0.8.0

Signed-off-by: Michael Carroll <michael@openrobotics.org>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,75 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.0 (2019-09-26)
+------------------
+* clean up publisher and subscription creation logic (`#867 <https://github.com/ros2/rclcpp/issues/867>`_)
+* Take parameter overrides provided through the CLI. (`#865 <https://github.com/ros2/rclcpp/issues/865>`_)
+* add more context to exception message (`#858 <https://github.com/ros2/rclcpp/issues/858>`_)
+* remove features and related code which were deprecated in dashing (`#852 <https://github.com/ros2/rclcpp/issues/852>`_)
+* check valid timer handler 1st to reduce the time window for scan. (`#841 <https://github.com/ros2/rclcpp/issues/841>`_)
+* Add throwing parameter name if parameter is not set (`#833 <https://github.com/ros2/rclcpp/issues/833>`_)
+* Fix typo in deprecated warning. (`#848 <https://github.com/ros2/rclcpp/issues/848>`_)
+* Fail on invalid and unknown ROS specific arguments (`#842 <https://github.com/ros2/rclcpp/issues/842>`_)
+* Force explicit --ros-args in NodeOptions::arguments(). (`#845 <https://github.com/ros2/rclcpp/issues/845>`_)
+* Use of -r/--remap flags where appropriate. (`#834 <https://github.com/ros2/rclcpp/issues/834>`_)
+* Fix hang with timers in MultiThreadedExecutor (`#835 <https://github.com/ros2/rclcpp/issues/835>`_) (`#836 <https://github.com/ros2/rclcpp/issues/836>`_)
+* add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy\_ (`#837 <https://github.com/ros2/rclcpp/issues/837>`_)
+* Crash in callback group pointer vector iterator (`#814 <https://github.com/ros2/rclcpp/issues/814>`_)
+* Wrap documentation examples in code blocks (`#830 <https://github.com/ros2/rclcpp/issues/830>`_)
+* add callback group as member variable and constructor arg (`#811 <https://github.com/ros2/rclcpp/issues/811>`_)
+* Fix get_node_interfaces functions taking a pointer (`#821 <https://github.com/ros2/rclcpp/issues/821>`_)
+* Delete unnecessary call for get_node_by_group (`#823 <https://github.com/ros2/rclcpp/issues/823>`_)
+* Allow passing logger by const ref (`#820 <https://github.com/ros2/rclcpp/issues/820>`_)
+* Explain return value of spin_until_future_complete (`#792 <https://github.com/ros2/rclcpp/issues/792>`_)
+* Adapt to '--ros-args ... [--]'-based ROS args extraction (`#816 <https://github.com/ros2/rclcpp/issues/816>`_)
+* Add line break after first open paren in multiline function call (`#785 <https://github.com/ros2/rclcpp/issues/785>`_)
+* remove mock msgs from rclcpp (`#800 <https://github.com/ros2/rclcpp/issues/800>`_)
+* Make TimeSource ignore use_sim_time events coming from other nodes. (`#799 <https://github.com/ros2/rclcpp/issues/799>`_)
+* Allow registering multiple on_parameters_set_callback (`#772 <https://github.com/ros2/rclcpp/issues/772>`_)
+* Add free function for creating service clients (`#788 <https://github.com/ros2/rclcpp/issues/788>`_)
+* Include missing rcl headers in use. (`#782 <https://github.com/ros2/rclcpp/issues/782>`_)
+* Switch the NodeParameters lock to recursive. (`#781 <https://github.com/ros2/rclcpp/issues/781>`_)
+* changed on_parameter_event qos profile to rmw_qos_profile_parameter_events (`#774 <https://github.com/ros2/rclcpp/issues/774>`_)
+* Adding a factory method to create a Duration from seconds (`#567 <https://github.com/ros2/rclcpp/issues/567>`_)
+* Fix a comparison with a sign mismatch (`#771 <https://github.com/ros2/rclcpp/issues/771>`_)
+* delete superfluous spaces (`#770 <https://github.com/ros2/rclcpp/issues/770>`_)
+* Use params from node '/\*\*' from parameter YAML file (`#762 <https://github.com/ros2/rclcpp/issues/762>`_)
+* Add ignore override argument to declare parameter (`#767 <https://github.com/ros2/rclcpp/issues/767>`_)
+* use default parameter descriptor in parameters interface (`#765 <https://github.com/ros2/rclcpp/issues/765>`_)
+* Added support for const member functions (`#763 <https://github.com/ros2/rclcpp/issues/763>`_)
+* add get_actual_qos() feature to subscriptions (`#754 <https://github.com/ros2/rclcpp/issues/754>`_)
+* Ignore parameters overrides in set parameter methods when allowing undeclared parameters (`#756 <https://github.com/ros2/rclcpp/issues/756>`_)
+* Add rclcpp::create_timer() (`#757 <https://github.com/ros2/rclcpp/issues/757>`_)
+* checking origin of intra-process msg before taking them (`#753 <https://github.com/ros2/rclcpp/issues/753>`_)
+* Contributors: Alberto Soragna, Carl Delsey, Chris Lalancette, Dan Rose, Dirk Thomas, Esteve Fernandez, Guillaume Autran, Jacob Perron, Karsten Knese, Luca Della Vedova, M. M, Michel Hidalgo, Scott K Logan, Shane Loretz, Todd Malsbary, William Woodall, bpwilcox, fujitatomoya, ivanpauno
+
+0.7.5 (2019-05-30)
+------------------
+* Avoid 'Intra process message no longer being stored when trying to handle it' warning (`#749 <https://github.com/ros2/rclcpp/issues/749>`_)
+* Contributors: ivanpauno
+
+0.7.4 (2019-05-29)
+------------------
+* Rename parameter options (`#745 <https://github.com/ros2/rclcpp/issues/745>`_)
+* Bionic use of strerror_r (`#742 <https://github.com/ros2/rclcpp/issues/742>`_)
+* Enforce parameter ranges (`#735 <https://github.com/ros2/rclcpp/issues/735>`_)
+* removed not used parameter client (`#740 <https://github.com/ros2/rclcpp/issues/740>`_)
+* ensure removal of guard conditions of expired nodes from memory strategy (`#741 <https://github.com/ros2/rclcpp/issues/741>`_)
+* Fix typo in log warning message (`#737 <https://github.com/ros2/rclcpp/issues/737>`_)
+* Throw nice errors when creating a publisher with intraprocess communication and incompatible qos policy (`#729 <https://github.com/ros2/rclcpp/issues/729>`_)
+* Contributors: Alberto Soragna, Dirk Thomas, Jacob Perron, William Woodall, ivanpauno, roderick-koehle
+
+0.7.3 (2019-05-20)
+------------------
+* Fixed misspelling, volitile -> volatile (`#724 <https://github.com/ros2/rclcpp/issues/724>`_), and then fixed that since it is a C++ keyword to be ``durability_volatile`` (`#725 <https://github.com/ros2/rclcpp/issues/725>`_)
+* Fixed a clang warning (`#723 <https://github.com/ros2/rclcpp/issues/723>`_)
+* Added ``on_parameter_event`` static method to the ``AsyncParametersClient`` (`#688 <https://github.com/ros2/rclcpp/issues/688>`_)
+* Added a guard against ``ParameterNotDeclaredException`` throwing from within the parameter service callbacks. (`#718 <https://github.com/ros2/rclcpp/issues/718>`_)
+* Added missing template functionality to lifecycle_node. (`#707 <https://github.com/ros2/rclcpp/issues/707>`_)
+* Fixed heap-use-after-free and memory leaks reported from ``test_node.cpp`` (`#719 <https://github.com/ros2/rclcpp/issues/719>`_)
+* Contributors: Alberto Soragna, Dirk Thomas, Emerson Knapp, Jacob Perron, Michael Jeronimo, Prajakta Gokhale
+
 0.7.2 (2019-05-08)
 ------------------
 * Added new way to specify QoS settings for publishers and subscriptions. (`#713 <https://github.com/ros2/rclcpp/issues/713>`_)

rclcpp/CMakeLists.txt

@@ -7,6 +7,7 @@ find_package(builtin_interfaces REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rcl_yaml_param_parser REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
@@ -106,6 +107,7 @@ add_library(${PROJECT_NAME}
 ament_target_dependencies(${PROJECT_NAME}
   "rcl"
   "rcl_yaml_param_parser"
+  "rcpputils"
   "builtin_interfaces"
   "rosgraph_msgs"
   "rosidl_typesupport_cpp"
@@ -129,6 +131,7 @@ ament_export_libraries(${PROJECT_NAME})
 
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
+ament_export_dependencies(rcpputils)
 ament_export_dependencies(builtin_interfaces)
 ament_export_dependencies(rosgraph_msgs)
 ament_export_dependencies(rosidl_typesupport_cpp)
@@ -143,8 +146,12 @@ if(BUILD_TESTING)
 
   find_package(rmw_implementation_cmake 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")
+
   ament_add_gtest(test_client test/test_client.cpp)
   if(TARGET test_client)
     ament_target_dependencies(test_client
@@ -155,6 +162,18 @@ if(BUILD_TESTING)
     )
     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_generator_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
@@ -198,6 +217,7 @@ if(BUILD_TESTING)
   if(TARGET test_node)
     ament_target_dependencies(test_node
       "rcl_interfaces"
+      "rcpputils"
       "rmw"
       "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
@@ -242,6 +262,18 @@ if(BUILD_TESTING)
     )
     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
@@ -337,7 +369,6 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
   endif()
-  find_package(test_msgs REQUIRED)
   ament_add_gtest(test_subscription_traits test/test_subscription_traits.cpp)
   if(TARGET test_subscription_traits)
     ament_target_dependencies(test_subscription_traits
@@ -353,38 +384,17 @@ if(BUILD_TESTING)
     target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
   endif()
 
-  get_default_rmw_implementation(default_rmw)
-  find_package(${default_rmw} REQUIRED)
-  get_rmw_typesupport(typesupport_impls_cpp "${default_rmw}" LANGUAGE "cpp")
-  get_rmw_typesupport(typesupport_impls_c "${default_rmw}" LANGUAGE "c")
-  set(mock_msg_files
-    "test/mock_msgs/srv/Mock.srv")
-  rosidl_generate_interfaces(mock_msgs
-    ${mock_msg_files}
-    LIBRARY_NAME "rclcpp"
-    SKIP_INSTALL)
-
   set(append_library_dirs "${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
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_externally_defined_services)
-    ament_target_dependencies(test_externally_defined_services
-      "rcl"
-    )
-    target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
-    foreach(typesupport_impl_cpp ${typesupport_impls_cpp})
-      rosidl_target_interfaces(test_externally_defined_services
-        mock_msgs ${typesupport_impl_cpp})
-    endforeach()
-    foreach(typesupport_impl_c ${typesupport_impls_c})
-      rosidl_target_interfaces(test_externally_defined_services
-        mock_msgs ${typesupport_impl_c})
-    endforeach()
-  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}")
@@ -456,16 +466,10 @@ if(BUILD_TESTING)
     target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(test_local_parameters test/test_local_parameters.cpp)
-  if(TARGET test_local_parameters)
-    ament_target_dependencies(test_local_parameters
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_generator_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_local_parameters ${PROJECT_NAME})
-  endif()
+  # Install test resources
+  install(
+    DIRECTORY test/resources
+    DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/test)
 endif()
 
 ament_package()

