \tparam NodeT
+ * \param node
+ * \param topic_name
+ * \param qos
+ * \param callback
+ * \param options
+ * \param msg_mem_strat
+ * \return the created subscription
+ * \throws std::invalid_argument if topic statistics is enabled and the publish period is
+ * less than or equal to zero.
  */
 template<
   typename MessageT,
@@ -81,6 +100,13 @@ create_subscription(
       options,
       *node_topics->get_node_base_interface()))
   {
+    if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
+      throw std::invalid_argument(
+              "topic_stats_options.publish_period must be greater than 0, specified value of " +
+              std::to_string(options.topic_stats_options.publish_period.count()) +
+              " ms");
+    }
+
     std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
       create_publisher<statistics_msgs::msg::MetricsMessage>(
       node,

rclcpp/include/rclcpp/duration.hpp

@@ -72,11 +72,14 @@ public:
   operator=(const Duration & rhs);
 
   Duration &
-  operator=(const builtin_interfaces::msg::Duration & Duration_msg);
+  operator=(const builtin_interfaces::msg::Duration & duration_msg);
 
   bool
   operator==(const rclcpp::Duration & rhs) const;
 
+  bool
+  operator!=(const rclcpp::Duration & rhs) const;
+
   bool
   operator<(const rclcpp::Duration & rhs) const;
 

rclcpp/include/rclcpp/executor.hpp

@@ -37,6 +37,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -212,9 +213,14 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    while (rclcpp::ok(this->context_)) {
+    if (spinning.exchange(true)) {
+      throw std::runtime_error("spin_until_future_complete() called while already spinning");
+    }
+    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+    while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
-      spin_once(timeout_left);
+      spin_once_impl(timeout_left);
+
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
@@ -338,6 +344,11 @@ protected:
 
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
   std::list<const rcl_guard_condition_t *> guard_conditions_;
+
+private:
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout);
 };
 
 namespace executor

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -49,6 +49,7 @@ public:
    * \param number_of_threads number of threads to have in the thread pool,
    *   the default 0 will use the number of cpu cores found instead
    * \param yield_before_execute if true std::this_thread::yield() is called
+   * \param timeout maximum time to wait
    */
   RCLCPP_PUBLIC
   MultiThreadedExecutor(

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -45,6 +45,7 @@ public:
   StaticExecutorEntitiesCollector() = default;
 
   // Destructor
+  RCLCPP_PUBLIC
   ~StaticExecutorEntitiesCollector();
 
   /// Initialize StaticExecutorEntitiesCollector

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -162,7 +162,6 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    entities_collector_ = std::make_shared<StaticExecutorEntitiesCollector>();
     entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
 
     while (rclcpp::ok(this->context_)) {

rclcpp/include/rclcpp/node.hpp

@@ -26,6 +26,8 @@
 #include <utility>
 #include <vector>
 
+#include "rcutils/macros.h"
+
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
 
@@ -235,7 +237,7 @@ public:
   /// Create and return a Client.
   /**
    * \param[in] service_name The topic to service on.
-   * \param[in] rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
    * \param[in] group Callback group to call the service.
    * \return Shared pointer to the created client.
    */
@@ -250,7 +252,7 @@ public:
   /**
    * \param[in] service_name The topic to service on.
    * \param[in] callback User-defined callback function.
-   * \param[in] rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
    * \param[in] group Callback group to call the service.
    * \return Shared pointer to the created service.
    */
@@ -812,6 +814,7 @@ public:
    * \throws std::bad_alloc if the allocation of the OnSetParametersCallbackHandle fails.
    */
   RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
   OnSetParametersCallbackHandle::SharedPtr
   add_on_set_parameters_callback(OnParametersSetCallbackType callback);
 
@@ -891,7 +894,8 @@ public:
 
   /// Return the number of publishers that are advertised on a given topic.
   /**
-   * \param[in] topic_name the topic_name on which to count the publishers.
+   * \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
    */
@@ -1062,7 +1066,7 @@ public:
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
   get_node_parameters_interface();
 
-  /// Return the Node's internal NodeParametersInterface implementation.
+  /// Return the Node's internal NodeTimeSourceInterface implementation.
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

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

rclcpp/include/rclcpp/parameter_client.hpp

@@ -48,13 +48,13 @@ public:
 
   /// Create an async parameters client.
   /**
-   * \param node_base_interface[in] The node base interface of the corresponding node.
-   * \param node_topics_interface[in] Node topic base interface.
-   * \param node_graph_interface[in] The node graph interface of the corresponding node.
-   * \param node_services_interface[in] Node service interface.
-   * \param remote_node_name[in] (optional) name of the remote node
-   * \param qos_profile[in] (optional) The rmw qos profile to use to subscribe
-   * \param group[in] (optional)  The async parameter client will be added to this callback group.
+   * \param[in] node_base_interface The node base interface of the corresponding node.
+   * \param[in] node_topics_interface Node topic base interface.
+   * \param[in] node_graph_interface The node graph interface of the corresponding node.
+   * \param[in] node_services_interface Node service interface.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(
@@ -68,10 +68,10 @@ public:
 
   /// Constructor
   /**
-   * \param node[in] The  async paramters client will be added to this node.
-   * \param remote_node_name[in] (optional) name of the remote node
-   * \param qos_profile[in] (optional) The rmw qos profile to use to subscribe
-   * \param group[in] (optional)  The async parameter client will be added to this callback group.
+   * \param[in] node The async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(
@@ -82,10 +82,10 @@ public:
 
   /// Constructor
   /**
-   * \param node[in] The  async paramters client will be added to this node.
-   * \param remote_node_name[in] (optional) name of the remote node
-   * \param qos_profile[in] (optional) The rmw qos profile to use to subscribe
-   * \param group[in] (optional)  The async parameter client will be added to this callback group.
+   * \param[in] node The  async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(

rclcpp/include/rclcpp/serialization.hpp

@@ -60,7 +60,7 @@ public:
 
   /// Serialize a ROS2 message to a serialized stream
   /**
-   * \param[in] message The ROS2 message which is read and serialized by rmw.
+   * \param[in] ros_message The ROS2 message which is read and serialized by rmw.
    * \param[out] serialized_message The serialized message.
    */
   void serialize_message(
@@ -69,7 +69,7 @@ public:
   /// Deserialize a serialized stream to a ROS message
   /**
    * \param[in] serialized_message The serialized message to be converted to ROS2 by rmw.
-   * \param[out] message The deserialized ROS2 message.
+   * \param[out] ros_message The deserialized ROS2 message.
    */
   void deserialize_message(
     const SerializedMessage * serialized_message, void * ros_message) const;

rclcpp/include/rclcpp/service.hpp

@@ -237,7 +237,7 @@ public:
    * rclcpp::create_service().
    *
    * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
-   * \param[in] service_name Name of the topic to publish to.
+   * \param[in] service_handle service handle.
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(
@@ -272,7 +272,7 @@ public:
    * rclcpp::create_service().
    *
    * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
-   * \param[in] service_name Name of the topic to publish to.
+   * \param[in] service_handle service handle.
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -68,7 +68,7 @@ struct SubscriptionFactory
  * \param[in] callback The user-defined callback function to receive a message
  * \param[in] options Additional options for the creation of the Subscription.
  * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
- * \param[in] subscription_topic_Optinal stats callback for topic_statistics
+ * \param[in] subscription_topic_stats Optional stats callback for topic_statistics
  */
 template<
   typename MessageT,

rclcpp/include/rclcpp/subscription_options.hpp

@@ -66,7 +66,8 @@ struct SubscriptionOptionsBase
     // Topic to which topic statistics get published when enabled. Defaults to /statistics.
     std::string publish_topic = "/statistics";
 
-    // Topic statistics publication period in ms. Defaults to one minute.
+    // Topic statistics publication period in ms. Defaults to one second.
+    // Only values greater than zero are allowed.
     std::chrono::milliseconds publish_period{std::chrono::seconds(1)};
   };
 

rclcpp/include/rclcpp/time.hpp

@@ -51,7 +51,7 @@ public:
    * \param clock_type clock type
    */
   RCLCPP_PUBLIC
-  explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock = RCL_SYSTEM_TIME);
+  explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
 
   /// Copy constructor
   RCLCPP_PUBLIC
@@ -66,12 +66,11 @@ public:
   RCLCPP_PUBLIC
   Time(
     const builtin_interfaces::msg::Time & time_msg,
-    rcl_clock_type_t ros_time = RCL_ROS_TIME);
+    rcl_clock_type_t clock_type = RCL_ROS_TIME);
 
   /// Time constructor
   /**
    * \param time_point rcl_time_point_t structure to copy
-   * \param clock_type clock type
    */
   RCLCPP_PUBLIC
   explicit Time(const rcl_time_point_t & time_point);
@@ -91,6 +90,12 @@ public:
   Time &
   operator=(const Time & rhs);
 
+  /**
+   * Assign Time from a builtin_interfaces::msg::Time instance.
+   * The clock_type will be reset to RCL_ROS_TIME.
+   * Equivalent to *this = Time(time_msg, RCL_ROS_TIME).
+   * \throws std::runtime_error if seconds are negative
+   */
   RCLCPP_PUBLIC
   Time &
   operator=(const builtin_interfaces::msg::Time & time_msg);

rclcpp/include/rclcpp/timer.hpp

@@ -166,6 +166,7 @@ public:
    * \param[in] clock The clock providing the current time.
    * \param[in] period The interval at which the timer fires.
    * \param[in] callback User-specified callback function.
+   * \param[in] context custom context to be used.
    */
   explicit GenericTimer(
     Clock::SharedPtr clock, std::chrono::nanoseconds period, FunctorT && callback,

rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp

@@ -116,7 +116,7 @@ public:
 
   /// Set the timer used to publish statistics messages.
   /**
-   * \param measurement_timer the timer to fire the publisher, created by the node
+   * \param publisher_timer the timer to fire the publisher, created by the node
    */
   void set_publisher_timer(rclcpp::TimerBase::SharedPtr publisher_timer)
   {

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

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

rclcpp/include/rclcpp/wait_set_policies/dynamic_storage.hpp

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

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -61,6 +61,8 @@ public:
    * \param[in] subscriptions Vector of subscriptions to be added.
    * \param[in] guard_conditions Vector of guard conditions to be added.
    * \param[in] timers Vector of timers to be added.
+   * \param[in] clients Vector of clients and their associated entity to be added.
+   * \param[in] services Vector of services and their associated entity to be added.
    * \param[in] waitables Vector of waitables and their associated entity to be added.
    * \param[in] context Custom context to be used, defaults to global default.
    * \throws std::invalid_argument If context is nullptr.

rclcpp/include/rclcpp/waitable.hpp

@@ -123,7 +123,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   bool
-  is_ready(rcl_wait_set_t *) = 0;
+  is_ready(rcl_wait_set_t * wait_set) = 0;
 
   /// Execute any entities of the Waitable that are ready.
   /**

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>2.0.0</version>
+  <version>2.2.0</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/src/rclcpp/clock.cpp

@@ -32,7 +32,7 @@ public:
   {
     rcl_ret_t ret = rcl_clock_init(clock_type, &rcl_clock_, &allocator_);
     if (ret != RCL_RET_OK) {
-      exceptions::throw_from_rcl_error(ret, "could not get current time stamp");
+      exceptions::throw_from_rcl_error(ret, "failed to initialize rcl clock");
     }
   }
 

rclcpp/src/rclcpp/duration.cpp

@@ -47,17 +47,14 @@ Duration::Duration(std::chrono::nanoseconds nanoseconds)
   rcl_duration_.nanoseconds = nanoseconds.count();
 }
 
-Duration::Duration(const Duration & rhs)
-{
-  rcl_duration_.nanoseconds = rhs.rcl_duration_.nanoseconds;
-}
+Duration::Duration(const Duration & rhs) = default;
 
 Duration::Duration(
   const builtin_interfaces::msg::Duration & duration_msg)
 {
   rcl_duration_.nanoseconds =
-    static_cast<rcl_duration_value_t>(RCL_S_TO_NS(duration_msg.sec));
-  rcl_duration_.nanoseconds += duration_msg.nanosec;
+    RCL_S_TO_NS(static_cast<rcl_duration_value_t>(duration_msg.sec));
+  rcl_duration_.nanoseconds += static_cast<rcl_duration_value_t>(duration_msg.nanosec);
 }
 
 Duration::Duration(const rcl_duration_t & duration)
@@ -69,24 +66,25 @@ Duration::Duration(const rcl_duration_t & duration)
 Duration::operator builtin_interfaces::msg::Duration() const
 {
   builtin_interfaces::msg::Duration msg_duration;
-  msg_duration.sec = static_cast<std::int32_t>(RCL_NS_TO_S(rcl_duration_.nanoseconds));
-  msg_duration.nanosec =
-    static_cast<std::uint32_t>(rcl_duration_.nanoseconds % (1000 * 1000 * 1000));
+  constexpr rcl_duration_value_t kDivisor = RCL_S_TO_NS(1);
+  const auto result = std::div(rcl_duration_.nanoseconds, kDivisor);
+  if (result.rem >= 0) {
+    msg_duration.sec = static_cast<std::int32_t>(result.quot);
+    msg_duration.nanosec = static_cast<std::uint32_t>(result.rem);
+  } else {
+    msg_duration.sec = static_cast<std::int32_t>(result.quot - 1);
+    msg_duration.nanosec = static_cast<std::uint32_t>(kDivisor + result.rem);
+  }
   return msg_duration;
 }
 
 Duration &
-Duration::operator=(const Duration & rhs)
-{
-  rcl_duration_.nanoseconds = rhs.rcl_duration_.nanoseconds;
-  return *this;
-}
+Duration::operator=(const Duration & rhs) = default;
 
 Duration &
 Duration::operator=(const builtin_interfaces::msg::Duration & duration_msg)
 {
-  rcl_duration_.nanoseconds = RCL_S_TO_NS(static_cast<int64_t>(duration_msg.sec));
-  rcl_duration_.nanoseconds += duration_msg.nanosec;
+  *this = Duration(duration_msg);
   return *this;
 }
 
@@ -96,6 +94,12 @@ Duration::operator==(const rclcpp::Duration & rhs) const
   return rcl_duration_.nanoseconds == rhs.rcl_duration_.nanoseconds;
 }
 
+bool
+Duration::operator!=(const rclcpp::Duration & rhs) const
+{
+  return rcl_duration_.nanoseconds != rhs.rcl_duration_.nanoseconds;
+}
+
 bool
 Duration::operator<(const rclcpp::Duration & rhs) const
 {
@@ -230,6 +234,10 @@ Duration::seconds() const
 rmw_time_t
 Duration::to_rmw_time() const
 {
+  if (rcl_duration_.nanoseconds < 0) {
+    throw std::runtime_error("rmw_time_t cannot be negative");
+  }
+
   // reuse conversion logic from msg creation
   builtin_interfaces::msg::Duration msg = *this;
   rmw_time_t result;

rclcpp/src/rclcpp/executor.cpp

@@ -234,7 +234,7 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
   // non-blocking call to pre-load all available work
   wait_for_work(std::chrono::milliseconds::zero());
-  while (spinning.load() && max_duration_not_elapsed()) {
+  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
     if (get_next_ready_executable(any_exec)) {
       execute_any_executable(any_exec);
@@ -244,6 +244,15 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
   }
 }
 
+void
+Executor::spin_once_impl(std::chrono::nanoseconds timeout)
+{
+  AnyExecutable any_exec;
+  if (get_next_executable(any_exec, timeout)) {
+    execute_any_executable(any_exec);
+  }
+}
+
 void
 Executor::spin_once(std::chrono::nanoseconds timeout)
 {
@@ -251,10 +260,7 @@ Executor::spin_once(std::chrono::nanoseconds timeout)
     throw std::runtime_error("spin_once() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  AnyExecutable any_exec;
-  if (get_next_executable(any_exec, timeout)) {
-    execute_any_executable(any_exec);
-  }
+  spin_once_impl(timeout);
 }
 
 void

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -159,7 +159,7 @@ __lockless_has_parameter(
 // see https://en.cppreference.com/w/cpp/types/numeric_limits/epsilon
 RCLCPP_LOCAL
 bool
-__are_doubles_equal(double x, double y, size_t ulp = 100)
+__are_doubles_equal(double x, double y, double ulp = 100.0)
 {
   return std::abs(x - y) <= std::numeric_limits<double>::epsilon() * std::abs(x + y) * ulp;
 }

rclcpp/src/rclcpp/node_options.cpp

@@ -176,7 +176,7 @@ NodeOptions::parameter_overrides(const std::vector<rclcpp::Parameter> & paramete
 bool
 NodeOptions::use_global_arguments() const
 {
-  return this->node_options_->use_global_arguments;
+  return this->use_global_arguments_;
 }
 
 NodeOptions &
@@ -338,7 +338,7 @@ NodeOptions::get_domain_id_from_env() const
   _dupenv_s(&ros_domain_id, &ros_domain_id_size, env_var);
 #endif
   if (ros_domain_id) {
-    uint32_t number = strtoul(ros_domain_id, NULL, 0);
+    uint32_t number = static_cast<uint32_t>(strtoul(ros_domain_id, NULL, 0));
     if (number == (std::numeric_limits<uint32_t>::max)()) {
 #ifdef _WIN32
       // free the ros_domain_id before throwing, if getenv was used on Windows

rclcpp/src/rclcpp/time.cpp

@@ -63,17 +63,13 @@ Time::Time(int64_t nanoseconds, rcl_clock_type_t clock_type)
   rcl_time_.nanoseconds = nanoseconds;
 }
 
-Time::Time(const Time & rhs)
-: rcl_time_(rhs.rcl_time_)
-{
-  rcl_time_.nanoseconds = rhs.rcl_time_.nanoseconds;
-}
+Time::Time(const Time & rhs) = default;
 
 Time::Time(
   const builtin_interfaces::msg::Time & time_msg,
-  rcl_clock_type_t ros_time)
+  rcl_clock_type_t clock_type)
+: rcl_time_(init_time_point(clock_type))
 {
-  rcl_time_ = init_time_point(ros_time);
   if (time_msg.sec < 0) {
     throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
   }
@@ -95,31 +91,25 @@ Time::~Time()
 Time::operator builtin_interfaces::msg::Time() const
 {
   builtin_interfaces::msg::Time msg_time;
-  msg_time.sec = static_cast<std::int32_t>(RCL_NS_TO_S(rcl_time_.nanoseconds));
-  msg_time.nanosec = static_cast<std::uint32_t>(rcl_time_.nanoseconds % (1000 * 1000 * 1000));
+  constexpr rcl_time_point_value_t kRemainder = RCL_S_TO_NS(1);
+  const auto result = std::div(rcl_time_.nanoseconds, kRemainder);
+  if (result.rem >= 0) {
+    msg_time.sec = static_cast<std::int32_t>(result.quot);
+    msg_time.nanosec = static_cast<std::uint32_t>(result.rem);
+  } else {
+    msg_time.sec = static_cast<std::int32_t>(result.quot - 1);
+    msg_time.nanosec = static_cast<std::uint32_t>(kRemainder + result.rem);
+  }
   return msg_time;
 }
 
 Time &
-Time::operator=(const Time & rhs)
-{
-  rcl_time_ = rhs.rcl_time_;
-  return *this;
-}
+Time::operator=(const Time & rhs) = default;
 