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -184,10 +184,12 @@ public:
     } else if (const_shared_ptr_with_info_callback_) {
       const_shared_ptr_with_info_callback_(message, message_info);
     } else {
-      if (unique_ptr_callback_ || unique_ptr_with_info_callback_ ||
+      if (
+        unique_ptr_callback_ || unique_ptr_with_info_callback_ ||
         shared_ptr_callback_ || shared_ptr_with_info_callback_)
       {
-        throw std::runtime_error("unexpected dispatch_intra_process const shared "
+        throw std::runtime_error(
+                "unexpected dispatch_intra_process const shared "
                 "message call with no const shared_ptr callback");
       } else {
         throw std::runtime_error("unexpected message without any callback set");
@@ -209,7 +211,8 @@ public:
     } else if (unique_ptr_with_info_callback_) {
       unique_ptr_with_info_callback_(std::move(message), message_info);
     } else if (const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_) {
-      throw std::runtime_error("unexpected dispatch_intra_process unique message call"
+      throw std::runtime_error(
+              "unexpected dispatch_intra_process unique message call"
               " with const shared_ptr callback");
     } else {
       throw std::runtime_error("unexpected message without any callback set");

rclcpp/include/rclcpp/callback_group.hpp

@@ -21,9 +21,9 @@
 #include <vector>
 
 #include "rclcpp/client.hpp"
-#include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_base.hpp"
 #include "rclcpp/service.hpp"
-#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/waitable.hpp"
@@ -62,25 +62,40 @@ public:
   RCLCPP_PUBLIC
   explicit CallbackGroup(CallbackGroupType group_type);
 
-  RCLCPP_PUBLIC
-  const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
-  get_subscription_ptrs() const;
+  template<typename Function>
+  rclcpp::SubscriptionBase::SharedPtr
+  find_subscription_ptrs_if(Function func) const
+  {
+    return _find_ptrs_if_impl<rclcpp::SubscriptionBase, Function>(func, subscription_ptrs_);
+  }
 
-  RCLCPP_PUBLIC
-  const std::vector<rclcpp::TimerBase::WeakPtr> &
-  get_timer_ptrs() const;
+  template<typename Function>
+  rclcpp::TimerBase::SharedPtr
+  find_timer_ptrs_if(Function func) const
+  {
+    return _find_ptrs_if_impl<rclcpp::TimerBase, Function>(func, timer_ptrs_);
+  }
 
-  RCLCPP_PUBLIC
-  const std::vector<rclcpp::ServiceBase::WeakPtr> &
-  get_service_ptrs() const;
+  template<typename Function>
+  rclcpp::ServiceBase::SharedPtr
+  find_service_ptrs_if(Function func) const
+  {
+    return _find_ptrs_if_impl<rclcpp::ServiceBase, Function>(func, service_ptrs_);
+  }
 
-  RCLCPP_PUBLIC
-  const std::vector<rclcpp::ClientBase::WeakPtr> &
-  get_client_ptrs() const;
+  template<typename Function>
+  rclcpp::ClientBase::SharedPtr
+  find_client_ptrs_if(Function func) const
+  {
+    return _find_ptrs_if_impl<rclcpp::ClientBase, Function>(func, client_ptrs_);
+  }
 
-  RCLCPP_PUBLIC
-  const std::vector<rclcpp::Waitable::WeakPtr> &
-  get_waitable_ptrs() const;
+  template<typename Function>
+  rclcpp::Waitable::SharedPtr
+  find_waitable_ptrs_if(Function func) const
+  {
+    return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
+  }
 
   RCLCPP_PUBLIC
   std::atomic_bool &
@@ -130,6 +145,21 @@ protected:
   std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
   std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
   std::atomic_bool can_be_taken_from_;
+
+private:
+  template<typename TypeT, typename Function>
+  typename TypeT::SharedPtr _find_ptrs_if_impl(
+    Function func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    for (auto & weak_ptr : vect_ptrs) {
+      auto ref_ptr = weak_ptr.lock();
+      if (ref_ptr && func(ref_ptr)) {
+        return ref_ptr;
+      }
+    }
+    return typename TypeT::SharedPtr();
+  }
 };
 
 }  // namespace callback_group

rclcpp/include/rclcpp/create_client.hpp

@@ -0,0 +1,56 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__CREATE_CLIENT_HPP_
+#define RCLCPP__CREATE_CLIENT_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rmw/rmw.h"
+
+namespace rclcpp
+{
+
+/// Create a service client with a given type.
+/// \internal
+template<typename ServiceT>
+typename rclcpp::Client<ServiceT>::SharedPtr
+create_client(
+  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
+  std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
+  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+  const std::string & service_name,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  rcl_client_options_t options = rcl_client_get_default_options();
+  options.qos = qos_profile;
+
+  auto cli = rclcpp::Client<ServiceT>::make_shared(
+    node_base.get(),
+    node_graph,
+    service_name,
+    options);
+
+  auto cli_base_ptr = std::dynamic_pointer_cast<rclcpp::ClientBase>(cli);
+  node_services->add_client(cli_base_ptr, group);
+  return cli;
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_CLIENT_HPP_

rclcpp/include/rclcpp/create_publisher.hpp

@@ -29,36 +29,6 @@
 namespace rclcpp
 {
 
-template<
-  typename MessageT,
-  typename AllocatorT = std::allocator<void>,
-  typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
-// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-[[deprecated("use alternative rclcpp::create_publisher() signatures")]]
-std::shared_ptr<PublisherT>
-create_publisher(
-  rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
-  const std::string & topic_name,
-  const rmw_qos_profile_t & qos_profile,
-  const PublisherEventCallbacks & event_callbacks,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool use_intra_process_comms,
-  std::shared_ptr<AllocatorT> allocator)
-{
-  auto publisher_options = rcl_publisher_get_default_options();
-  publisher_options.qos = qos_profile;
-
-  auto pub = node_topics->create_publisher(
-    topic_name,
-    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(event_callbacks, allocator),
-    publisher_options,
-    use_intra_process_comms);
-
-  node_topics->add_publisher(pub, group);
-
-  return std::dynamic_pointer_cast<PublisherT>(pub);
-}
-
 /// Create and return a publisher of the given MessageT type.
 /**
  * The NodeT type only needs to have a method called get_node_topics_interface()
@@ -67,7 +37,7 @@ create_publisher(
 template<
   typename MessageT,
   typename AllocatorT = std::allocator<void>,
-  typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>,
+  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
   typename NodeT>
 std::shared_ptr<PublisherT>
 create_publisher(
@@ -76,43 +46,23 @@ create_publisher(
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-))
+  )
+)
 {
+  // Extract the NodeTopicsInterface from the NodeT.
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics = get_node_topics_interface(node);
 
-  std::shared_ptr<AllocatorT> allocator = options.allocator;
-  if (!allocator) {
-    allocator = std::make_shared<AllocatorT>();
-  }
-
-  bool use_intra_process;
-  switch (options.use_intra_process_comm) {
-    case IntraProcessSetting::Enable:
-      use_intra_process = true;
-      break;
-    case IntraProcessSetting::Disable:
-      use_intra_process = false;
-      break;
-    case IntraProcessSetting::NodeDefault:
-      use_intra_process = node_topics->get_node_base_interface()->get_use_intra_process_default();
-      break;
-    default:
-      throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
-  }
-
-  // TODO(wjwwood): convert all of the interfaces to use QoS and PublisherOptionsBase
+  // Create the publisher.
   auto pub = node_topics->create_publisher(
     topic_name,
-    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(
-      options.event_callbacks,
-      allocator
-    ),
-    options.template to_rcl_publisher_options<MessageT>(qos),
-    use_intra_process
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
+    qos
   );
+
+  // Add the publisher to the node topics interface.
   node_topics->add_publisher(pub, options.callback_group);
+
   return std::dynamic_pointer_cast<PublisherT>(pub);
 }
 

rclcpp/include/rclcpp/create_subscription.hpp

@@ -29,49 +29,6 @@
 namespace rclcpp
 {
 
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename AllocatorT,
-  typename CallbackMessageT,
-  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>>
-// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-[[deprecated("use alternative rclcpp::create_subscription() signatures")]]
-typename std::shared_ptr<SubscriptionT>
-create_subscription(
-  rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
-  const std::string & topic_name,
-  CallbackT && callback,
-  const rmw_qos_profile_t & qos_profile,
-  const SubscriptionEventCallbacks & event_callbacks,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  bool use_intra_process_comms,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT, AllocatorT>::SharedPtr
-  msg_mem_strat,
-  typename std::shared_ptr<AllocatorT> allocator)
-{
-  auto subscription_options = rcl_subscription_get_default_options();
-  subscription_options.qos = qos_profile;
-  subscription_options.ignore_local_publications = ignore_local_publications;
-
-  auto factory = rclcpp::create_subscription_factory
-    <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
-    std::forward<CallbackT>(callback),
-    event_callbacks,
-    msg_mem_strat,
-    allocator);
-
-  auto sub = node_topics->create_subscription(
-    topic_name,
-    factory,
-    subscription_options,
-    use_intra_process_comms);
-  node_topics->add_subscription(sub, group);
-  return std::dynamic_pointer_cast<SubscriptionT>(sub);
-}
-
 /// Create and return a subscription of the given MessageT type.
 /**
  * The NodeT type only needs to have a method called get_node_topics_interface()
@@ -85,6 +42,10 @@ template<
   typename CallbackMessageT =
   typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
   typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >,
   typename NodeT>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
@@ -95,48 +56,21 @@ create_subscription(
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ),
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT, AllocatorT>::SharedPtr
-  msg_mem_strat = nullptr)
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
+    MessageMemoryStrategyT::create_default()
+  )
+)
 {
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics = get_node_topics_interface(std::forward<NodeT>(node));
 
-  if (!msg_mem_strat) {
-    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
-    msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, AllocatorT>::create_default();
-  }
+  auto factory = rclcpp::create_subscription_factory<MessageT>(
+    std::forward<CallbackT>(callback),
+    options,
+    msg_mem_strat
+  );
 
-  std::shared_ptr<AllocatorT> allocator = options.allocator;
-  if (!allocator) {
-    allocator = std::make_shared<AllocatorT>();
-  }
-  auto factory = rclcpp::create_subscription_factory
-    <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
-    std::forward<CallbackT>(callback), options.event_callbacks, msg_mem_strat, allocator);
-
-  bool use_intra_process;
-  switch (options.use_intra_process_comm) {
-    case IntraProcessSetting::Enable:
-      use_intra_process = true;
-      break;
-    case IntraProcessSetting::Disable:
-      use_intra_process = false;
-      break;
-    case IntraProcessSetting::NodeDefault:
-      use_intra_process = node_topics->get_node_base_interface()->get_use_intra_process_default();
-      break;
-    default:
-      throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
-  }
-
-  // TODO(wjwwood): convert all of the interfaces to use QoS and SubscriptionOptionsBase
-  auto sub = node_topics->create_subscription(
-    topic_name,
-    factory,
-    options.template to_rcl_subscription_options<MessageT>(qos),
-    use_intra_process);
+  auto sub = node_topics->create_subscription(topic_name, factory, qos);
   node_topics->add_subscription(sub, options.callback_group);
   return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }

rclcpp/include/rclcpp/create_timer.hpp

@@ -0,0 +1,73 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__CREATE_TIMER_HPP_
+#define RCLCPP__CREATE_TIMER_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/duration.hpp"
+#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
+#include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+
+namespace rclcpp
+{
+/// Create a timer with a given clock
+/// \internal
+template<typename CallbackT>
+typename rclcpp::TimerBase::SharedPtr
+create_timer(
+  node_interfaces::NodeBaseInterface * node_base,
+  node_interfaces::NodeTimersInterface * node_timers,
+  rclcpp::Clock::SharedPtr clock,
+  rclcpp::Duration period,
+  CallbackT && callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+{
+  auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
+    clock,
+    period.to_chrono<std::chrono::nanoseconds>(),
+    std::forward<CallbackT>(callback),
+    node_base->get_context());
+
+  node_timers->add_timer(timer, group);
+  return timer;
+}
+
+/// Create a timer with a given clock
+template<typename NodeT, typename CallbackT>
+typename rclcpp::TimerBase::SharedPtr
+create_timer(
+  NodeT node,
+  rclcpp::Clock::SharedPtr clock,
+  rclcpp::Duration period,
+  CallbackT && callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+{
+  return create_timer(
+    rclcpp::node_interfaces::get_node_base_interface(node),
+    rclcpp::node_interfaces::get_node_timers_interface(node),
+    clock,
+    period,
+    std::forward<CallbackT>(callback),
+    group);
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_TIMER_HPP_

rclcpp/include/rclcpp/detail/README.md

@@ -0,0 +1,3 @@
+Notice that headers in this folder should only provide symbols in the rclcpp::detail namespace.
+
+Also that these headers are not considered part of the public API and are subject to change without notice.

rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp

@@ -0,0 +1,55 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_
+#define RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_
+
+#include <stdexcept>
+
+#include "rclcpp/intra_process_setting.hpp"
+
+namespace rclcpp
+{
+
+namespace detail
+{
+
+template<typename OptionsT, typename NodeBaseT>
+bool
+resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
+{
+  bool use_intra_process;
+  switch (options.use_intra_process_comm) {
+    case IntraProcessSetting::Enable:
+      use_intra_process = true;
+      break;
+    case IntraProcessSetting::Disable:
+      use_intra_process = false;
+      break;
+    case IntraProcessSetting::NodeDefault:
+      use_intra_process = node_base.get_use_intra_process_default();
+      break;
+    default:
+      throw std::runtime_error("Unrecognized IntraProcessSetting value");
+      break;
+  }
+
+  return use_intra_process;
+}
+
+}  // namespace detail
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_

rclcpp/include/rclcpp/duration.hpp

@@ -28,10 +28,12 @@ class RCLCPP_PUBLIC Duration
 public:
   Duration(int32_t seconds, uint32_t nanoseconds);
 
+  // This constructor matches any numeric value - ints or floats
   explicit Duration(rcl_duration_value_t nanoseconds);
 
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 
+  // This constructor matches any std::chrono value other than nanoseconds
   // intentionally not using explicit to create a conversion constructor
   template<class Rep, class Period>
   // cppcheck-suppress noExplicitConstructor
@@ -94,6 +96,10 @@ public:
   double
   seconds() const;
 
+  // Create a duration object from a floating point number representing seconds
+  static Duration
+  from_seconds(double seconds);
+
   template<class DurationT>
   DurationT
   to_chrono() const

rclcpp/include/rclcpp/exceptions.hpp

@@ -17,11 +17,14 @@
 
 #include <stdexcept>
 #include <string>
+#include <vector>
 
 #include "rcl/error_handling.h"
 #include "rcl/types.h"
 #include "rclcpp/visibility_control.hpp"
 
+#include "rcpputils/join.hpp"
+
 namespace rclcpp
 {
 namespace exceptions
@@ -167,6 +170,31 @@ public:
   RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix);
 };
 
+/// Created when the ret is RCL_RET_INVALID_ROS_ARGS.
+class RCLInvalidROSArgsError : public RCLErrorBase, public std::runtime_error
+{
+public:
+  RCLCPP_PUBLIC
+  RCLInvalidROSArgsError(
+    rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
+  RCLCPP_PUBLIC
+  RCLInvalidROSArgsError(const RCLErrorBase & base_exc, const std::string & prefix);
+};
+
+/// Thrown when unparsed ROS specific arguments are found.
+class UnknownROSArgsError : public std::runtime_error
+{
+public:
+  explicit UnknownROSArgsError(std::vector<std::string> && unknown_ros_args_in)
+  : std::runtime_error(
+      "found unknown ROS arguments: '" + rcpputils::join(unknown_ros_args_in, "', '") + "'"),
+    unknown_ros_args(unknown_ros_args_in)
+  {
+  }
+
+  const std::vector<std::string> unknown_ros_args;
+};
+
 /// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
 class InvalidEventError : public std::runtime_error
 {
@@ -219,6 +247,13 @@ class ParameterImmutableException : public std::runtime_error
   using std::runtime_error::runtime_error;
 };
 
+/// Thrown if parameter is modified while in a set callback.
+class ParameterModifiedInCallbackException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
 }  // namespace exceptions
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/executor.hpp

@@ -22,6 +22,7 @@
 #include <iostream>
 #include <list>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -47,6 +48,7 @@ namespace executor
 /// Return codes to be used with spin_until_future_complete.
 /**
  * SUCCESS: The future is complete and can be accessed with "get" without blocking.
+ *          This does not indicate that the operation succeeded; "get" may still throw an exception.
  * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
  * TIMEOUT: Spinning timed out.
  */
@@ -210,8 +212,8 @@ public:
 
   /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
   /**
-   * \param[in] future The future to wait on. If SUCCESS, the future is safe to access after this
-   *   function.
+   * \param[in] future The future to wait on. If this function returns SUCCESS, the future can be
+   *   accessed without blocking (though it may still throw an exception).
    * \param[in] timeout Optional timeout parameter, which gets passed to Executor::spin_node_once.
    *   `-1` is block forever, `0` is non-blocking.
    *   If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return
@@ -332,10 +334,6 @@ protected:
   rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
-  RCLCPP_PUBLIC
-  void
-  get_next_timer(AnyExecutable & any_exec);
-
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
@@ -355,6 +353,9 @@ protected:
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 
+  // Mutex to protect the subsequent memory_strategy_.
+  std::mutex memory_strategy_mutex_;
+
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
   memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
@@ -364,7 +365,8 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(Executor)
 
-  std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
 };
 
 }  // namespace executor

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
 #define RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
 
+#include <chrono>
 #include <memory>
 #include <mutex>
 #include <set>
@@ -53,7 +54,8 @@ public:
   MultiThreadedExecutor(
     const executor::ExecutorArgs & args = executor::ExecutorArgs(),
     size_t number_of_threads = 0,
-    bool yield_before_execute = false);
+    bool yield_before_execute = false,
+    std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
   RCLCPP_PUBLIC
   virtual ~MultiThreadedExecutor();
@@ -77,6 +79,7 @@ private:
   std::mutex wait_mutex_;
   size_t number_of_threads_;
   bool yield_before_execute_;
+  std::chrono::nanoseconds next_exec_timeout_;
 
   std::set<TimerBase::SharedPtr> scheduled_timers_;
 };

rclcpp/include/rclcpp/function_traits.hpp

@@ -96,6 +96,24 @@ struct function_traits<
   : function_traits<ReturnTypeT(Args ...)>
 {};
 
+// std::bind for object const methods
+template<typename ClassT, typename ReturnTypeT, typename ... Args, typename ... FArgs>
+#if defined _LIBCPP_VERSION  // libc++ (Clang)
+struct function_traits<std::__bind<ReturnTypeT (ClassT::*)(Args ...) const, FArgs ...>>
+#elif defined _GLIBCXX_RELEASE  // glibc++ (GNU C++ >= 7.1)
+struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...) const>>
+#elif defined __GLIBCXX__  // glibc++ (GNU C++)
+struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...) const>(FArgs ...)>>
+#elif defined _MSC_VER  // MS Visual Studio
+struct function_traits<
+  std::_Binder<std::_Unforced, ReturnTypeT(__cdecl ClassT::*)(Args ...) const, FArgs ...>
+>
+#else
+#error "Unsupported C++ compiler / standard library"
+#endif
+  : function_traits<ReturnTypeT(Args ...)>
+{};
+
 // std::bind for free functions
 template<typename ReturnTypeT, typename ... Args, typename ... FArgs>
 #if defined _LIBCPP_VERSION  // libc++ (Clang)

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -15,8 +15,8 @@
 #ifndef RCLCPP__MEMORY_STRATEGY_HPP_
 #define RCLCPP__MEMORY_STRATEGY_HPP_
 
+#include <list>
 #include <memory>
-#include <vector>
 
 #include "rcl/allocator.h"
 #include "rcl/wait.h"
@@ -42,11 +42,11 @@ class RCLCPP_PUBLIC MemoryStrategy
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
-  using WeakNodeVector = std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
+  using WeakNodeList = std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
 
   virtual ~MemoryStrategy() = default;
 
-  virtual bool collect_entities(const WeakNodeVector & weak_nodes) = 0;
+  virtual bool collect_entities(const WeakNodeList & weak_nodes) = 0;
 
   virtual size_t number_of_ready_subscriptions() const = 0;
   virtual size_t number_of_ready_services() const = 0;
@@ -67,22 +67,27 @@ public:
   virtual void
   get_next_subscription(
     rclcpp::executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_service(
     rclcpp::executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_client(
     rclcpp::executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
+
+  virtual void
+  get_next_timer(
+    rclcpp::executor::AnyExecutable & any_exec,
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_waitable(
     rclcpp::executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual rcl_allocator_t
   get_allocator() = 0;
@@ -90,42 +95,52 @@ public:
   static rclcpp::SubscriptionBase::SharedPtr
   get_subscription_by_handle(
     std::shared_ptr<const rcl_subscription_t> subscriber_handle,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ServiceBase::SharedPtr
   get_service_by_handle(
     std::shared_ptr<const rcl_service_t> service_handle,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ClientBase::SharedPtr
   get_client_by_handle(
     std::shared_ptr<const rcl_client_t> client_handle,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
+
+  static rclcpp::TimerBase::SharedPtr
+  get_timer_by_handle(
+    std::shared_ptr<const rcl_timer_t> timer_handle,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
     rclcpp::callback_group::CallbackGroup::SharedPtr group,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_service(
     rclcpp::ServiceBase::SharedPtr service,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_client(
     rclcpp::ClientBase::SharedPtr client,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
+
+  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  get_group_by_timer(
+    rclcpp::TimerBase::SharedPtr timer,
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_waitable(
     rclcpp::Waitable::SharedPtr waitable,
-    const WeakNodeVector & weak_nodes);
+    const WeakNodeList & weak_nodes);
 };
 
 }  // namespace memory_strategy

rclcpp/include/rclcpp/message_memory_strategy.hpp

@@ -95,16 +95,17 @@ public:
       rclcpp::exceptions::throw_from_rcl_error(ret);
     }
 
-    auto serialized_msg = std::shared_ptr<rcl_serialized_message_t>(msg,
-        [](rmw_serialized_message_t * msg) {
-          auto ret = rmw_serialized_message_fini(msg);
-          delete msg;
-          if (ret != RCL_RET_OK) {
-            RCUTILS_LOG_ERROR_NAMED(
-              "rclcpp",
-              "failed to destroy serialized message: %s", rcl_get_error_string().str);
-          }
-        });
+    auto serialized_msg = std::shared_ptr<rcl_serialized_message_t>(
+      msg,
+      [](rmw_serialized_message_t * msg) {
+        auto ret = rmw_serialized_message_fini(msg);
+        delete msg;
+        if (ret != RCL_RET_OK) {
+          RCUTILS_LOG_ERROR_NAMED(
+            "rclcpp",
+            "failed to destroy serialized message: %s", rcl_get_error_string().str);
+        }
+      });
 
     return serialized_msg;
   }

rclcpp/include/rclcpp/node.hpp

@@ -151,15 +151,17 @@ public:
    *
    * For example, all of these cases will work:
    *
-   *   pub = node->create_publisher<MsgT>("chatter", 10);  // implicitly KeepLast
-   *   pub = node->create_publisher<MsgT>("chatter", QoS(10));  // implicitly KeepLast
-   *   pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
-   *   pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
-   *   pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().volatile());
-   *   {
-   *     rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
-   *     pub = node->create_publisher<MsgT>("chatter", custom_qos);
-   *   }
+   * ```cpp
+   * pub = node->create_publisher<MsgT>("chatter", 10);  // implicitly KeepLast
+   * pub = node->create_publisher<MsgT>("chatter", QoS(10));  // implicitly KeepLast
+   * pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
+   * pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
+   * pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().volatile());
+   * {
+   *   rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
+   *   pub = node->create_publisher<MsgT>("chatter", custom_qos);
+   * }
+   * ```
    *
    * The publisher options may optionally be passed as the third argument for
    * any of the above cases.
@@ -172,7 +174,7 @@ public:
   template<
     typename MessageT,
     typename AllocatorT = std::allocator<void>,
-    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
+    typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
   std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name,
@@ -181,44 +183,6 @@ public:
     PublisherOptionsWithAllocator<AllocatorT>()
   );
 