 Time &
 Time::operator=(const builtin_interfaces::msg::Time & time_msg)
 {
-  if (time_msg.sec < 0) {
-    throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
-  }
-
-
-  rcl_clock_type_t ros_time = RCL_ROS_TIME;
-  rcl_time_ = init_time_point(ros_time);  // TODO(tfoote) hard coded ROS here
-
-  rcl_time_.nanoseconds = RCL_S_TO_NS(static_cast<int64_t>(time_msg.sec));
-  rcl_time_.nanoseconds += time_msg.nanosec;
+  *this = Time(time_msg);
   return *this;
 }
 

rclcpp/test/CMakeLists.txt

@@ -0,0 +1,434 @@
+find_package(ament_cmake_gtest REQUIRED)
+
+find_package(rmw_implementation_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(test_msgs REQUIRED)
+
+include(cmake/rclcpp_add_build_failure_test.cmake)
+
+add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/resources")
+
+rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
+  msg/Header.msg
+  msg/MessageWithHeader.msg
+  DEPENDENCIES builtin_interfaces
+  LIBRARY_NAME ${PROJECT_NAME}
+  SKIP_INSTALL
+)
+
+ament_add_gtest(test_client rclcpp/test_client.cpp)
+if(TARGET test_client)
+  ament_target_dependencies(test_client
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_client ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_create_timer rclcpp/test_create_timer.cpp)
+if(TARGET test_create_timer)
+  ament_target_dependencies(test_create_timer
+    "rcl_interfaces"
+    "rmw"
+    "rcl"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_create_timer ${PROJECT_NAME})
+  target_include_directories(test_create_timer PRIVATE rclcpp/)
+endif()
+ament_add_gtest(test_expand_topic_or_service_name rclcpp/test_expand_topic_or_service_name.cpp)
+if(TARGET test_expand_topic_or_service_name)
+  ament_target_dependencies(test_expand_topic_or_service_name
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_function_traits rclcpp/test_function_traits.cpp)
+if(TARGET test_function_traits)
+  target_include_directories(test_function_traits PUBLIC ../include)
+  ament_target_dependencies(test_function_traits
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+endif()
+ament_add_gmock(test_intra_process_manager rclcpp/test_intra_process_manager.cpp)
+if(TARGET test_intra_process_manager)
+  ament_target_dependencies(test_intra_process_manager
+    "rcl"
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_ring_buffer_implementation rclcpp/test_ring_buffer_implementation.cpp)
+if(TARGET test_ring_buffer_implementation)
+  ament_target_dependencies(test_ring_buffer_implementation
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_intra_process_buffer rclcpp/test_intra_process_buffer.cpp)
+if(TARGET test_intra_process_buffer)
+  ament_target_dependencies(test_intra_process_buffer
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_loaned_message rclcpp/test_loaned_message.cpp)
+ament_target_dependencies(test_loaned_message
+  "test_msgs"
+)
+target_link_libraries(test_loaned_message ${PROJECT_NAME})
+
+ament_add_gtest(test_node rclcpp/test_node.cpp TIMEOUT 240)
+if(TARGET test_node)
+  ament_target_dependencies(test_node
+    "rcl_interfaces"
+    "rcpputils"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_node ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_node_interfaces__get_node_interfaces
+  rclcpp/node_interfaces/test_get_node_interfaces.cpp)
+if(TARGET test_node_interfaces__get_node_interfaces)
+  target_link_libraries(test_node_interfaces__get_node_interfaces ${PROJECT_NAME})
+endif()
+
+# TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_rclcpp_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+#   ${PROJECT_NAME})
+
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_rclcpp_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+#   ${PROJECT_NAME})
+
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_wrapped_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_wrapped_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ref_rclcpp_node
+#   ${PROJECT_NAME})
+
+# rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ptr_wrapped_node
+#   rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_wrapped_node.cpp)
+# target_link_libraries(build_failure__get_node_topics_interface_const_ptr_rclcpp_node
+#   ${PROJECT_NAME})
+
+ament_add_gtest(test_node_global_args rclcpp/test_node_global_args.cpp)
+if(TARGET test_node_global_args)
+  ament_target_dependencies(test_node_global_args
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_node_global_args ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_options rclcpp/test_node_options.cpp)
+if(TARGET test_node_options)
+  ament_target_dependencies(test_node_options "rcl")
+  target_link_libraries(test_node_options ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter_client rclcpp/test_parameter_client.cpp)
+if(TARGET test_parameter_client)
+  ament_target_dependencies(test_parameter_client
+    "rcl_interfaces"
+  )
+  target_link_libraries(test_parameter_client ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter_events_filter rclcpp/test_parameter_events_filter.cpp)
+if(TARGET test_parameter_events_filter)
+  ament_target_dependencies(test_parameter_events_filter
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter rclcpp/test_parameter.cpp)
+if(TARGET test_parameter)
+  ament_target_dependencies(test_parameter
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_parameter ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_parameter_map rclcpp/test_parameter_map.cpp)
+if(TARGET test_parameter_map)
+  target_link_libraries(test_parameter_map ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_publisher rclcpp/test_publisher.cpp)
+if(TARGET test_publisher)
+  ament_target_dependencies(test_publisher
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_publisher ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_publisher_subscription_count_api rclcpp/test_publisher_subscription_count_api.cpp)
+if(TARGET test_publisher_subscription_count_api)
+  ament_target_dependencies(test_publisher_subscription_count_api
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_qos rclcpp/test_qos.cpp)
+if(TARGET test_qos)
+  ament_target_dependencies(test_qos
+    "rmw"
+  )
+  target_link_libraries(test_qos
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_qos_event rclcpp/test_qos_event.cpp)
+if(TARGET test_qos_event)
+  ament_target_dependencies(test_qos_event
+    "rmw"
+    "test_msgs"
+  )
+  target_link_libraries(test_qos_event
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_rate rclcpp/test_rate.cpp)
+if(TARGET test_rate)
+  ament_target_dependencies(test_rate
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_rate
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_serialized_message_allocator rclcpp/test_serialized_message_allocator.cpp)
+if(TARGET test_serialized_message_allocator)
+  ament_target_dependencies(test_serialized_message_allocator
+    test_msgs
+  )
+  target_link_libraries(test_serialized_message_allocator
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_serialized_message rclcpp/test_serialized_message.cpp)
+if(TARGET test_serialized_message)
+  ament_target_dependencies(test_serialized_message
+    test_msgs
+  )
+  target_link_libraries(test_serialized_message
+    ${PROJECT_NAME}
+  )
+endif()
+ament_add_gtest(test_service rclcpp/test_service.cpp)
+if(TARGET test_service)
+  ament_target_dependencies(test_service
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+  )
+  target_link_libraries(test_service ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_subscription rclcpp/test_subscription.cpp)
+if(TARGET test_subscription)
+  ament_target_dependencies(test_subscription
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_subscription_publisher_count_api rclcpp/test_subscription_publisher_count_api.cpp)
+if(TARGET test_subscription_publisher_count_api)
+  ament_target_dependencies(test_subscription_publisher_count_api
+    "rcl_interfaces"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_subscription_traits rclcpp/test_subscription_traits.cpp)
+if(TARGET test_subscription_traits)
+  ament_target_dependencies(test_subscription_traits
+    "rcl"
+    "test_msgs"
+  )
+  target_link_libraries(test_subscription_traits ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_find_weak_nodes rclcpp/test_find_weak_nodes.cpp)
+if(TARGET test_find_weak_nodes)
+  ament_target_dependencies(test_find_weak_nodes
+    "rcl"
+  )
+  target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
+endif()
+
+set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
+if(WIN32)
+  set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
+endif()
+
+ament_add_gtest(test_externally_defined_services rclcpp/test_externally_defined_services.cpp)
+ament_target_dependencies(test_externally_defined_services
+  "rcl"
+  "test_msgs"
+)
+target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
+
+ament_add_gtest(test_duration rclcpp/test_duration.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_duration)
+  ament_target_dependencies(test_duration
+    "rcl")
+  target_link_libraries(test_duration ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_executor rclcpp/test_executor.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_executor)
+  ament_target_dependencies(test_executor
+    "rcl")
+  target_link_libraries(test_executor ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_logger rclcpp/test_logger.cpp)
+target_link_libraries(test_logger ${PROJECT_NAME})
+
+ament_add_gmock(test_logging rclcpp/test_logging.cpp)
+target_link_libraries(test_logging ${PROJECT_NAME})
+
+ament_add_gtest(test_time rclcpp/test_time.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_time)
+  ament_target_dependencies(test_time
+    "rcl")
+  target_link_libraries(test_time ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_timer rclcpp/test_timer.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_timer)
+  ament_target_dependencies(test_timer
+    "rcl")
+  target_link_libraries(test_timer ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_time_source rclcpp/test_time_source.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_time_source)
+  ament_target_dependencies(test_time_source
+    "rcl")
+  target_link_libraries(test_time_source ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_utilities rclcpp/test_utilities.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_utilities)
+  ament_target_dependencies(test_utilities
+    "rcl")
+  target_link_libraries(test_utilities ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_init rclcpp/test_init.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_init)
+  ament_target_dependencies(test_init
+    "rcl")
+  target_link_libraries(test_init ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_interface_traits rclcpp/test_interface_traits.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_interface_traits)
+  ament_target_dependencies(test_interface_traits
+    "rcl")
+  target_link_libraries(test_interface_traits ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_multi_threaded_executor rclcpp/executors/test_multi_threaded_executor.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_multi_threaded_executor)
+  ament_target_dependencies(test_multi_threaded_executor
+    "rcl")
+  target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_guard_condition rclcpp/test_guard_condition.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_guard_condition)
+  target_link_libraries(test_guard_condition ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_wait_set rclcpp/test_wait_set.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_wait_set)
+  ament_target_dependencies(test_wait_set "test_msgs")
+  target_link_libraries(test_wait_set ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_subscription_topic_statistics rclcpp/topic_statistics/test_subscription_topic_statistics.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+)
+if(TARGET test_subscription_topic_statistics)
+  ament_target_dependencies(test_subscription_topic_statistics
+    "builtin_interfaces"
+    "libstatistics_collector"
+    "rcl_interfaces"
+    "rcutils"
+    "rmw"
+    "rosidl_runtime_cpp"
+    "rosidl_typesupport_cpp"
+    "statistics_msgs"
+    "test_msgs")
+  rosidl_target_interfaces(test_subscription_topic_statistics ${PROJECT_NAME}_test_msgs "rosidl_typesupport_cpp")
+  target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
+endif()
+
+ament_add_gtest(test_subscription_options rclcpp/test_subscription_options.cpp)
+if(TARGET test_subscription_options)
+  ament_target_dependencies(test_subscription_options "rcl")
+  target_link_libraries(test_subscription_options ${PROJECT_NAME})
+endif()
+
+# Install test resources
+install(
+  DIRECTORY resources
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR})

rclcpp/test/rclcpp/executors/test_multi_threaded_executor.cpp

@@ -83,7 +83,7 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
 
       {
         std::lock_guard<std::mutex> lock(last_mutex);
-        double diff = std::abs((now - last).nanoseconds()) / 1.0e9;
+        double diff = static_cast<double>(std::abs((now - last).nanoseconds())) / 1.0e9;
         last = now;
 
         if (diff < PERIOD - TOLERANCE) {

rclcpp/test/rclcpp/node_interfaces/node_wrapper.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NODE_INTERFACES__NODE_WRAPPER_HPP_
-#define NODE_INTERFACES__NODE_WRAPPER_HPP_
+#ifndef RCLCPP__NODE_INTERFACES__NODE_WRAPPER_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_WRAPPER_HPP_
 
 #include <memory>
 #include <string>
@@ -61,4 +61,4 @@ private:
   rclcpp::Node::SharedPtr node;
 };
 
-#endif  // NODE_INTERFACES__NODE_WRAPPER_HPP_
+#endif  // RCLCPP__NODE_INTERFACES__NODE_WRAPPER_HPP_

rclcpp/test/rclcpp/test_duration.cpp

@@ -32,11 +32,7 @@ class TestDuration : public ::testing::Test
 {
 };
 
-// TEST(TestDuration, conversions) {
-// TODO(tfoote) Implement conversion methods
-// }
-
-TEST(TestDuration, operators) {
+TEST_F(TestDuration, operators) {
   rclcpp::Duration old(1, 0);
   rclcpp::Duration young(2, 0);
 
@@ -45,6 +41,7 @@ TEST(TestDuration, operators) {
   EXPECT_TRUE(old <= young);
   EXPECT_TRUE(young >= old);
   EXPECT_FALSE(young == old);
+  EXPECT_TRUE(young != old);
 
   rclcpp::Duration add = old + young;
   EXPECT_EQ(add.nanoseconds(), old.nanoseconds() + young.nanoseconds());
@@ -67,7 +64,7 @@ TEST(TestDuration, operators) {
   EXPECT_TRUE(time == assignment_op_duration);
 }
 
-TEST(TestDuration, chrono_overloads) {
+TEST_F(TestDuration, chrono_overloads) {
   int64_t ns = 123456789l;
   auto chrono_ns = std::chrono::nanoseconds(ns);
   auto d1 = rclcpp::Duration(ns);
@@ -86,7 +83,7 @@ TEST(TestDuration, chrono_overloads) {
   EXPECT_EQ(chrono_float_seconds, d5.to_chrono<decltype(chrono_float_seconds)>());
 }
 
-TEST(TestDuration, overflows) {
+TEST_F(TestDuration, overflows) {
   rclcpp::Duration max(std::numeric_limits<rcl_duration_value_t>::max());
   rclcpp::Duration min(std::numeric_limits<rcl_duration_value_t>::min());
 
@@ -107,7 +104,7 @@ TEST(TestDuration, overflows) {
   EXPECT_THROW(base_d_neg * 4, std::underflow_error);
 }
 
-TEST(TestDuration, negative_duration) {
+TEST_F(TestDuration, negative_duration) {
   rclcpp::Duration assignable_duration = rclcpp::Duration(0) - rclcpp::Duration(5, 0);
 
   {
@@ -130,7 +127,7 @@ TEST(TestDuration, negative_duration) {
   }
 }
 
-TEST(TestDuration, maximum_duration) {
+TEST_F(TestDuration, maximum_duration) {
   rclcpp::Duration max_duration = rclcpp::Duration::max();
   rclcpp::Duration max(std::numeric_limits<int32_t>::max(), 999999999);
 
@@ -138,18 +135,105 @@ TEST(TestDuration, maximum_duration) {
 }
 
 static const int64_t HALF_SEC_IN_NS = 500 * 1000 * 1000;
+static const int64_t ONE_SEC_IN_NS = 1000 * 1000 * 1000;
 static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;
 
-TEST(TestDuration, from_seconds) {
+TEST_F(TestDuration, from_seconds) {
   EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0.0));
   EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0));
   EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(1.5));
   EXPECT_EQ(rclcpp::Duration(-ONE_AND_HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(-1.5));
 }
 
-TEST(TestDuration, std_chrono_constructors) {
+TEST_F(TestDuration, std_chrono_constructors) {
   EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0.0s));
   EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0s));
   EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration(1.5s));
   EXPECT_EQ(rclcpp::Duration(-1, 0), rclcpp::Duration(-1s));
 }
+
+TEST_F(TestDuration, conversions) {
+  {
+    const rclcpp::Duration duration(HALF_SEC_IN_NS);
+    const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, 0);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), HALF_SEC_IN_NS);
+
+    const auto rmw_time = duration.to_rmw_time();
+    EXPECT_EQ(rmw_time.sec, 0u);
+    EXPECT_EQ(rmw_time.nsec, static_cast<uint64_t>(HALF_SEC_IN_NS));
+
+    const auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), HALF_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Duration duration(ONE_SEC_IN_NS);
+    const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, 1);
+    EXPECT_EQ(duration_msg.nanosec, 0u);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), ONE_SEC_IN_NS);
+
+    const auto rmw_time = duration.to_rmw_time();
+    EXPECT_EQ(rmw_time.sec, 1u);
+    EXPECT_EQ(rmw_time.nsec, 0u);
+
+    const auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), ONE_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Duration duration(ONE_AND_HALF_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, 1);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), ONE_AND_HALF_SEC_IN_NS);
+
+    auto rmw_time = duration.to_rmw_time();
+    EXPECT_EQ(rmw_time.sec, 1u);
+    EXPECT_EQ(rmw_time.nsec, static_cast<uint64_t>(HALF_SEC_IN_NS));
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), ONE_AND_HALF_SEC_IN_NS);
+  }
+
+  {
+    rclcpp::Duration duration(-HALF_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, -1);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -HALF_SEC_IN_NS);
+
+    EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), -HALF_SEC_IN_NS);
+  }
+
+  {
+    rclcpp::Duration duration(-ONE_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, -1);
+    EXPECT_EQ(duration_msg.nanosec, 0u);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -ONE_SEC_IN_NS);
+
+    EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), -ONE_SEC_IN_NS);
+  }
+
+  {
+    rclcpp::Duration duration(-ONE_AND_HALF_SEC_IN_NS);
+    auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
+    EXPECT_EQ(duration_msg.sec, -2);
+    EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -ONE_AND_HALF_SEC_IN_NS);
+
+    EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
+
+    auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
+    EXPECT_EQ(chrono_duration.count(), -ONE_AND_HALF_SEC_IN_NS);
+  }
+}

rclcpp/test/rclcpp/test_node_options.cpp

@@ -105,6 +105,38 @@ TEST(TestNodeOptions, bad_ros_args) {
     rclcpp::exceptions::UnknownROSArgsError);
 }
 
+TEST(TestNodeOptions, use_global_arguments) {
+  {
+    auto options = rclcpp::NodeOptions();
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions().use_global_arguments(false);
+    EXPECT_FALSE(options.use_global_arguments());
+    EXPECT_FALSE(options.get_rcl_node_options()->use_global_arguments);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions().use_global_arguments(true);
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions();
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+    options.use_global_arguments(false);
+    EXPECT_FALSE(options.use_global_arguments());
+    EXPECT_FALSE(options.get_rcl_node_options()->use_global_arguments);
+    options.use_global_arguments(true);
+    EXPECT_TRUE(options.use_global_arguments());
+    EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+  }
+}
+
 TEST(TestNodeOptions, enable_rosout) {
   {
     auto options = rclcpp::NodeOptions();

rclcpp/test/rclcpp/test_parameter.cpp

@@ -32,7 +32,7 @@ protected:
   }
 };
 
-TEST(TestParameter, not_set_variant) {
+TEST_F(TestParameter, not_set_variant) {
   // Direct instantiation
   rclcpp::Parameter not_set_variant;
   EXPECT_EQ(rclcpp::PARAMETER_NOT_SET, not_set_variant.get_type());
@@ -58,7 +58,7 @@ TEST(TestParameter, not_set_variant) {
     rclcpp::Parameter::from_parameter_msg(not_set_param).get_type());
 }
 
-TEST(TestParameter, bool_variant) {
+TEST_F(TestParameter, bool_variant) {
   // Direct instantiation
   rclcpp::Parameter bool_variant_true("bool_param", true);
   EXPECT_EQ("bool_param", bool_variant_true.get_name());
@@ -116,7 +116,7 @@ TEST(TestParameter, bool_variant) {
     bool_variant_false.get_value_message().type);
 }
 
-TEST(TestParameter, integer_variant) {
+TEST_F(TestParameter, integer_variant) {
   const int TEST_VALUE {42};
 
   // Direct instantiation
@@ -164,7 +164,7 @@ TEST(TestParameter, integer_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, long_integer_variant) {
+TEST_F(TestParameter, long_integer_variant) {
   const int64_t TEST_VALUE {std::numeric_limits<int64_t>::max()};
 
   // Direct instantiation
@@ -212,7 +212,7 @@ TEST(TestParameter, long_integer_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, float_variant) {
+TEST_F(TestParameter, float_variant) {
   const float TEST_VALUE {42.0f};
 
   // Direct instantiation
@@ -260,7 +260,7 @@ TEST(TestParameter, float_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, double_variant) {
+TEST_F(TestParameter, double_variant) {
   const double TEST_VALUE {-42.1};
 
   // Direct instantiation
@@ -308,7 +308,7 @@ TEST(TestParameter, double_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, string_variant) {
+TEST_F(TestParameter, string_variant) {
   const std::string TEST_VALUE {"ROS2"};
 
   // Direct instantiation
@@ -354,7 +354,7 @@ TEST(TestParameter, string_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, byte_array_variant) {
+TEST_F(TestParameter, byte_array_variant) {
   const std::vector<uint8_t> TEST_VALUE {0x52, 0x4f, 0x53, 0x32};
 
   // Direct instantiation
@@ -402,7 +402,7 @@ TEST(TestParameter, byte_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, bool_array_variant) {
+TEST_F(TestParameter, bool_array_variant) {
   const std::vector<bool> TEST_VALUE {false, true, true, false, false, true};
 
   // Direct instantiation
@@ -450,7 +450,7 @@ TEST(TestParameter, bool_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, integer_array_variant) {
+TEST_F(TestParameter, integer_array_variant) {
   const std::vector<int> TEST_VALUE
   {42, -99, std::numeric_limits<int>::max(), std::numeric_limits<int>::lowest(), 0};
 
@@ -529,7 +529,7 @@ TEST(TestParameter, integer_array_variant) {
     rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
 }
 
-TEST(TestParameter, long_integer_array_variant) {
+TEST_F(TestParameter, long_integer_array_variant) {
   const std::vector<int64_t> TEST_VALUE
   {42, -99, std::numeric_limits<int64_t>::max(), std::numeric_limits<int64_t>::lowest(), 0};
 