-  /// Create and return a Publisher.
-  /**
-   * \param[in] topic_name The topic for this publisher to publish on.
-   * \param[in] qos_history_depth The depth of the publisher message queue.
-   * \param[in] allocator Custom allocator.
-   * \return Shared pointer to the created publisher.
-   */
-  template<
-    typename MessageT,
-    typename AllocatorT = std::allocator<void>,
-    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
-  std::shared_ptr<PublisherT>
-  create_publisher(
-    const std::string & topic_name,
-    size_t qos_history_depth,
-    std::shared_ptr<AllocatorT> allocator);
-
-  /// Create and return a Publisher.
-  /**
-   * \param[in] topic_name The topic for this publisher to publish on.
-   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
-   * \param[in] allocator Optional custom allocator.
-   * \return Shared pointer to the created publisher.
-   */
-  template<
-    typename MessageT,
-    typename AllocatorT = std::allocator<void>,
-    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
-  std::shared_ptr<PublisherT>
-  create_publisher(
-    const std::string & topic_name,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
-    std::shared_ptr<AllocatorT> allocator = nullptr);
-
   /// Create and return a Subscription.
   /**
    * \param[in] topic_name The topic to subscribe on.
@@ -228,16 +192,18 @@ public:
    * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
    * \return Shared pointer to the created subscription.
    */
-  /* TODO(jacquelinekay):
-     Windows build breaks when static member function passed as default
-     argument to msg_mem_strat, nullptr is a workaround.
-   */
   template<
     typename MessageT,
     typename CallbackT,
     typename AllocatorT = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>>
+    typename CallbackMessageT =
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+    typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+    typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      CallbackMessageT,
+      AllocatorT
+    >
+  >
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -245,84 +211,10 @@ public:
     CallbackT && callback,
     const SubscriptionOptionsWithAllocator<AllocatorT> & options =
     SubscriptionOptionsWithAllocator<AllocatorT>(),
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
-    >::SharedPtr
-    msg_mem_strat = nullptr);
-
-  /// Create and return a Subscription.
-  /**
-   * \param[in] topic_name The topic to subscribe on.
-   * \param[in] callback The user-defined callback function.
-   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
-   * \param[in] group The callback group for this subscription. NULL for no callback group.
-   * \param[in] ignore_local_publications True to ignore local publications.
-   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
-   * \param[in] allocator Optional custom allocator.
-   * \return Shared pointer to the created subscription.
-   */
-  /* TODO(jacquelinekay):
-     Windows build breaks when static member function passed as default
-     argument to msg_mem_strat, nullptr is a workaround.
-   */
-  template<
-    typename MessageT,
-    typename CallbackT,
-    typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated(
-    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
-  )]]
-  std::shared_ptr<SubscriptionT>
-  create_subscription(
-    const std::string & topic_name,
-    CallbackT && callback,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
-    bool ignore_local_publications = false,
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-    msg_mem_strat = nullptr,
-    std::shared_ptr<Alloc> allocator = nullptr);
-
-  /// Create and return a Subscription.
-  /**
-   * \param[in] topic_name The topic to subscribe on.
-   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
-   * \param[in] callback The user-defined callback function.
-   * \param[in] group The callback group for this subscription. NULL for no callback group.
-   * \param[in] ignore_local_publications True to ignore local publications.
-   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
-   * \param[in] allocator Optional custom allocator.
-   * \return Shared pointer to the created subscription.
-   */
-  /* TODO(jacquelinekay):
-     Windows build breaks when static member function passed as default
-     argument to msg_mem_strat, nullptr is a workaround.
-   */
-  template<
-    typename MessageT,
-    typename CallbackT,
-    typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated(
-    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
-  )]]
-  std::shared_ptr<SubscriptionT>
-  create_subscription(
-    const std::string & topic_name,
-    CallbackT && callback,
-    size_t qos_history_depth,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
-    bool ignore_local_publications = false,
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-    msg_mem_strat = nullptr,
-    std::shared_ptr<Alloc> allocator = nullptr);
+    typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
+      MessageMemoryStrategyT::create_default()
+    )
+  );
 
   /// Create a timer.
   /**
@@ -369,6 +261,8 @@ public:
    * are ignored, and should be specified using the name argument to this
    * function and the default value's type instead.
    *
+   * If `ignore_override` is `true`, the parameter override will be ignored.
+   *
    * This method, if successful, will result in any callback registered with
    * set_on_parameters_set_callback to be called.
    * If that callback prevents the initial value for the parameter from being
@@ -382,6 +276,8 @@ public:
    *   did not override it.
    * \param[in] parameter_descriptor An optional, custom description for
    *   the parameter.
+   * \param[in] ignore_override When `true`, the parameter override is ignored.
+   *    Default to `false`.
    * \return A const reference to the value of the parameter.
    * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
    *   has already been declared.
@@ -396,7 +292,8 @@ public:
     const std::string & name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor());
+    rcl_interfaces::msg::ParameterDescriptor(),
+    bool ignore_override = false);
 
   /// Declare and initialize a parameter with a type.
   /**
@@ -425,7 +322,8 @@ public:
     const std::string & name,
     const ParameterT & default_value,
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor());
+    rcl_interfaces::msg::ParameterDescriptor(),
+    bool ignore_override = false);
 
   /// Declare and initialize several parameters with the same namespace and type.
   /**
@@ -440,11 +338,12 @@ public:
    * expanding "namespace.key".
    * This allows you to declare several parameters at once without a namespace.
    *
-   * The map may either contain default values for parameters, or a std::pair
-   * where the first element is a default value and the second is a
-   * parameter descriptor.
-   * This function only takes the default value, but there is another overload
-   * which takes the std::pair with the default value and descriptor.
+   * The map contains default values for parameters.
+   * There is another overload which takes the std::pair with the default value
+   * and descriptor.
+   *
+   * If `ignore_overrides` is `true`, all the overrides of the parameters declared
+   * by the function call will be ignored.
    *
    * This method, if successful, will result in any callback registered with
    * set_on_parameters_set_callback to be called, once for each parameter.
@@ -453,6 +352,8 @@ public:
    *
    * \param[in] namespace_ The namespace in which to declare the parameters.
    * \param[in] parameters The parameters to set in the given namespace.
+   * \param[in] ignore_overrides When `true`, the parameters overrides are ignored.
+   *    Default to `false`.
    * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
    *   has already been declared.
    * \throws rclcpp::exceptions::InvalidParametersException if a parameter
@@ -464,7 +365,8 @@ public:
   std::vector<ParameterT>
   declare_parameters(
     const std::string & namespace_,
-    const std::map<std::string, ParameterT> & parameters);
+    const std::map<std::string, ParameterT> & parameters,
+    bool ignore_overrides = false);
 
   /// Declare and initialize several parameters with the same namespace and type.
   /**
@@ -480,7 +382,8 @@ public:
     const std::map<
       std::string,
       std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-    > & parameters);
+    > & parameters,
+    bool ignore_overrides = false);
 
   /// Undeclare a previously declared parameter.
   /**
@@ -516,6 +419,7 @@ public:
    * rclcpp::NodeOptions::allow_undeclared_parameters set to true.
    * If undeclared parameters are allowed, then the parameter is implicitly
    * declared with the default parameter meta data before being set.
+   * Parameter overrides are ignored by set_parameter.
    *
    * This method will result in any callback registered with
    * set_on_parameters_set_callback to be called.
@@ -610,38 +514,6 @@ public:
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
-  /// Set one parameter, unless that parameter has already been set.
-  /**
-   * Set the given parameter unless already set.
-   *
-   * Deprecated, instead use declare_parameter().
-   *
-   * \param[in] parameters The vector of parameters to be set.
-   * \return The result of each set action as a vector.
-   */
-  template<typename ParameterT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use declare_parameter() instead")]]
-  void
-  set_parameter_if_not_set(const std::string & name, const ParameterT & value);
-
-  /// Set a map of parameters with the same prefix.
-  /**
-   * For each key in the map, a parameter with a name of "name.key" will be set
-   * to the value in the map.
-   *
-   * Deprecated, instead use declare_parameters().
-   *
-   * \param[in] name The prefix of the parameters to set.
-   * \param[in] values The parameters to set in the given prefix.
-   */
-  template<typename ParameterT>
-  [[deprecated("use declare_parameters() instead")]]
-  void
-  set_parameters_if_not_set(
-    const std::string & name,
-    const std::map<std::string, ParameterT> & values);
-
   /// Return the parameter by the given name.
   /**
    * If the parameter has not been declared, then this method may throw the
@@ -785,28 +657,6 @@ public:
     const std::string & prefix,
     std::map<std::string, ParameterT> & values) const;
 
-  /// Get the parameter value; if not set, set the "alternative value" and store it in the node.
-  /**
-   * If the parameter is set, then the "value" argument is assigned the value
-   * in the parameter.
-   * If the parameter is not set, then the "value" argument is assigned the "alternative_value",
-   * and the parameter is set to the "alternative_value" on the node.
-   *
-   * Deprecated, instead use declare_parameter()'s return value, or use
-   * has_parameter() to ensure it exists before getting it.
-   *
-   * \param[in] name The name of the parameter to get.
-   * \param[out] value The output where the value of the parameter should be assigned.
-   * \param[in] alternative_value Value to be used if the parameter was not set.
-   */
-  template<typename ParameterT>
-  [[deprecated("use declare_parameter() and it's return value instead")]]
-  void
-  get_parameter_or_set(
-    const std::string & name,
-    ParameterT & value,
-    const ParameterT & alternative_value);
-
   /// Return the parameter descriptor for the given parameter name.
   /**
    * Like get_parameters(), this method may throw the
@@ -877,10 +727,12 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
+  using OnSetParametersCallbackHandle =
+    rclcpp::node_interfaces::OnSetParametersCallbackHandle;
   using OnParametersSetCallbackType =
     rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
 
-  /// Register a callback to be called anytime a parameter is about to be changed.
+  /// Add a callback for when parameters are being set.
   /**
    * The callback signature is designed to allow handling of any of the above
    * `set_parameter*` or `declare_parameter*` methods, and so it takes a const
@@ -890,19 +742,21 @@ public:
    *
    * For an example callback:
    *
-   *   rcl_interfaces::msg::SetParametersResult
-   *   my_callback(const std::vector<rclcpp::Parameter> & parameters)
-   *   {
-   *     rcl_interfaces::msg::SetParametersResult result;
-   *     result.successful = true;
-   *     for (const auto & parameter : parameters) {
-   *       if (!some_condition) {
-   *         result.successful = false;
-   *         result.reason = "the reason it could not be allowed";
-   *       }
+   * ```cpp
+   * rcl_interfaces::msg::SetParametersResult
+   * my_callback(const std::vector<rclcpp::Parameter> & parameters)
+   * {
+   *   rcl_interfaces::msg::SetParametersResult result;
+   *   result.successful = true;
+   *   for (const auto & parameter : parameters) {
+   *     if (!some_condition) {
+   *       result.successful = false;
+   *       result.reason = "the reason it could not be allowed";
    *     }
-   *     return result;
    *   }
+   *   return result;
+   * }
+   * ```
    *
    * You can see that the SetParametersResult is a boolean flag for success
    * and an optional reason that can be used in error reporting when it fails.
@@ -916,9 +770,68 @@ public:
    *
    * Some constraints like read_only are enforced before the callback is called.
    *
-   * There may only be one callback set at a time, so the previously set
-   * callback is returned when this method is used, or nullptr will be returned
-   * if no callback was previously set.
+   * The callback may introspect other already set parameters (by calling any
+   * of the {get,list,describe}_parameter() methods), but may *not* modify
+   * other parameters (by calling any of the {set,declare}_parameter() methods)
+   * or modify the registered callback itself (by calling the
+   * set_on_parameters_set_callback() method).  If a callback tries to do any
+   * of the latter things,
+   * rclcpp::exceptions::ParameterModifiedInCallbackException will be thrown.
+   *
+   * The callback functions must remain valid as long as the
+   * returned smart pointer is valid.
+   * The returned smart pointer can be promoted to a shared version.
+   *
+   * Resetting or letting the smart pointer go out of scope unregisters the callback.
+   * `remove_on_set_parameters_callback` can also be used.
+   *
+   * The registered callbacks are called when a parameter is set.
+   * When a callback returns a not successful result, the remaining callbacks aren't called.
+   * The order of the callback is the reverse from the registration order.
+   *
+   * \param callback The callback to register.
+   * \returns A shared pointer. The callback is valid as long as the smart pointer is alive.
+   * \throws std::bad_alloc if the allocation of the OnSetParametersCallbackHandle fails.
+   */
+  RCLCPP_PUBLIC
+  OnSetParametersCallbackHandle::SharedPtr
+  add_on_set_parameters_callback(OnParametersSetCallbackType callback);
+
+  /// Remove a callback registered with `add_on_set_parameters_callback`.
+  /**
+   * Delete a handler returned by `add_on_set_parameters_callback`.
+   *
+   * e.g.:
+   *
+   *    `remove_on_set_parameters_callback(scoped_callback.get())`
+   *
+   * As an alternative, the smart pointer can be reset:
+   *
+   *    `scoped_callback.reset()`
+   *
+   * Supposing that `scoped_callback` was the only owner.
+   *
+   * Calling `remove_on_set_parameters_callback` more than once with the same handler,
+   * or calling it after the shared pointer has been reset is an error.
+   * Resetting or letting the smart pointer go out of scope after calling
+   * `remove_on_set_parameters_callback` is not a problem.
+   *
+   * \param handler The callback handler to remove.
+   * \throws std::runtime_error if the handler was not created with `add_on_set_parameters_callback`,
+   *   or if it has been removed before.
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
+
+  /// Register a callback to be called anytime a parameter is about to be changed.
+  /**
+   * With this method, only one callback can be set at a time. The callback that was previously
+   * set by this method is returned or `nullptr` if no callback was previously set.
+   *
+   * The callbacks added with `add_on_set_parameters_callback` are stored in a different place.
+   * `remove_on_set_parameters_callback` can't be used with the callbacks registered with this
+   * method. For removing it, use `set_on_parameters_set_callback(nullptr)`.
    *
    * \param[in] callback The callback to be called when the value for a
    *   parameter is about to be set.
@@ -926,21 +839,9 @@ public:
    *   otherwise nullptr.
    */
   RCLCPP_PUBLIC
-  rclcpp::Node::OnParametersSetCallbackType
+  OnParametersSetCallbackType
   set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
 