@@ -583,7 +583,7 @@ TEST(TestParameter, long_integer_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, float_array_variant) {
+TEST_F(TestParameter, float_array_variant) {
   const std::vector<float> TEST_VALUE
   {42.1f, -99.1f, std::numeric_limits<float>::max(), std::numeric_limits<float>::lowest(), 0.1f};
 
@@ -662,7 +662,7 @@ TEST(TestParameter, float_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, double_array_variant) {
+TEST_F(TestParameter, double_array_variant) {
   const std::vector<double> TEST_VALUE
   {42.1, -99.1, std::numeric_limits<double>::max(), std::numeric_limits<double>::lowest(), 0.1};
 
@@ -716,7 +716,7 @@ TEST(TestParameter, double_array_variant) {
     from_msg.get_value_message().type);
 }
 
-TEST(TestParameter, string_array_variant) {
+TEST_F(TestParameter, string_array_variant) {
   const std::vector<std::string> TEST_VALUE {"R", "O", "S2"};
 
   // Direct instantiation

rclcpp/test/rclcpp/test_publisher_subscription_count_api.cpp

@@ -0,0 +1,249 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <iostream>
+#include <memory>
+#include <string>
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "test_msgs/msg/empty.hpp"
+
+namespace
+{
+
+
+template<typename ... Ts>
+class NodeCreationPolicy
+{
+public:
+  rclcpp::NodeOptions & node_options()
+  {
+    return options_;
+  }
+
+private:
+  rclcpp::NodeOptions options_;
+};
+
+template<typename T, typename ... Ts>
+class NodeCreationPolicy<T, Ts...>
+{
+public:
+  NodeCreationPolicy()
+  {
+    gather<T, Ts...>(options_);
+  }
+
+  rclcpp::NodeOptions & node_options()
+  {
+    return options_;
+  }
+
+private:
+  template<typename U>
+  static rclcpp::NodeOptions &
+  gather(rclcpp::NodeOptions & options)
+  {
+    return U::gather(options);
+  }
+
+  template<typename U, typename V, typename ... Ws>
+  static rclcpp::NodeOptions &
+  gather(rclcpp::NodeOptions & options)
+  {
+    return gather<V, Ws...>(U::gather(options));
+  }
+
+  rclcpp::NodeOptions options_;
+};
+
+template<bool value>
+struct ShouldUseIntraprocess
+{
+  static rclcpp::NodeOptions & gather(rclcpp::NodeOptions & options)
+  {
+    return options.use_intra_process_comms(value);
+  }
+};
+
+using UseIntraprocess = ShouldUseIntraprocess<true>;
+using DoNotUseIntraprocess = ShouldUseIntraprocess<false>;
+
+struct UseCustomContext
+{
+  static rclcpp::NodeOptions & gather(rclcpp::NodeOptions & options)
+  {
+    auto context = rclcpp::Context::make_shared();
+    context->init(0, nullptr);
+    return options.context(context);
+  }
+};
+
+struct PrintTestDescription
+{
+  template<typename T>
+  static std::string GetName(int i)
+  {
+    static_cast<void>(i);
+    return T::description;
+  }
+};
+
+}  // namespace
+
+
+template<typename TestDescription>
+class TestPublisherSubscriptionCount : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+protected:
+  static void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  {
+    (void)msg;
+  }
+
+  std::chrono::milliseconds offset{2000};
+};
+
+/* Testing publisher subscription count api and internal process subscription count.
+ * Two subscriptions in the same topic, both using intraprocess comm.
+ */
+struct TwoSubscriptionsIntraprocessComm
+{
+  static constexpr const char * description =
+    "two_subscriptions_intraprocess_comm";
+  using FirstNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
+  using SecondNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
+
+  static constexpr bool first_node_talks_intraprocess{true};
+  static constexpr bool both_nodes_talk_intraprocess{true};
+};
+
+/* Testing publisher subscription count api and internal process subscription count.
+ * Two subscriptions, one using intra-process comm and the other not using it.
+ */
+struct TwoSubscriptionsOneIntraprocessOneNot
+{
+  static constexpr const char * description =
+    "two_subscriptions_one_intraprocess_one_not";
+  using FirstNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
+  using SecondNodeCreationPolicy = NodeCreationPolicy<>;
+
+  static constexpr bool first_node_talks_intraprocess{true};
+  static constexpr bool both_nodes_talk_intraprocess{false};
+};
+
+/* Testing publisher subscription count api and internal process subscription count.
+ * Two contexts, both using intra-process.
+ */
+struct TwoSubscriptionsInTwoContextsWithIntraprocessComm
+{
+  static constexpr const char * description =
+    "two_subscriptions_in_two_contexts_with_intraprocess_comm";
+  using FirstNodeCreationPolicy = NodeCreationPolicy<UseIntraprocess>;
+  using SecondNodeCreationPolicy = NodeCreationPolicy<UseCustomContext, UseIntraprocess>;
+
+  static constexpr bool first_node_talks_intraprocess{true};
+  static constexpr bool both_nodes_talk_intraprocess{false};
+};
+
+/* Testing publisher subscription count api and internal process subscription count.
+ * Two contexts, both of them not using intra-process comm.
+ */
+struct TwoSubscriptionsInTwoContextsWithoutIntraprocessComm
+{
+  static constexpr const char * description =
+    "two_subscriptions_in_two_contexts_without_intraprocess_comm";
+  using FirstNodeCreationPolicy = NodeCreationPolicy<>;
+  using SecondNodeCreationPolicy = NodeCreationPolicy<UseCustomContext>;
+
+  static constexpr bool first_node_talks_intraprocess{false};
+  static constexpr bool both_nodes_talk_intraprocess{false};
+};
+
+using AllTestDescriptions = ::testing::Types<
+  TwoSubscriptionsIntraprocessComm,
+  TwoSubscriptionsOneIntraprocessOneNot,
+  TwoSubscriptionsInTwoContextsWithIntraprocessComm,
+  TwoSubscriptionsInTwoContextsWithoutIntraprocessComm
+>;
+TYPED_TEST_CASE(TestPublisherSubscriptionCount, AllTestDescriptions, PrintTestDescription);
+
+
+using test_msgs::msg::Empty;
+
+TYPED_TEST(TestPublisherSubscriptionCount, increasing_and_decreasing_counts)
+{
+  using TestDescription = TypeParam;
+  typename TestDescription::FirstNodeCreationPolicy my_node_creation_policy;
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>(
+    "my_node",
+    "/ns",
+    my_node_creation_policy.node_options());
+  auto publisher = node->create_publisher<Empty>("/topic", 10);
+
+  EXPECT_EQ(publisher->get_subscription_count(), 0u);
+  EXPECT_EQ(publisher->get_intra_process_subscription_count(), 0u);
+  {
+    auto sub = node->create_subscription<Empty>(
+      "/topic", 10, &TestPublisherSubscriptionCount<TestDescription>::OnMessage);
+    rclcpp::sleep_for(this->offset);
+    EXPECT_EQ(publisher->get_subscription_count(), 1u);
+    EXPECT_EQ(
+      publisher->get_intra_process_subscription_count(),
+      (TestDescription::first_node_talks_intraprocess ? 1u : 0u));
+    {
+      typename TestDescription::SecondNodeCreationPolicy another_node_creation_policy;
+      rclcpp::Node::SharedPtr another_node = std::make_shared<rclcpp::Node>(
+        "another_node",
+        "/ns",
+        another_node_creation_policy.node_options());
+      auto another_sub = another_node->create_subscription<Empty>(
+        "/topic", 10, &TestPublisherSubscriptionCount<TestDescription>::OnMessage);
+
+      rclcpp::sleep_for(this->offset);
+      EXPECT_EQ(publisher->get_subscription_count(), 2u);
+      EXPECT_EQ(
+        publisher->get_intra_process_subscription_count(),
+        (TestDescription::first_node_talks_intraprocess ? 1u : 0u) +
+        (TestDescription::both_nodes_talk_intraprocess ? 1u : 0u));
+    }
+    rclcpp::sleep_for(this->offset);
+    EXPECT_EQ(publisher->get_subscription_count(), 1u);
+    EXPECT_EQ(
+      publisher->get_intra_process_subscription_count(),
+      (TestDescription::first_node_talks_intraprocess ? 1u : 0u));
+  }
+  /**
+    * Counts should be zero here, as all are subscriptions are out of scope.
+    * Subscriptions count checking is always preceeded with an sleep, as random failures had been
+    * detected without it. */
+  rclcpp::sleep_for(this->offset);
+  EXPECT_EQ(publisher->get_subscription_count(), 0u);
+  EXPECT_EQ(publisher->get_intra_process_subscription_count(), 0u);
+}

rclcpp/test/rclcpp/test_subscription_publisher_count_api.cpp

@@ -0,0 +1,166 @@
+// Copyright 2019-2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <iostream>
+#include <string>
+#include <memory>
+
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "test_msgs/msg/empty.hpp"
+
+namespace
+{
+
+template<typename ... Ts>
+class NodeCreationPolicy
+{
+public:
+  rclcpp::NodeOptions & node_options()
+  {
+    return options_;
+  }
+
+private:
+  rclcpp::NodeOptions options_;
+};
+
+template<typename T, typename ... Ts>
+class NodeCreationPolicy<T, Ts...>
+{
+public:
+  NodeCreationPolicy()
+  {
+    gather<T, Ts...>(options_);
+  }
+
+  rclcpp::NodeOptions & node_options()
+  {
+    return options_;
+  }
+
+private:
+  template<typename U>
+  static rclcpp::NodeOptions &
+  gather(rclcpp::NodeOptions & options)
+  {
+    return U::gather(options);
+  }
+
+  template<typename U, typename V, typename ... Ws>
+  static rclcpp::NodeOptions &
+  gather(rclcpp::NodeOptions & options)
+  {
+    return gather<V, Ws...>(U::gather(options));
+  }
+
+  rclcpp::NodeOptions options_;
+};
+
+struct UseCustomContext
+{
+  static rclcpp::NodeOptions & gather(rclcpp::NodeOptions & options)
+  {
+    auto context = rclcpp::Context::make_shared();
+    context->init(0, nullptr);
+    return options.context(context);
+  }
+};
+
+struct PrintTestDescription
+{
+  template<typename T>
+  static std::string GetName(int i)
+  {
+    static_cast<void>(i);
+    return T::description;
+  }
+};
+
+}  // namespace
+
+
+template<typename TestDescription>
+class TestSubscriptionPublisherCount : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
+protected:
+  static void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
+  {
+    (void)msg;
+  }
+
+  std::chrono::milliseconds offset{2000};
+};
+
+struct OneContextPerTest
+{
+  static constexpr const char * description = "one_context_test";
+  using NodeCreationPolicy = ::NodeCreationPolicy<>;
+};
+
+struct TwoContextsPerTest
+{
+  static constexpr const char * description = "two_contexts_test";
+  using NodeCreationPolicy = ::NodeCreationPolicy<UseCustomContext>;
+};
+
+using AllTestDescriptions = ::testing::Types<OneContextPerTest, TwoContextsPerTest>;
+TYPED_TEST_CASE(TestSubscriptionPublisherCount, AllTestDescriptions, PrintTestDescription);
+
+
+using test_msgs::msg::Empty;
+
+TYPED_TEST(TestSubscriptionPublisherCount, increasing_and_decreasing_counts)
+{
+  using TestDescription = TypeParam;
+  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+  auto subscription = node->create_subscription<Empty>(
+    "/topic", 10, &TestSubscriptionPublisherCount<TestDescription>::OnMessage);
+
+  EXPECT_EQ(subscription->get_publisher_count(), 0u);
+  {
+    auto pub = node->create_publisher<Empty>("/topic", 10);
+    rclcpp::sleep_for(this->offset);
+    EXPECT_EQ(subscription->get_publisher_count(), 1u);
+    {
+      typename TestDescription::NodeCreationPolicy node_creation_policy;
+      rclcpp::Node::SharedPtr another_node = std::make_shared<rclcpp::Node>(
+        "another_node",
+        "/ns",
+        node_creation_policy.node_options());
+      auto another_pub =
+        another_node->create_publisher<Empty>("/topic", 10);
+
+      rclcpp::sleep_for(this->offset);
+      EXPECT_EQ(subscription->get_publisher_count(), 2u);
+    }
+    rclcpp::sleep_for(this->offset);
+    EXPECT_EQ(subscription->get_publisher_count(), 1u);
+  }
+  rclcpp::sleep_for(this->offset);
+  EXPECT_EQ(subscription->get_publisher_count(), 0u);
+}

rclcpp/test/rclcpp/test_time.cpp

@@ -45,7 +45,7 @@ protected:
   }
 };
 
-TEST(TestTime, clock_type_access) {
+TEST_F(TestTime, clock_type_access) {
   rclcpp::Clock ros_clock(RCL_ROS_TIME);
   EXPECT_EQ(RCL_ROS_TIME, ros_clock.get_clock_type());
 
@@ -57,7 +57,7 @@ TEST(TestTime, clock_type_access) {
 }
 
 // Check that the clock may go out of the scope before the jump callback without leading in UB.
-TEST(TestTime, clock_jump_callback_destruction_order) {
+TEST_F(TestTime, clock_jump_callback_destruction_order) {
   rclcpp::JumpHandler::SharedPtr handler;
   {
     rclcpp::Clock ros_clock(RCL_ROS_TIME);
@@ -68,7 +68,7 @@ TEST(TestTime, clock_jump_callback_destruction_order) {
   }
 }
 
-TEST(TestTime, time_sources) {
+TEST_F(TestTime, time_sources) {
   using builtin_interfaces::msg::Time;
   rclcpp::Clock ros_clock(RCL_ROS_TIME);
   Time ros_now = ros_clock.now();
@@ -86,44 +86,124 @@ TEST(TestTime, time_sources) {
   EXPECT_NE(0u, steady_now.nanosec);
 }
 
-TEST(TestTime, conversions) {
+static const int64_t HALF_SEC_IN_NS = 500 * 1000 * 1000;
+static const int64_t ONE_SEC_IN_NS = 1000 * 1000 * 1000;
+static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;
+
+TEST_F(TestTime, conversions) {
   rclcpp::Clock system_clock(RCL_SYSTEM_TIME);
 
-  rclcpp::Time now = system_clock.now();
-  builtin_interfaces::msg::Time now_msg = now;
-
-  rclcpp::Time now_again = now_msg;
-  EXPECT_EQ(now.nanoseconds(), now_again.nanoseconds());
-
-  builtin_interfaces::msg::Time msg;
-  msg.sec = 12345;
-  msg.nanosec = 67890;
-
-  rclcpp::Time time = msg;
-  EXPECT_EQ(
-    RCL_S_TO_NS(static_cast<int64_t>(msg.sec)) + static_cast<int64_t>(msg.nanosec),
-    time.nanoseconds());
-  EXPECT_EQ(static_cast<int64_t>(msg.sec), RCL_NS_TO_S(time.nanoseconds()));
-
-  builtin_interfaces::msg::Time negative_time_msg;
-  negative_time_msg.sec = -1;
-  negative_time_msg.nanosec = 1;
-
-  EXPECT_ANY_THROW(
   {
-    rclcpp::Time negative_time = negative_time_msg;
-  });
+    rclcpp::Time now = system_clock.now();
+    builtin_interfaces::msg::Time now_msg = now;
 
-  EXPECT_ANY_THROW(rclcpp::Time(-1, 1));
+    rclcpp::Time now_again = now_msg;
+    EXPECT_EQ(now.nanoseconds(), now_again.nanoseconds());
+  }
 
-  EXPECT_ANY_THROW(
   {
-    rclcpp::Time assignment(1, 2);
-    assignment = negative_time_msg;
-  });
+    rclcpp::Time positive_time = rclcpp::Time(12345, 67890u);
+
+    builtin_interfaces::msg::Time msg = positive_time;
+    EXPECT_EQ(msg.sec, 12345);
+    EXPECT_EQ(msg.nanosec, 67890u);
+
+    rclcpp::Time time = msg;
+    EXPECT_EQ(time.nanoseconds(), positive_time.nanoseconds());
+    EXPECT_EQ(
+      RCL_S_TO_NS(static_cast<int64_t>(msg.sec)) + static_cast<int64_t>(msg.nanosec),
+      time.nanoseconds());
+    EXPECT_EQ(static_cast<int64_t>(msg.sec), RCL_NS_TO_S(time.nanoseconds()));
+  }
+
+  // throw on construction/assignment of negative times
+  {
+    builtin_interfaces::msg::Time negative_time_msg;
+    negative_time_msg.sec = -1;
+    negative_time_msg.nanosec = 1;
+
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time = negative_time_msg;
+    });
+
+    EXPECT_ANY_THROW(rclcpp::Time(-1, 1));
+
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time assignment(1, 2);
+      assignment = negative_time_msg;
+    });
+  }
+
+  {
+    const rclcpp::Time time(HALF_SEC_IN_NS);
+    const auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, 0);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), HALF_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Time time(ONE_SEC_IN_NS);
+    const auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, 1);
+    EXPECT_EQ(time_msg.nanosec, 0u);
+    EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), ONE_SEC_IN_NS);
+  }
+
+  {
+    const rclcpp::Time time(ONE_AND_HALF_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, 1);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+    EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), ONE_AND_HALF_SEC_IN_NS);
+  }
+
+  {
+    // Can rclcpp::Time be negative or not? The following constructor works:
+    rclcpp::Time time(-HALF_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, -1);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+
+    // The opposite conversion throws...
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time(time_msg);
+    });
+  }
+
+  {
+    // Can rclcpp::Time be negative or not? The following constructor works:
+    rclcpp::Time time(-ONE_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, -1);
+    EXPECT_EQ(time_msg.nanosec, 0u);
+
+    // The opposite conversion throws...
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time(time_msg);
+    });
+  }
+
+  {
+    // Can rclcpp::Time be negative or not? The following constructor works:
+    rclcpp::Time time(-ONE_AND_HALF_SEC_IN_NS);
+    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
+    EXPECT_EQ(time_msg.sec, -2);
+    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
+
+    // The opposite conversion throws...
+    EXPECT_ANY_THROW(
+    {
+      rclcpp::Time negative_time(time_msg);
+    });
+  }
 }
 
-TEST(TestTime, operators) {
+TEST_F(TestTime, operators) {
   rclcpp::Time old(1, 0);
   rclcpp::Time young(2, 0);
 
@@ -178,7 +258,7 @@ TEST(TestTime, operators) {
   }
 }
 
-TEST(TestTime, overflow_detectors) {
+TEST_F(TestTime, overflow_detectors) {
   /////////////////////////////////////////////////////////////////////////////
   // Test logical_eq call first:
   EXPECT_TRUE(logical_eq(false, false));
@@ -198,8 +278,8 @@ TEST(TestTime, overflow_detectors) {
   // 256 * 256 = 64K total loops, should be pretty fast on everything
   for (big_type_t y = min_val; y <= max_val; ++y) {
     for (big_type_t x = min_val; x <= max_val; ++x) {
-      const big_type_t sum = x + y;
-      const big_type_t diff = x - y;
+      const big_type_t sum = static_cast<big_type_t>(x + y);
+      const big_type_t diff = static_cast<big_type_t>(x - y);
 
       const bool add_will_overflow =
         rclcpp::add_will_overflow(test_type_t(x), test_type_t(y));
@@ -235,7 +315,7 @@ TEST(TestTime, overflow_detectors) {
   EXPECT_TRUE(rclcpp::sub_will_underflow<int64_t>(INT64_MIN, 1));
 }
 
-TEST(TestTime, overflows) {
+TEST_F(TestTime, overflows) {
   rclcpp::Time max_time(std::numeric_limits<rcl_time_point_value_t>::max());
   rclcpp::Time min_time(std::numeric_limits<rcl_time_point_value_t>::min());
   rclcpp::Duration one(1);
@@ -267,7 +347,7 @@ TEST(TestTime, overflows) {
   EXPECT_NO_THROW(one_time - two_time);
 }
 
-TEST(TestTime, seconds) {
+TEST_F(TestTime, seconds) {
   EXPECT_DOUBLE_EQ(0.0, rclcpp::Time(0, 0).seconds());
   EXPECT_DOUBLE_EQ(4.5, rclcpp::Time(4, 500000000).seconds());
   EXPECT_DOUBLE_EQ(2.5, rclcpp::Time(0, 2500000000).seconds());

rclcpp/test/rclcpp/topic_statistics/test_subscription_topic_statistics.cpp

@@ -19,6 +19,7 @@
 #include <iostream>
 #include <memory>
 #include <set>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
@@ -219,6 +220,30 @@ protected:
   }
 };
 