-  /// Register the callback for parameter changes
-  /**
-   * \param[in] callback User defined callback function.
-   *   It is expected to atomically set parameters.
-   * \note Repeated invocations of this function will overwrite previous callbacks.
-   */
-  template<typename CallbackT>
-  [[deprecated("use set_on_parameters_set_callback() instead")]]
-  void
-  register_param_change_callback(CallbackT && callback);
-
-
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.
@@ -1055,15 +956,17 @@ public:
    *
    * For example, consider:
    *
-   *   auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
-   *   node->get_sub_namespace();  // -> ""
-   *   auto sub_node1 = node->create_sub_node("a");
-   *   sub_node1->get_sub_namespace();  // -> "a"
-   *   auto sub_node2 = sub_node1->create_sub_node("b");
-   *   sub_node2->get_sub_namespace();  // -> "a/b"
-   *   auto sub_node3 = node->create_sub_node("foo");
-   *   sub_node3->get_sub_namespace();  // -> "foo"
-   *   node->get_sub_namespace();  // -> ""
+   * ```cpp
+   * auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
+   * node->get_sub_namespace();  // -> ""
+   * auto sub_node1 = node->create_sub_node("a");
+   * sub_node1->get_sub_namespace();  // -> "a"
+   * auto sub_node2 = sub_node1->create_sub_node("b");
+   * sub_node2->get_sub_namespace();  // -> "a/b"
+   * auto sub_node3 = node->create_sub_node("foo");
+   * sub_node3->get_sub_namespace();  // -> "foo"
+   * node->get_sub_namespace();  // -> ""
+   * ```
    *
    * get_namespace() will return the original node namespace, and will not
    * include the sub-namespace if one exists.
@@ -1085,15 +988,17 @@ public:
    *
    * For example, consider:
    *
-   *   auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
-   *   node->get_effective_namespace();  // -> "/my_ns"
-   *   auto sub_node1 = node->create_sub_node("a");
-   *   sub_node1->get_effective_namespace();  // -> "/my_ns/a"
-   *   auto sub_node2 = sub_node1->create_sub_node("b");
-   *   sub_node2->get_effective_namespace();  // -> "/my_ns/a/b"
-   *   auto sub_node3 = node->create_sub_node("foo");
-   *   sub_node3->get_effective_namespace();  // -> "/my_ns/foo"
-   *   node->get_effective_namespace();  // -> "/my_ns"
+   * ```cpp
+   * auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
+   * node->get_effective_namespace();  // -> "/my_ns"
+   * auto sub_node1 = node->create_sub_node("a");
+   * sub_node1->get_effective_namespace();  // -> "/my_ns/a"
+   * auto sub_node2 = sub_node1->create_sub_node("b");
+   * sub_node2->get_effective_namespace();  // -> "/my_ns/a/b"
+   * auto sub_node3 = node->create_sub_node("foo");
+   * sub_node3->get_effective_namespace();  // -> "/my_ns/foo"
+   * node->get_effective_namespace();  // -> "/my_ns"
+   * ```
    *
    * \sa get_namespace()
    * \sa get_sub_namespace()

rclcpp/include/rclcpp/node_impl.hpp

@@ -36,6 +36,7 @@
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
 #include "rclcpp/contexts/default_context.hpp"
+#include "rclcpp/create_client.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
 #include "rclcpp/create_subscription.hpp"
@@ -78,48 +79,20 @@ Node::create_publisher(
     options);
 }
 
-template<typename MessageT, typename AllocatorT, typename PublisherT>
-std::shared_ptr<PublisherT>
-Node::create_publisher(
-  const std::string & topic_name,
-  size_t qos_history_depth,
-  std::shared_ptr<AllocatorT> allocator)
-{
-  PublisherOptionsWithAllocator<AllocatorT> pub_options;
-  pub_options.allocator = allocator;
-  return this->create_publisher<MessageT, AllocatorT, PublisherT>(
-    topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), pub_options);
-}
-
-template<typename MessageT, typename AllocatorT, typename PublisherT>
-std::shared_ptr<PublisherT>
-Node::create_publisher(
-  const std::string & topic_name,
-  const rmw_qos_profile_t & qos_profile,
-  std::shared_ptr<AllocatorT> allocator)
-{
-  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
-  qos.get_rmw_qos_profile() = qos_profile;
-
-  PublisherOptionsWithAllocator<AllocatorT> pub_options;
-  pub_options.allocator = allocator;
-  return this->create_publisher<MessageT, AllocatorT, PublisherT>(topic_name, qos, pub_options);
-}
-
 template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename SubscriptionT>
+  typename CallbackMessageT,
+  typename SubscriptionT,
+  typename MessageMemoryStrategyT>
 std::shared_ptr<SubscriptionT>
 Node::create_subscription(
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   CallbackT && callback,
   const SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::SharedPtr
-  msg_mem_strat)
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
 {
   return rclcpp::create_subscription<MessageT>(
     *this,
@@ -130,65 +103,6 @@ Node::create_subscription(
     msg_mem_strat);
 }
 
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename Alloc,
-  typename SubscriptionT>
-std::shared_ptr<SubscriptionT>
-Node::create_subscription(
-  const std::string & topic_name,
-  CallbackT && callback,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-  msg_mem_strat,
-  std::shared_ptr<Alloc> allocator)
-{
-  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
-  qos.get_rmw_qos_profile() = qos_profile;
-
-  SubscriptionOptionsWithAllocator<Alloc> sub_options;
-  sub_options.callback_group = group;
-  sub_options.ignore_local_publications = ignore_local_publications;
-  sub_options.allocator = allocator;
-
-  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
-    topic_name, qos, std::forward<CallbackT>(callback), sub_options, msg_mem_strat);
-}
-
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename Alloc,
-  typename SubscriptionT>
-std::shared_ptr<SubscriptionT>
-Node::create_subscription(
-  const std::string & topic_name,
-  CallbackT && callback,
-  size_t qos_history_depth,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-  msg_mem_strat,
-  std::shared_ptr<Alloc> allocator)
-{
-  SubscriptionOptionsWithAllocator<Alloc> sub_options;
-  sub_options.callback_group = group;
-  sub_options.ignore_local_publications = ignore_local_publications;
-  sub_options.allocator = allocator;
-
-  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
-    topic_name,
-    rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
-    std::forward<CallbackT>(callback),
-    sub_options,
-    msg_mem_strat);
-}
-
 template<typename DurationRepT, typename DurationT, typename CallbackT>
 typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
@@ -211,21 +125,13 @@ Node::create_client(
   const rmw_qos_profile_t & qos_profile,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  rcl_client_options_t options = rcl_client_get_default_options();
-  options.qos = qos_profile;
-
-  using rclcpp::Client;
-  using rclcpp::ClientBase;
-
-  auto cli = Client<ServiceT>::make_shared(
-    node_base_.get(),
+  return rclcpp::create_client<ServiceT>(
+    node_base_,
     node_graph_,
+    node_services_,
     extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
-    options);
-
-  auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
-  node_services_->add_client(cli_base_ptr, group);
-  return cli;
+    qos_profile,
+    group);
 }
 
 template<typename ServiceT, typename CallbackT>
@@ -250,12 +156,14 @@ auto
 Node::declare_parameter(
   const std::string & name,
   const ParameterT & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+  bool ignore_override)
 {
   return this->declare_parameter(
     name,
     rclcpp::ParameterValue(default_value),
-    parameter_descriptor
+    parameter_descriptor,
+    ignore_override
   ).get<ParameterT>();
 }
 
@@ -263,14 +171,19 @@ template<typename ParameterT>
 std::vector<ParameterT>
 Node::declare_parameters(
   const std::string & namespace_,
-  const std::map<std::string, ParameterT> & parameters)
+  const std::map<std::string, ParameterT> & parameters,
+  bool ignore_overrides)
 {
   std::vector<ParameterT> result;
   std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
   std::transform(
     parameters.begin(), parameters.end(), std::back_inserter(result),
-    [this, &normalized_namespace](auto element) {
-      return this->declare_parameter(normalized_namespace + element.first, element.second);
+    [this, &normalized_namespace, ignore_overrides](auto element) {
+      return this->declare_parameter(
+        normalized_namespace + element.first,
+        element.second,
+        rcl_interfaces::msg::ParameterDescriptor(),
+        ignore_overrides);
     }
   );
   return result;
@@ -283,62 +196,26 @@ Node::declare_parameters(
   const std::map<
     std::string,
     std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-  > & parameters)
+  > & parameters,
+  bool ignore_overrides)
 {
   std::vector<ParameterT> result;
   std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
   std::transform(
     parameters.begin(), parameters.end(), std::back_inserter(result),
-    [this, &normalized_namespace](auto element) {
+    [this, &normalized_namespace, ignore_overrides](auto element) {
       return static_cast<ParameterT>(
         this->declare_parameter(
           normalized_namespace + element.first,
           element.second.first,
-          element.second.second)
+          element.second.second,
+          ignore_overrides)
       );
     }
   );
   return result;
 }
 
-template<typename ParameterT>
-void
-Node::set_parameter_if_not_set(
-  const std::string & name,
-  const ParameterT & value)
-{
-  if (
-    !this->has_parameter(name) ||
-    this->describe_parameter(name).type == PARAMETER_NOT_SET)
-  {
-    this->set_parameter(rclcpp::Parameter(name, value));
-  }
-}
-
-// this is a partially-specialized version of set_parameter_if_not_set above,
-// where our concrete type for ParameterT is std::map, but the to-be-determined
-// type is the value in the map.
-template<typename ParameterT>
-void
-Node::set_parameters_if_not_set(
-  const std::string & name,
-  const std::map<std::string, ParameterT> & values)
-{
-  std::vector<rclcpp::Parameter> params;
-
-  for (const auto & val : values) {
-    std::string parameter_name = name + "." + val.first;
-    if (
-      !this->has_parameter(parameter_name) ||
-      this->describe_parameter(parameter_name).type == PARAMETER_NOT_SET)
-    {
-      params.push_back(rclcpp::Parameter(parameter_name, val.second));
-    }
-  }
-
-  this->set_parameters(params);
-}
-
 template<typename ParameterT>
 bool
 Node::get_parameter(const std::string & name, ParameterT & parameter) const
@@ -391,31 +268,6 @@ Node::get_parameters(
   return result;
 }
 
-template<typename ParameterT>
-void
-Node::get_parameter_or_set(
-  const std::string & name,
-  ParameterT & value,
-  const ParameterT & alternative_value)
-{
-  std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
-
-  bool got_parameter = get_parameter(sub_name, value);
-  if (!got_parameter) {
-    this->set_parameters({
-        rclcpp::Parameter(sub_name, alternative_value),
-      });
-    value = alternative_value;
-  }
-}
-
-template<typename CallbackT>
-void
-Node::register_param_change_callback(CallbackT && callback)
-{
-  this->node_parameters_->register_param_change_callback(std::forward<CallbackT>(callback));
-}
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__NODE_IMPL_HPP_

rclcpp/include/rclcpp/node_interfaces/get_node_base_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/get_node_timers_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/get_node_topics_interface.hpp

@@ -123,16 +123,18 @@ template<
   typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
 >
 rclcpp::node_interfaces::NodeTopicsInterface *
-get_node_topics_interface(NodeType && node_pointer)
+get_node_topics_interface(NodeType node_pointer)
 {
   // Forward pointers to detail implmentation directly.
-  return detail::get_node_topics_interface_from_pointer(std::forward<NodeType>(node_pointer));
+  return detail::get_node_topics_interface_from_pointer(node_pointer);
 }
 
 /// Get the NodeTopicsInterface as a pointer from a "Node like" object.
 template<
   typename NodeType,
-  typename std::enable_if<!std::is_pointer<NodeType>::value, int>::type = 0
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
 >
 rclcpp::node_interfaces::NodeTopicsInterface *
 get_node_topics_interface(NodeType && node_reference)

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -17,6 +17,7 @@
 
 #include <map>
 #include <memory>
+#include <list>
 #include <string>
 #include <vector>
 
@@ -50,6 +51,30 @@ struct ParameterInfo
   rcl_interfaces::msg::ParameterDescriptor descriptor;
 };
 
+// Internal RAII-style guard for mutation recursion
+class ParameterMutationRecursionGuard
+{
+public:
+  explicit ParameterMutationRecursionGuard(bool & allow_mod)
+  : allow_modification_(allow_mod)
+  {
+    if (!allow_modification_) {
+      throw rclcpp::exceptions::ParameterModifiedInCallbackException(
+              "cannot set or declare a parameter, or change the callback from within set callback");
+    }
+
+    allow_modification_ = false;
+  }
+
+  ~ParameterMutationRecursionGuard()
+  {
+    allow_modification_ = true;
+  }
+
+private:
+  bool & allow_modification_;
+};
+
 /// Implementation of the NodeParameters part of the Node API.
 class NodeParameters : public NodeParametersInterface
 {
@@ -63,13 +88,13 @@ public:
     const node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
     const node_interfaces::NodeServicesInterface::SharedPtr node_services,
     const node_interfaces::NodeClockInterface::SharedPtr node_clock,
-    const std::vector<Parameter> & initial_parameters,
+    const std::vector<Parameter> & parameter_overrides,
     bool start_parameter_services,
     bool start_parameter_event_publisher,
     const rclcpp::QoS & parameter_event_qos,
     const rclcpp::PublisherOptionsBase & parameter_event_publisher_options,
     bool allow_undeclared_parameters,
-    bool automatically_declare_initial_parameters);
+    bool automatically_declare_parameters_from_overrides);
 
   RCLCPP_PUBLIC
   virtual
@@ -80,7 +105,8 @@ public:
   declare_parameter(
     const std::string & name,
     const rclcpp::ParameterValue & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor) override;
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+    bool ignore_override) override;
 
   RCLCPP_PUBLIC
   void
@@ -132,29 +158,41 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const override;
 
+  RCLCPP_PUBLIC
+  OnSetParametersCallbackHandle::SharedPtr
+  add_on_set_parameters_callback(OnParametersSetCallbackType callback) override;
+
+  RCLCPP_PUBLIC
+  void
+  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
+
   RCLCPP_PUBLIC
   OnParametersSetCallbackType
   set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
 
-  [[deprecated("use set_on_parameters_set_callback() instead")]]
-  RCLCPP_PUBLIC
-  void
-  register_param_change_callback(OnParametersSetCallbackType callback) override;
-
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
-  get_initial_parameter_values() const override;
+  get_parameter_overrides() const override;
+
+  using CallbacksContainerType = std::list<OnSetParametersCallbackHandle::WeakPtr>;
 
 private:
   RCLCPP_DISABLE_COPY(NodeParameters)
 
-  mutable std::mutex mutex_;
+  mutable std::recursive_mutex mutex_;
+
+  // There are times when we don't want to allow modifications to parameters
+  // (particularly when a set_parameter callback tries to call set_parameter,
+  // declare_parameter, etc).  In those cases, this will be set to false.
+  bool parameter_modification_enabled_{true};
 
   OnParametersSetCallbackType on_parameters_set_callback_ = nullptr;
 
+  CallbacksContainerType on_parameters_set_callback_container_;
+
   std::map<std::string, ParameterInfo> parameters_;
 
-  std::map<std::string, rclcpp::ParameterValue> initial_parameter_values_;
+  std::map<std::string, rclcpp::ParameterValue> parameter_overrides_;
 
   bool allow_undeclared_ = false;
 

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
 
 #include <map>
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -32,6 +33,18 @@ namespace rclcpp
 namespace node_interfaces
 {
 
+struct OnSetParametersCallbackHandle
+{
+  RCLCPP_SMART_PTR_DEFINITIONS(OnSetParametersCallbackHandle)
+
+  using OnParametersSetCallbackType =
+    std::function<
+    rcl_interfaces::msg::SetParametersResult(
+      const std::vector<rclcpp::Parameter> &)>;
+
+  OnParametersSetCallbackType callback;
+};
+
 /// Pure virtual interface class for the NodeParameters part of the Node API.
 class NodeParametersInterface
 {
@@ -51,8 +64,10 @@ public:
   const rclcpp::ParameterValue &
   declare_parameter(
     const std::string & name,
-    const rclcpp::ParameterValue & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor) = 0;
+    const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
+    rcl_interfaces::msg::ParameterDescriptor(),
+    bool ignore_override = false) = 0;
 
   /// Undeclare a parameter.
   /**
@@ -156,13 +171,25 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const = 0;
 
-  using OnParametersSetCallbackType =
-    std::function<
-    rcl_interfaces::msg::SetParametersResult(const std::vector<rclcpp::Parameter> &)
-    >;
+  using OnParametersSetCallbackType = OnSetParametersCallbackHandle::OnParametersSetCallbackType;
 
-  using ParametersCallbackFunction [[deprecated("use OnParametersSetCallbackType instead")]] =
-    OnParametersSetCallbackType;
+  /// Add a callback for when parameters are being set.
+  /**
+   * \sa rclcpp::Node::add_on_set_parameters_callback
+   */
+  RCLCPP_PUBLIC
+  virtual
+  OnSetParametersCallbackHandle::SharedPtr
+  add_on_set_parameters_callback(OnParametersSetCallbackType callback) = 0;
+
+  /// Remove a callback registered with `add_on_set_parameters_callback`.
+  /**
+   * \sa rclcpp::Node::remove_on_set_parameters_callback
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) = 0;
 
   /// Register a callback for when parameters are being set, return an existing one.
   /**
@@ -173,17 +200,11 @@ public:
   OnParametersSetCallbackType
   set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
 
-  [[deprecated("use set_on_parameters_set_callback() instead")]]
-  RCLCPP_PUBLIC
-  virtual
-  void
-  register_param_change_callback(OnParametersSetCallbackType callback) = 0;
-
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual
   const std::map<std::string, rclcpp::ParameterValue> &
-  get_initial_parameter_values() const = 0;
+  get_parameter_overrides() const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -49,8 +49,7 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    const rcl_publisher_options_t & publisher_options,
-    bool use_intra_process) override;
+    const rclcpp::QoS & qos) override;
 
   RCLCPP_PUBLIC
   void
@@ -63,8 +62,7 @@ public:
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    const rcl_subscription_options_t & subscription_options,
-    bool use_intra_process) override;
+    const rclcpp::QoS & qos) override;
 
   RCLCPP_PUBLIC
   void

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -50,8 +50,7 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    const rcl_publisher_options_t & publisher_options,
-    bool use_intra_process) = 0;
+    const rclcpp::QoS & qos) = 0;
 
   RCLCPP_PUBLIC
   virtual
@@ -66,8 +65,7 @@ public:
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    const rcl_subscription_options_t & subscription_options,
-    bool use_intra_process) = 0;
+    const rclcpp::QoS & qos) = 0;
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_options.hpp

@@ -40,7 +40,7 @@ public:
    *
    *   - context = rclcpp::contexts::default_context::get_global_default_context()
    *   - arguments = {}
-   *   - initial_parameters = {}
+   *   - parameter_overrides = {}
    *   - use_global_arguments = true
    *   - use_intra_process_comms = false
    *   - start_parameter_services = true
@@ -49,7 +49,7 @@ public:
    *     - with history setting and depth from rmw_qos_profile_parameter_events
    *   - parameter_event_publisher_options = rclcpp::PublisherOptionsBase
    *   - allow_undeclared_parameters = false
-   *   - automatically_declare_initial_parameters = false
+   *   - automatically_declare_parameters_from_overrides = false
    *   - allocator = rcl_get_default_allocator()
    *
    * \param[in] allocator allocator to use in construction of NodeOptions.
@@ -99,7 +99,7 @@ public:
   /// Set the arguments, return this for parameter idiom.
   /**
    * These arguments are used to extract remappings used by the node and other
-   * settings.
+   * ROS specific settings, as well as user defined non-ROS arguments.
    *
    * This will cause the internal rcl_node_options_t struct to be invalidated.
    */
@@ -107,31 +107,31 @@ public:
   NodeOptions &
   arguments(const std::vector<std::string> & arguments);
 
-  /// Return a reference to the list of initial parameters.
+  /// Return a reference to the list of parameter overrides.
   RCLCPP_PUBLIC
   std::vector<rclcpp::Parameter> &
-  initial_parameters();
+  parameter_overrides();
 
   RCLCPP_PUBLIC
   const std::vector<rclcpp::Parameter> &
-  initial_parameters() const;
+  parameter_overrides() const;
 
-  /// Set the initial parameters, return this for parameter idiom.
+  /// Set the parameters overrides, return this for parameter idiom.
   /**
-   * These initial parameter values are used to change the initial value
+   * These parameter overrides are used to change the initial value
    * of declared parameters within the node, overriding hard coded default
    * values if necessary.
    */
   RCLCPP_PUBLIC
   NodeOptions &
-  initial_parameters(const std::vector<rclcpp::Parameter> & initial_parameters);
+  parameter_overrides(const std::vector<rclcpp::Parameter> & parameter_overrides);
 
-  /// Append a single initial parameter, parameter idiom style.
+  /// Append a single parameter override, parameter idiom style.
   template<typename ParameterT>
   NodeOptions &
-  append_initial_parameter(const std::string & name, const ParameterT & value)
+  append_parameter_override(const std::string & name, const ParameterT & value)
   {
-    this->initial_parameters().emplace_back(name, rclcpp::ParameterValue(value));
+    this->parameter_overrides().emplace_back(name, rclcpp::ParameterValue(value));
     return *this;
   }
 
@@ -247,29 +247,35 @@ public:
    * If true, allow any parameter name to be set on the node without first
    * being declared.
    * Otherwise, setting an undeclared parameter will raise an exception.
+   *
+   * This option being true does not affect parameter_overrides, as the first
+   * set action will implicitly declare the parameter and therefore consider
+   * any parameter overrides.
    */
   RCLCPP_PUBLIC
   NodeOptions &
   allow_undeclared_parameters(bool allow_undeclared_parameters);
 
-  /// Return the automatically_declare_initial_parameters flag.
+  /// Return the automatically_declare_parameters_from_overrides flag.
   RCLCPP_PUBLIC
   bool
-  automatically_declare_initial_parameters() const;
+  automatically_declare_parameters_from_overrides() const;
 