+TEST(TestSubscriptionTopicStatistics, test_invalid_publish_period)
+{
+  rclcpp::init(0 /* argc */, nullptr /* argv */);
+
+  auto node = std::make_shared<rclcpp::Node>("test_period_node");
+
+  auto options = rclcpp::SubscriptionOptions();
+  options.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable;
+  options.topic_stats_options.publish_period = std::chrono::milliseconds(0);
+
+  auto callback = [](Empty::UniquePtr msg) {
+      (void) msg;
+    };
+
+  ASSERT_THROW(
+    (node->create_subscription<Empty, std::function<void(Empty::UniquePtr)>>(
+      "should_throw_invalid_arg",
+      rclcpp::QoS(rclcpp::KeepAll()),
+      callback,
+      options)), std::invalid_argument);
+
+  rclcpp::shutdown();
+}
+
 TEST_F(TestSubscriptionTopicStatisticsFixture, test_manual_construction)
 {
   auto empty_subscriber = std::make_shared<EmptySubscriber>(

rclcpp/test/rclcpp/topic_statistics/test_topic_stats_utils.hpp

@@ -22,8 +22,8 @@
 
 #include "statistics_msgs/msg/metrics_message.hpp"
 
-#ifndef TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
-#define TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
+#ifndef RCLCPP__TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
+#define RCLCPP__TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
 
 namespace rclcpp
 {
@@ -149,4 +149,4 @@ private:
 }  // namespace topic_statistics
 }  // namespace rclcpp
 
-#endif  // TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_
+#endif  // RCLCPP__TOPIC_STATISTICS__TEST_TOPIC_STATS_UTILS_HPP_

rclcpp/test/test_publisher_subscription_count_api.cpp

@@ -1,182 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <iostream>
-#include <memory>
-#include <string>
-
-#include "rclcpp/exceptions.hpp"
-#include "rclcpp/publisher.hpp"
-#include "rclcpp/rclcpp.hpp"
-
-#include "test_msgs/msg/empty.hpp"
-
-using test_msgs::msg::Empty;
-
-/**
- * Parameterized test.
- * The first param are the NodeOptions used to create the nodes.
- * The second param are the expect intraprocess count results.
- */
-struct TestParameters
-{
-  rclcpp::NodeOptions node_options[2];
-  uint64_t intraprocess_count_results[2];
-  std::string description;
-};
-
-std::ostream & operator<<(std::ostream & out, const TestParameters & params)
-{
-  out << params.description;
-  return out;
-}
-
-class TestPublisherSubscriptionCount : public ::testing::TestWithParam<TestParameters>
-{
-public:
-  static void SetUpTestCase()
-  {
-    rclcpp::init(0, nullptr);
-  }
-  static void TearDownTestCase()
-  {
-    rclcpp::shutdown();
-  }
-
-protected:
-  void SetUp() {}
-
-  void TearDown() {}
-
-  static std::chrono::milliseconds offset;
-};
-
-std::chrono::milliseconds TestPublisherSubscriptionCount::offset = std::chrono::milliseconds(2000);
-
-void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
-{
-  (void)msg;
-}
-
-TEST_P(TestPublisherSubscriptionCount, increasing_and_decreasing_counts)
-{
-  TestParameters parameters = GetParam();
-  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>(
-    "my_node",
-    "/ns",
-    parameters.node_options[0]);
-  auto publisher = node->create_publisher<Empty>("/topic", 10);
-
-  EXPECT_EQ(publisher->get_subscription_count(), 0u);
-  EXPECT_EQ(publisher->get_intra_process_subscription_count(), 0u);
-  {
-    auto sub = node->create_subscription<Empty>("/topic", 10, &OnMessage);
-    rclcpp::sleep_for(offset);
-    EXPECT_EQ(publisher->get_subscription_count(), 1u);
-    EXPECT_EQ(
-      publisher->get_intra_process_subscription_count(),
-      parameters.intraprocess_count_results[0]);
-    {
-      rclcpp::Node::SharedPtr another_node = std::make_shared<rclcpp::Node>(
-        "another_node",
-        "/ns",
-        parameters.node_options[1]);
-      auto another_sub =
-        another_node->create_subscription<Empty>("/topic", 10, &OnMessage);
-
-      rclcpp::sleep_for(offset);
-      EXPECT_EQ(publisher->get_subscription_count(), 2u);
-      EXPECT_EQ(
-        publisher->get_intra_process_subscription_count(),
-        parameters.intraprocess_count_results[1]);
-    }
-    rclcpp::sleep_for(offset);
-    EXPECT_EQ(publisher->get_subscription_count(), 1u);
-    EXPECT_EQ(
-      publisher->get_intra_process_subscription_count(),
-      parameters.intraprocess_count_results[0]);
-  }
-  /**
-    * Counts should be zero here, as all are subscriptions are out of scope.
-    * Subscriptions count checking is always preceeded with an sleep, as random failures had been
-    * detected without it. */
-  rclcpp::sleep_for(offset);
-  EXPECT_EQ(publisher->get_subscription_count(), 0u);
-  EXPECT_EQ(publisher->get_intra_process_subscription_count(), 0u);
-}
-
-auto get_new_context()
-{
-  auto context = rclcpp::Context::make_shared();
-  context->init(0, nullptr);
-  return context;
-}
-
-TestParameters parameters[] = {
-  /*
-     Testing publisher subscription count api and internal process subscription count.
-     Two subscriptions in the same topic, both using intraprocess comm.
-   */
-  {
-    {
-      rclcpp::NodeOptions().use_intra_process_comms(true),
-      rclcpp::NodeOptions().use_intra_process_comms(true)
-    },
-    {1u, 2u},
-    "two_subscriptions_intraprocess_comm"
-  },
-  /*
-     Testing publisher subscription count api and internal process subscription count.
-     Two subscriptions, one using intra-process comm and the other not using it.
-   */
-  {
-    {
-      rclcpp::NodeOptions().use_intra_process_comms(true),
-      rclcpp::NodeOptions().use_intra_process_comms(false)
-    },
-    {1u, 1u},
-    "two_subscriptions_one_intraprocess_one_not"
-  },
-  /*
-     Testing publisher subscription count api and internal process subscription count.
-     Two contexts, both using intra-process.
-   */
-  {
-    {
-      rclcpp::NodeOptions().use_intra_process_comms(true),
-      rclcpp::NodeOptions().context(get_new_context()).use_intra_process_comms(true)
-    },
-    {1u, 1u},
-    "two_subscriptions_in_two_contexts_with_intraprocess_comm"
-  },
-  /*
-     Testing publisher subscription count api and internal process subscription count.
-     Two contexts, both of them not using intra-process comm.
-   */
-  {
-    {
-      rclcpp::NodeOptions().use_intra_process_comms(false),
-      rclcpp::NodeOptions().context(get_new_context()).use_intra_process_comms(false)
-    },
-    {0u, 0u},
-    "two_subscriptions_in_two_contexts_without_intraprocess_comm"
-  }
-};
-
-INSTANTIATE_TEST_CASE_P(
-  TestWithDifferentNodeOptions, TestPublisherSubscriptionCount,
-  ::testing::ValuesIn(parameters),
-  ::testing::PrintToStringParamName());

rclcpp/test/test_subscription_publisher_count_api.cpp

@@ -1,127 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <iostream>
-#include <string>
-#include <memory>
-
-#include "rclcpp/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
-
-#include "test_msgs/msg/empty.hpp"
-
-using test_msgs::msg::Empty;
-
-struct TestParameters
-{
-  rclcpp::NodeOptions node_options;
-  std::string description;
-};
-
-std::ostream & operator<<(std::ostream & out, const TestParameters & params)
-{
-  out << params.description;
-  return out;
-}
-
-class TestSubscriptionPublisherCount : public ::testing::TestWithParam<TestParameters>
-{
-public:
-  static void SetUpTestCase()
-  {
-    rclcpp::init(0, nullptr);
-  }
-  static void TearDownTestCase()
-  {
-    rclcpp::shutdown();
-  }
-
-protected:
-  void SetUp() {}
-  void TearDown() {}
-  static std::chrono::milliseconds offset;
-};
-
-std::chrono::milliseconds TestSubscriptionPublisherCount::offset = std::chrono::milliseconds(2000);
-
-void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
-{
-  (void)msg;
-}
-
-TEST_P(TestSubscriptionPublisherCount, increasing_and_decreasing_counts)
-{
-  rclcpp::NodeOptions node_options = GetParam().node_options;
-  rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>(
-    "my_node",
-    "/ns",
-    node_options);
-  auto subscription = node->create_subscription<Empty>("/topic", 10, &OnMessage);
-
-  EXPECT_EQ(subscription->get_publisher_count(), 0u);
-  {
-    auto pub = node->create_publisher<Empty>("/topic", 10);
-    rclcpp::sleep_for(offset);
-    EXPECT_EQ(subscription->get_publisher_count(), 1u);
-    {
-      rclcpp::Node::SharedPtr another_node = std::make_shared<rclcpp::Node>(
-        "another_node",
-        "/ns",
-        node_options);
-      auto another_pub =
-        another_node->create_publisher<Empty>("/topic", 10);
-
-      rclcpp::sleep_for(offset);
-      EXPECT_EQ(subscription->get_publisher_count(), 2u);
-    }
-    rclcpp::sleep_for(offset);
-    EXPECT_EQ(subscription->get_publisher_count(), 1u);
-  }
-  rclcpp::sleep_for(offset);
-  EXPECT_EQ(subscription->get_publisher_count(), 0u);
-}
-
-auto get_new_context()
-{
-  auto context = rclcpp::Context::make_shared();
-  context->init(0, nullptr);
-  return context;
-}
-
-TestParameters parameters[] = {
-  /*
-     Testing subscription publisher count api.
-     One context.
-   */
-  {
-    rclcpp::NodeOptions(),
-    "one_context_test"
-  },
-  /*
-     Testing subscription publisher count api.
-     Two contexts.
-   */
-  {
-    rclcpp::NodeOptions().context(get_new_context()),
-    "two_contexts_test"
-  }
-};
-
-INSTANTIATE_TEST_CASE_P(
-  TestWithDifferentNodeOptions,
-  TestSubscriptionPublisherCount,
-  testing::ValuesIn(parameters),
-  testing::PrintToStringParamName());