-  /// Set the automatically_declare_initial_parameters, return this.
+  /// Set the automatically_declare_parameters_from_overrides, return this.
   /**
-   * If true, automatically iterate through the node's initial parameters and
+   * If true, automatically iterate through the node's parameter overrides and
    * implicitly declare any that have not already been declared.
-   * Otherwise, parameters passed to the node's initial_parameters, and/or the
-   * global initial parameter values, which are not explicitly declared will
-   * not appear on the node at all.
+   * Otherwise, parameters passed to the node's parameter_overrides, and/or the
+   * global arguments (e.g. parameter overrides from a YAML file), which are
+   * not explicitly declared will not appear on the node at all, even if
+   * `allow_undeclared_parameters` is true.
    * Already declared parameters will not be re-declared, and parameters
    * declared in this way will use the default constructed ParameterDescriptor.
    */
   RCLCPP_PUBLIC
   NodeOptions &
-  automatically_declare_initial_parameters(bool automatically_declare_initial_parameters);
+  automatically_declare_parameters_from_overrides(
+    bool automatically_declare_parameters_from_overrides);
 
   /// Return the rcl_allocator_t to be used.
   RCLCPP_PUBLIC
@@ -302,7 +308,7 @@ private:
 
   std::vector<std::string> arguments_ {};
 
-  std::vector<rclcpp::Parameter> initial_parameters_ {};
+  std::vector<rclcpp::Parameter> parameter_overrides_ {};
 
   bool use_global_arguments_ {true};
 
@@ -320,7 +326,7 @@ private:
 
   bool allow_undeclared_parameters_ {false};
 
-  bool automatically_declare_initial_parameters_ {false};
+  bool automatically_declare_parameters_from_overrides_ {false};
 
   rcl_allocator_t allocator_ {rcl_get_default_allocator()};
 };

rclcpp/include/rclcpp/parameter_client.hpp

@@ -53,19 +53,22 @@ public:
     const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
     const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   AsyncParametersClient(
     rclcpp::Node * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::Parameter>>
@@ -115,14 +118,41 @@ public:
   on_parameter_event(
     CallbackT && callback,
     const rclcpp::QoS & qos = (
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default))
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))
+    ),
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+      rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+  ))
+  {
+    return this->on_parameter_event(
+      this->node_topics_interface_,
+      callback,
+      qos,
+      options);
+  }
+
+  /**
+   * 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.
+   */
+  template<
+    typename CallbackT,
+    typename NodeT,
+    typename AllocatorT = std::allocator<void>>
+  static typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
+  on_parameter_event(
+    NodeT && node,
+    CallbackT && callback,
+    const rclcpp::QoS & qos = (
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events))
     ),
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ))
   {
     return rclcpp::create_subscription<rcl_interfaces::msg::ParameterEvent>(
-      this->node_topics_interface_,
+      node,
       "parameter_events",
       qos,
       std::forward<CallbackT>(callback),
@@ -241,7 +271,11 @@ public:
   {
     return get_parameter_impl(
       parameter_name,
-      std::function<T()>([]() -> T {throw std::runtime_error("Parameter not set");}));
+      std::function<T()>([&parameter_name]() -> T
+      {
+        throw std::runtime_error("Parameter '" + parameter_name + "' is not set");
+      })
+    );
   }
 
   RCLCPP_PUBLIC
@@ -266,7 +300,26 @@ public:
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(CallbackT && callback)
   {
-    return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback));
+    return async_parameters_client_->on_parameter_event(
+      std::forward<CallbackT>(callback));
+  }
+
+  /**
+   * 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.
+   */
+  template<
+    typename CallbackT,
+    typename NodeT>
+  static typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
+  on_parameter_event(
+    NodeT && node,
+    CallbackT && callback)
+  {
+    return AsyncParametersClient::on_parameter_event(
+      node,
+      std::forward<CallbackT>(callback));
   }
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -44,16 +44,20 @@ public:
    * \param[in] event The parameter event message to filter.
    * \param[in] names A list of parameter names of interest.
    * \param[in] types A list of the types of parameter events of iterest.
-  *    EventType NEW, DELETED, or CHANGED
-  *
-  * Example Usage:
-  * If you have recieved a parameter event and are only interested in parameters foo and
-  * bar being added or changed but don't care about deletion.
-  *    auto res = rclcpp::ParameterEventsFilter(
-  *      event_shared_ptr,
-  *      {"foo", "bar"},
-  *      {rclcpp::ParameterEventsFilter::EventType::NEW, rclcpp::ParameterEventsFilter::EventType::CHANGED});
-  */
+   *    EventType NEW, DELETED, or CHANGED
+   *
+   * Example Usage:
+   *
+   * If you have recieved a parameter event and are only interested in parameters foo and
+   * bar being added or changed but don't care about deletion.
+   *
+   * ```cpp
+   * auto res = rclcpp::ParameterEventsFilter(
+   *   event_shared_ptr,
+   *   {"foo", "bar"},
+   *   {rclcpp::ParameterEventsFilter::EventType::NEW, rclcpp::ParameterEventsFilter::EventType::CHANGED});
+   * ```
+   */
   RCLCPP_PUBLIC
   ParameterEventsFilter(
     rcl_interfaces::msg::ParameterEvent::SharedPtr event,

rclcpp/include/rclcpp/publisher.hpp

@@ -32,9 +32,12 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
+#include "rclcpp/detail/resolve_use_intra_process.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/publisher_base.hpp"
+#include "rclcpp/publisher_options.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -42,41 +45,79 @@ namespace rclcpp
 {
 
 /// A publisher publishes messages of any type to a topic.
-template<typename MessageT, typename Alloc = std::allocator<void>>
+template<typename MessageT, typename AllocatorT = std::allocator<void>>
 class Publisher : public PublisherBase
 {
 public:
-  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
+  using MessageAllocatorTraits = allocator::AllocRebind<MessageT, AllocatorT>;
+  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
+  using MessageDeleter = allocator::Deleter<MessageAllocator, MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
   using MessageSharedPtr = std::shared_ptr<const MessageT>;
 
-  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, Alloc>)
+  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, AllocatorT>)
 
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
-    const rcl_publisher_options_t & publisher_options,
-    const PublisherEventCallbacks & event_callbacks,
-    const std::shared_ptr<MessageAlloc> & allocator)
+    const rclcpp::QoS & qos,
+    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
   : PublisherBase(
       node_base,
       topic,
       *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
-      publisher_options),
-    message_allocator_(allocator)
+      options.template to_rcl_publisher_options<MessageT>(qos)),
+    options_(options),
+    message_allocator_(new MessageAllocator(*options.get_allocator().get()))
   {
     allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
 
-    if (event_callbacks.deadline_callback) {
-      this->add_event_handler(event_callbacks.deadline_callback,
+    if (options_.event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.deadline_callback,
         RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
     }
-    if (event_callbacks.liveliness_callback) {
-      this->add_event_handler(event_callbacks.liveliness_callback,
+    if (options_.event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.liveliness_callback,
         RCL_PUBLISHER_LIVELINESS_LOST);
     }
+
+    // Setup continues in the post construction method, post_init_setup().
+  }
+
+  /// Called post construction, so that construction may continue after shared_from_this() works.
+  virtual
+  void
+  post_init_setup(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic,
+    const rclcpp::QoS & qos,
+    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+  {
+    // Topic is unused for now.
+    (void)topic;
+
+    // If needed, setup intra process communication.
+    if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
+      auto context = node_base->get_context();
+      // Get the intra process manager instance for this context.
+      auto ipm = context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
+      // Register the publisher with the intra process manager.
+      if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
+        throw std::invalid_argument(
+                "intraprocess communication is not allowed with keep all history qos policy");
+      }
+      if (qos.get_rmw_qos_profile().depth == 0) {
+        throw std::invalid_argument(
+                "intraprocess communication is not allowed with a zero qos history depth value");
+      }
+      uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this());
+      this->setup_intra_process(
+        intra_process_publisher_id,
+        ipm,
+        options.template to_rcl_publisher_options<MessageT>(qos));
+    }
   }
 
   virtual ~Publisher()
@@ -87,7 +128,7 @@ public:
   {
     return mapped_ring_buffer::MappedRingBuffer<
       MessageT,
-      typename Publisher<MessageT, Alloc>::MessageAlloc
+      typename Publisher<MessageT, AllocatorT>::MessageAllocator
     >::make_shared(size, this->get_allocator());
   }
 
@@ -127,18 +168,6 @@ public:
     }
   }
 
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-  [[deprecated(
-    "publishing an unique_ptr is prefered when using intra process communication."
-    " If using a shared_ptr, use publish(*msg).")]]
-#endif
-  virtual void
-  publish(const std::shared_ptr<const MessageT> & msg)
-  {
-    publish(*msg);
-  }
-
   virtual void
   publish(const MessageT & msg)
   {
@@ -150,55 +179,20 @@ public:
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
     // As the message is not const, a copy should be made.
     // A shared_ptr<const MessageT> could also be constructed here.
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr, msg);
+    auto ptr = MessageAllocatorTraits::allocate(*message_allocator_.get(), 1);
+    MessageAllocatorTraits::construct(*message_allocator_.get(), ptr, msg);
     MessageUniquePtr unique_msg(ptr, message_deleter_);
     this->publish(std::move(unique_msg));
   }
 
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-  [[deprecated(
-    "Use publish(*msg). Check against nullptr before calling if necessary.")]]
-#endif
-  virtual void
-  publish(const MessageT * msg)
-  {
-    if (!msg) {
-      throw std::runtime_error("msg argument is nullptr");
-    }
-    return this->publish(*msg);
-  }
-
   void
   publish(const rcl_serialized_message_t & serialized_msg)
   {
     return this->do_serialized_publish(&serialized_msg);
   }
 
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-  [[deprecated(
-    "Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
-#endif
-  void
-  publish(const rcl_serialized_message_t * serialized_msg)
-  {
-    return this->do_serialized_publish(serialized_msg);
-  }
-
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-  [[deprecated(
-    "Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
-#endif
-  void
-  publish(std::shared_ptr<const rcl_serialized_message_t> serialized_msg)
-  {
-    return this->do_serialized_publish(serialized_msg.get());
-  }
-
-  std::shared_ptr<MessageAlloc> get_allocator() const
+  std::shared_ptr<MessageAllocator>
+  get_allocator() const
   {
     return message_allocator_;
   }
@@ -272,7 +266,7 @@ protected:
       throw std::runtime_error("cannot publisher msg which is a null pointer");
     }
     uint64_t message_seq =
-      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, msg);
+      ipm->template store_intra_process_message<MessageT, AllocatorT>(publisher_id, msg);
     return message_seq;
   }
 
@@ -290,11 +284,13 @@ protected:
       throw std::runtime_error("cannot publisher msg which is a null pointer");
     }
     uint64_t message_seq =
-      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, std::move(msg));
+      ipm->template store_intra_process_message<MessageT, AllocatorT>(publisher_id, std::move(msg));
     return message_seq;
   }
 
-  std::shared_ptr<MessageAlloc> message_allocator_;
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> options_;
+
+  std::shared_ptr<MessageAllocator> message_allocator_;
 
   MessageDeleter message_deleter_;
 };

rclcpp/include/rclcpp/publisher_base.hpp

@@ -52,7 +52,7 @@ namespace intra_process_manager
 class IntraProcessManager;
 }
 
-class PublisherBase
+class PublisherBase : public std::enable_shared_from_this<PublisherBase>
 {
   friend ::rclcpp::node_interfaces::NodeTopicsInterface;
 
@@ -184,8 +184,9 @@ public:
 
   /// Implementation utility function that creates a typed mapped ring buffer.
   RCLCPP_PUBLIC
+  virtual
   mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-  virtual make_mapped_ring_buffer(size_t size) const;
+  make_mapped_ring_buffer(size_t size) const;
 
   /// Implementation utility function used to setup intra process publishing after creation.
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/publisher_factory.hpp