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,20 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+2.2.0 (2020-10-07)
+------------------
+
+2.1.0 (2020-08-03)
+------------------
+
+2.0.2 (2020-07-07)
+------------------
+
+2.0.1 (2020-06-23)
+------------------
+* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
+* Contributors: Alejandro Hernández Cordero
+
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp_action/include/rclcpp_action/create_client.hpp

@@ -30,10 +30,10 @@ namespace rclcpp_action
  * This function is equivalent to \sa create_client()` however is using the individual
  * node interfaces to create the client.
  *
- * \param node_base_interface[in] The node base interface of the corresponding node.
- * \param node_graph_interface[in] The node graph interface of the corresponding node.
- * \param node_logging_interface[in] The node logging interface of the corresponding node.
- * \param node_waitables_interface[in] The node waitables interface of the corresponding node.
+ * \param[in] node_base_interface The node base interface of the corresponding node.
+ * \param[in] node_graph_interface The node graph interface of the corresponding node.
+ * \param[in] node_logging_interface The node logging interface of the corresponding node.
+ * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
  * \param[in] name The action name.
  * \param[in] group The action client will be added to this callback group.
  *   If `nullptr`, then the action client is added to the default callback group.

rclcpp_action/include/rclcpp_action/create_server.hpp

@@ -39,18 +39,18 @@ namespace rclcpp_action
  *
  * \sa Server::Server() for more information.
  *
- * \param node_base_interface[in] The node base interface of the corresponding node.
- * \param node_clock_interface[in] The node clock interface of the corresponding node.
- * \param node_logging_interface[in] The node logging interface of the corresponding node.
- * \param node_waitables_interface[in] The node waitables interface of the corresponding node.
- * \param name[in] The action name.
+ * \param[in] node_base_interface The node base interface of the corresponding node.
+ * \param[in] node_clock_interface The node clock interface of the corresponding node.
+ * \param[in] node_logging_interface The node logging interface of the corresponding node.
+ * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
+ * \param[in] name The action name.
  * \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
  * \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
  * \param[in] options options to pass to the underlying `rcl_action_server_t`.
- * \param group[in] The action server will be added to this callback group.
+ * \param[in] group The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
 template<typename ActionT>
@@ -117,15 +117,15 @@ create_server(
  *
  * \sa Server::Server() for more information.
  *
- * \param node[in] The action server will be added to this node.
- * \param name[in] The action name.
+ * \param[in] node] The action server will be added to this node.
+ * \param[in] name The action name.
  * \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
  * \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
  * \param[in] options options to pass to the underlying `rcl_action_server_t`.
- * \param group[in] The action server will be added to this callback group.
+ * \param[in] group The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
 template<typename ActionT, typename NodeT>

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>2.0.0</version>
+  <version>2.2.0</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_components/CHANGELOG.rst

@@ -2,10 +2,24 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2020-10-07)
+------------------
+* Include original exception in ComponentManagerException (`#1157 <https://github.com/ros2/rclcpp/issues/1157>`_) (`#1223 <https://github.com/ros2/rclcpp/issues/1223>`_)
+* Contributors: Dereck Wonnacott
+
+2.1.0 (2020-08-03)
+------------------
+
+2.0.2 (2020-07-07)
+------------------
+
+2.0.1 (2020-06-23)
+------------------
+
 2.0.0 (2020-06-01)
 ------------------
-* Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)
-* Add Security Vulnerability Policy pointing to REP-2006. (`#1130 <https://github.com/ros2/rclcpp/issues/1130>`_)
+* Added missing virtual destructors (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)
+* Add Security Vulnerability Policy pointing to REP-2006 (`#1130 <https://github.com/ros2/rclcpp/issues/1130>`_)
 * Contributors: Chris Lalancette, Ivan Santiago Paunovic
 
 1.1.0 (2020-05-26)

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>2.0.0</version>
+  <version>2.2.0</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>

rclcpp_components/src/component_manager.cpp

@@ -196,6 +196,11 @@ ComponentManager::OnLoadNode(
 
       try {
         node_wrappers_[node_id] = factory->create_node_instance(options);
+      } catch (const std::exception & ex) {
+        // In the case that the component constructor throws an exception,
+        // rethrow into the following catch block.
+        throw ComponentManagerException(
+                "Component constructor threw an exception: " + std::string(ex.what()));
       } catch (...) {
         // In the case that the component constructor throws an exception,
         // rethrow into the following catch block.

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,25 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+2.2.0 (2020-10-07)
+------------------
+* Log error instead of throwing exception in Transition and State reset() mark no except (`#1297 <https://github.com/ros2/rclcpp/issues/1297>`_) (`#1378 <https://github.com/ros2/rclcpp/issues/1378>`_)
+* Remove rmw-dependent unit-test checks (`#1293 <https://github.com/ros2/rclcpp/issues/1293>`_) (`#1377 <https://github.com/ros2/rclcpp/issues/1377>`_)
+* Contributors: Stephen Brawner
+
+2.1.0 (2020-08-03)
+------------------
+* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_) (`#1244 <https://github.com/ros2/rclcpp/issues/1244>`_)
+* Contributors: Jacob Perron
+
+2.0.2 (2020-07-07)
+------------------
+
+2.0.1 (2020-06-23)
+------------------
+* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
+* Contributors: Alejandro Hernández Cordero
+
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -42,6 +42,8 @@
 #include <utility>
 #include <vector>
 
+#include "rcutils/macros.h"
+
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
 
@@ -124,7 +126,6 @@ public:
   /// Create a new lifecycle node with the specified name.
   /**
    * \param[in] node_name Name of the node.
-   * \param[in] namespace_ Namespace of the node.
    * \param[in] options Additional options to control creation of the node.
    */
   RCLCPP_LIFECYCLE_PUBLIC
@@ -457,6 +458,7 @@ public:
    * \sa rclcpp::Node::add_on_set_parameters_callback
    */
   RCLCPP_LIFECYCLE_PUBLIC
+  RCUTILS_WARN_UNUSED
   rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr
   add_on_set_parameters_callback(
     rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);

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>2.0.0</version>
+  <version>2.2.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>

rclcpp_lifecycle/src/state.cpp

@@ -21,6 +21,7 @@
 #include "rcl_lifecycle/rcl_lifecycle.h"
 
 #include "rclcpp/exceptions.hpp"
+#include "rclcpp/logging.hpp"
 
 #include "rcutils/allocator.h"
 
@@ -157,7 +158,9 @@ State::reset()
   allocator_.deallocate(state_handle_, allocator_.state);
   state_handle_ = nullptr;
   if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(ret);
+    RCLCPP_ERROR(
+      rclcpp::get_logger("rclcpp_lifecycle"),
+      "rcl_lifecycle_transition_fini did not complete successfully, leaking memory");
   }
 }
 

rclcpp_lifecycle/src/transition.cpp

@@ -21,6 +21,7 @@
 #include "rcl_lifecycle/rcl_lifecycle.h"
 
 #include "rclcpp/exceptions.hpp"
+#include "rclcpp/logging.hpp"
 
 #include "rcutils/allocator.h"
 
@@ -261,7 +262,9 @@ Transition::reset()
   allocator_.deallocate(transition_handle_, allocator_.state);
   transition_handle_ = nullptr;
   if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(ret);
+    RCLCPP_ERROR(
+      rclcpp::get_logger("rclcpp_lifecycle"),
+      "rcl_lifecycle_transition_fini did not complete successfully, leaking memory");
   }
 }
 }  // namespace rclcpp_lifecycle

rclcpp_lifecycle/test/test_lifecycle_node.cpp

@@ -492,31 +492,51 @@ TEST_F(TestDefaultStateMachine, test_getters) {
 TEST_F(TestDefaultStateMachine, test_graph) {
   auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
   auto names = test_node->get_node_names();
-  EXPECT_EQ(names.size(), 1u);
-  EXPECT_STREQ(names[0].c_str(), "/testnode");
 
-  // parameter_events, rosout, /testnode/transition_event
+  ASSERT_NE(names.end(), std::find(names.begin(), names.end(), std::string("/testnode")));
+
+  // Other topics may exist for an rclcpp::Node, but just checking the lifecycle one exists
   auto topic_names_and_types = test_node->get_topic_names_and_types();
-  EXPECT_EQ(topic_names_and_types.size(), 3u);
+  ASSERT_NE(
+    topic_names_and_types.end(),
+    topic_names_and_types.find(std::string("/testnode/transition_event")));
   EXPECT_STREQ(
     topic_names_and_types["/testnode/transition_event"][0].c_str(),
     "lifecycle_msgs/msg/TransitionEvent");
 
   auto service_names_and_types = test_node->get_service_names_and_types();
-  EXPECT_EQ(service_names_and_types.size(), 11u);
   // These are specific to lifecycle nodes, other services are provided by rclcpp::Node
+  ASSERT_NE(
+    service_names_and_types.end(),
+    service_names_and_types.find(std::string("/testnode/change_state")));
   EXPECT_STREQ(
     service_names_and_types["/testnode/change_state"][0].c_str(),
     "lifecycle_msgs/srv/ChangeState");
+
+  ASSERT_NE(
+    service_names_and_types.end(),
+    service_names_and_types.find(std::string("/testnode/get_available_states")));
   EXPECT_STREQ(
     service_names_and_types["/testnode/get_available_states"][0].c_str(),
     "lifecycle_msgs/srv/GetAvailableStates");
+
+  ASSERT_NE(
+    service_names_and_types.end(),
+    service_names_and_types.find(std::string("/testnode/get_available_transitions")));
   EXPECT_STREQ(
     service_names_and_types["/testnode/get_available_transitions"][0].c_str(),
     "lifecycle_msgs/srv/GetAvailableTransitions");
+
+  ASSERT_NE(
+    service_names_and_types.end(),
+    service_names_and_types.find(std::string("/testnode/get_state")));
   EXPECT_STREQ(
     service_names_and_types["/testnode/get_state"][0].c_str(),
     "lifecycle_msgs/srv/GetState");
+
+  ASSERT_NE(
+    service_names_and_types.end(),
+    service_names_and_types.find(std::string("/testnode/get_transition_graph")));
   EXPECT_STREQ(
     service_names_and_types["/testnode/get_transition_graph"][0].c_str(),
     "lifecycle_msgs/srv/GetAvailableTransitions");