@@ -24,6 +24,7 @@
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
 #include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_options.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -41,6 +42,9 @@ namespace rclcpp
  * called from a templated "create_publisher" method on the Node class, and
  * is passed to the non-templated "create_publisher" method on the NodeTopics
  * class where it is used to create and setup the Publisher.
+ *
+ * It also handles the two step construction of Publishers, first calling
+ * the constructor and then the post_init_setup() method.
  */
 struct PublisherFactory
 {
@@ -49,39 +53,33 @@ struct PublisherFactory
     rclcpp::PublisherBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      const rcl_publisher_options_t & publisher_options)>;
+      const rclcpp::QoS & qos
+    )>;
 
-  PublisherFactoryFunction create_typed_publisher;
+  const PublisherFactoryFunction create_typed_publisher;
 };
 
-/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, Alloc>.
-template<typename MessageT, typename Alloc, typename PublisherT>
+/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, AllocatorT>.
+template<typename MessageT, typename AllocatorT, typename PublisherT>
 PublisherFactory
-create_publisher_factory(
-  const PublisherEventCallbacks & event_callbacks,
-  std::shared_ptr<Alloc> allocator)
+create_publisher_factory(const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
 {
-  PublisherFactory factory;
-
-  // factory function that creates a MessageT specific PublisherT
-  factory.create_typed_publisher =
-    [event_callbacks, allocator](
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    const std::string & topic_name,
-    const rcl_publisher_options_t & publisher_options
+  PublisherFactory factory {
+    // factory function that creates a MessageT specific PublisherT
+    [options](
+      rclcpp::node_interfaces::NodeBaseInterface * node_base,
+      const std::string & topic_name,
+      const rclcpp::QoS & qos
     ) -> std::shared_ptr<PublisherT>
     {
-      auto options_copy = publisher_options;
-      auto message_alloc = std::make_shared<typename PublisherT::MessageAlloc>(*allocator.get());
-      options_copy.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
-
-      return std::make_shared<PublisherT>(
-        node_base,
-        topic_name,
-        options_copy,
-        event_callbacks,
-        message_alloc);
-    };
+      auto publisher = std::make_shared<PublisherT>(node_base, topic_name, qos, options);
+      // This is used for setting up things like intra process comms which
+      // require this->shared_from_this() which cannot be called from
+      // the constructor.
+      publisher->post_init_setup(node_base, topic_name, qos, options);
+      return publisher;
+    }
+  };
 
   // return the factory now that it is populated
   return factory;

rclcpp/include/rclcpp/publisher_options.hpp

@@ -19,16 +19,21 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/callback_group.hpp"
+#include "rcl/publisher.h"
+
+#include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
-#include "rclcpp/visibility_control.hpp"
-#include "rcl/publisher.h"
 
 namespace rclcpp
 {
 
+namespace callback_group
+{
+class CallbackGroup;
+}  // namespace callback_group
+
 /// Non-templated part of PublisherOptionsWithAllocator<Allocator>.
 struct PublisherOptionsBase
 {
@@ -39,7 +44,7 @@ struct PublisherOptionsBase
   PublisherEventCallbacks event_callbacks;
 
   /// Callback group in which the waitable items from the publisher should be placed.
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
+  std::shared_ptr<rclcpp::callback_group::CallbackGroup> callback_group;
 };
 
 /// Structure containing optional configuration for Publishers.
@@ -64,11 +69,26 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
     rcl_publisher_options_t result;
     using AllocatorTraits = std::allocator_traits<Allocator>;
     using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
-    auto message_alloc = std::make_shared<MessageAllocatorT>(*allocator.get());
-    result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
+    result.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
     return result;
   }
+
+  /// Get the allocator, creating one if needed.
+  std::shared_ptr<Allocator>
+  get_allocator() const
+  {
+    if (!this->allocator) {
+      // TODO(wjwwood): I would like to use the commented line instead, but
+      //   cppcheck 1.89 fails with:
+      //     Syntax Error: AST broken, binary operator '>' doesn't have two operands.
+      // return std::make_shared<Allocator>();
+      std::shared_ptr<Allocator> tmp(new Allocator());
+      return tmp;
+    }
+    return this->allocator;
+  }
 };
 
 using PublisherOptions = PublisherOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/qos.hpp

@@ -105,8 +105,11 @@ public:
   durability(rmw_qos_durability_policy_t durability);
 
   /// Set the durability setting to volatile.
+  /**
+    * Note that this cannot be named `volatile` because it is a C++ keyword.
+    */
   QoS &
-  volitile();
+  durability_volatile();
 
   /// Set the durability setting to transient local.
   QoS &

rclcpp/include/rclcpp/rclcpp.hpp

@@ -48,7 +48,8 @@
  *   - rclcpp::Node::get_parameter()
  *   - rclcpp::Node::describe_parameters()
  *   - rclcpp::Node::list_parameters()
- *   - rclcpp::Node::register_param_change_callback()
+ *   - rclcpp::Node::add_on_set_parameters_callback()
+ *   - rclcpp::Node::remove_on_set_parameters_callback()
  *   - rclcpp::Parameter
  *   - rclcpp::ParameterValue
  *   - rclcpp::AsyncParametersClient

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -150,7 +150,7 @@ public:
     );
   }
 
-  bool collect_entities(const WeakNodeVector & weak_nodes)
+  bool collect_entities(const WeakNodeList & weak_nodes)
   {
     bool has_invalid_weak_nodes = false;
     for (auto & weak_node : weak_nodes) {
@@ -164,40 +164,31 @@ public:
         if (!group || !group->can_be_taken_from().load()) {
           continue;
         }
-        for (auto & weak_subscription : group->get_subscription_ptrs()) {
-          auto subscription = weak_subscription.lock();
-          if (subscription) {
+        group->find_subscription_ptrs_if(
+          [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
             subscription_handles_.push_back(subscription->get_subscription_handle());
             if (subscription->get_intra_process_subscription_handle()) {
               subscription_handles_.push_back(
                 subscription->get_intra_process_subscription_handle());
             }
-          }
-        }
-        for (auto & weak_service : group->get_service_ptrs()) {
-          auto service = weak_service.lock();
-          if (service) {
+            return false;
+          });
+        group->find_service_ptrs_if([this](const rclcpp::ServiceBase::SharedPtr & service) {
             service_handles_.push_back(service->get_service_handle());
-          }
-        }
-        for (auto & weak_client : group->get_client_ptrs()) {
-          auto client = weak_client.lock();
-          if (client) {
+            return false;
+          });
+        group->find_client_ptrs_if([this](const rclcpp::ClientBase::SharedPtr & client) {
             client_handles_.push_back(client->get_client_handle());
-          }
-        }
-        for (auto & weak_timer : group->get_timer_ptrs()) {
-          auto timer = weak_timer.lock();
-          if (timer) {
+            return false;
+          });
+        group->find_timer_ptrs_if([this](const rclcpp::TimerBase::SharedPtr & timer) {
             timer_handles_.push_back(timer->get_timer_handle());
-          }
-        }
-        for (auto & weak_waitable : group->get_waitable_ptrs()) {
-          auto waitable = weak_waitable.lock();
-          if (waitable) {
+            return false;
+          });
+        group->find_waitable_ptrs_if([this](const rclcpp::Waitable::SharedPtr & waitable) {
             waitable_handles_.push_back(waitable);
-          }
-        }
+            return false;
+          });
       }
     }
     return has_invalid_weak_nodes;
@@ -265,7 +256,7 @@ public:
   virtual void
   get_next_subscription(
     executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes)
+    const WeakNodeList & weak_nodes)
   {
     auto it = subscription_handles_.begin();
     while (it != subscription_handles_.end()) {
@@ -309,7 +300,7 @@ public:
   virtual void
   get_next_service(
     executor::AnyExecutable & any_exec,
-    const WeakNodeVector & weak_nodes)
+    const WeakNodeList & weak_nodes)
   {
     auto it = service_handles_.begin();
     while (it != service_handles_.end()) {
@@ -342,7 +333,7 @@ public:
   }
 
   virtual void
-  get_next_client(executor::AnyExecutable & any_exec, const WeakNodeVector & weak_nodes)
+  get_next_client(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes)
   {
     auto it = client_handles_.begin();
     while (it != client_handles_.end()) {
@@ -375,7 +366,42 @@ public:
   }
 
   virtual void
-  get_next_waitable(executor::AnyExecutable & any_exec, const WeakNodeVector & weak_nodes)
+  get_next_timer(
+    executor::AnyExecutable & any_exec,
+    const WeakNodeList & weak_nodes)
+  {
+    auto it = timer_handles_.begin();
+    while (it != timer_handles_.end()) {
+      auto timer = get_timer_by_handle(*it, weak_nodes);
+      if (timer) {
+        // Find the group for this handle and see if it can be serviced
+        auto group = get_group_by_timer(timer, weak_nodes);
+        if (!group) {
+          // Group was not found, meaning the timer is not valid...
+          // Remove it from the ready list and continue looking
+          it = timer_handles_.erase(it);
+          continue;
+        }
+        if (!group->can_be_taken_from().load()) {
+          // Group is mutually exclusive and is being used, so skip it for now
+          // Leave it to be checked next time, but continue searching
+          ++it;
+          continue;
+        }
+        // Otherwise it is safe to set and return the any_exec
+        any_exec.timer = timer;
+        any_exec.callback_group = group;
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
+        timer_handles_.erase(it);
+        return;
+      }
+      // Else, the service is no longer valid, remove it and continue
+      it = timer_handles_.erase(it);
+    }
+  }
+
+  virtual void
+  get_next_waitable(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes)
   {
     auto it = waitable_handles_.begin();
     while (it != waitable_handles_.end()) {

rclcpp/include/rclcpp/subscription.hpp

@@ -32,13 +32,16 @@
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
 #include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/detail/resolve_use_intra_process.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/subscription_base.hpp"
+#include "rclcpp/subscription_options.hpp"
 #include "rclcpp/subscription_traits.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -55,15 +58,19 @@ class NodeTopicsInterface;
 /// Subscription implementation, templated on the type of message this subscription receives.
 template<
   typename CallbackMessageT,
-  typename Alloc = std::allocator<void>>
+  typename AllocatorT = std::allocator<void>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >>
 class Subscription : public SubscriptionBase
 {
   friend class rclcpp::node_interfaces::NodeTopicsInterface;
 
 public:
-  using MessageAllocTraits = allocator::AllocRebind<CallbackMessageT, Alloc>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAlloc, CallbackMessageT>;
+  using MessageAllocatorTraits = allocator::AllocRebind<CallbackMessageT, AllocatorT>;
+  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
+  using MessageDeleter = allocator::Deleter<MessageAllocator, CallbackMessageT>;
   using ConstMessageSharedPtr = std::shared_ptr<const CallbackMessageT>;
   using MessageUniquePtr = std::unique_ptr<CallbackMessageT, MessageDeleter>;
 
@@ -71,44 +78,66 @@ public:
 
   /// Default constructor.
   /**
-   * The constructor for a subscription is almost never called directly. Instead, subscriptions
-   * should be instantiated through Node::create_subscription.
-   * \param[in] node_handle rcl representation of the node that owns this subscription.
+   * The constructor for a subscription is almost never called directly.
+   * Instead, subscriptions should be instantiated through the function
+   * rclcpp::create_subscription().
+   *
+   * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] subscription_options options for the subscription.
    * \param[in] callback User defined callback to call when a message is received.
-   * \param[in] memory_strategy The memory strategy to be used for managing message memory.
+   * \param[in] options options for the subscription.
+   * \param[in] message_memory_strategy The memory strategy to be used for managing message memory.
    */
   Subscription(
-    std::shared_ptr<rcl_node_t> node_handle,
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
-    const rcl_subscription_options_t & subscription_options,
-    AnySubscriptionCallback<CallbackMessageT, Alloc> callback,
-    const SubscriptionEventCallbacks & event_callbacks,
-    typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
-    memory_strategy = message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
-    Alloc>::create_default())
+    const rclcpp::QoS & qos,
+    AnySubscriptionCallback<CallbackMessageT, AllocatorT> callback,
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
+    typename MessageMemoryStrategyT::SharedPtr message_memory_strategy)
   : SubscriptionBase(
-      node_handle,
+      node_base,
       type_support_handle,
       topic_name,
-      subscription_options,
+      options.template to_rcl_subscription_options<CallbackMessageT>(qos),
       rclcpp::subscription_traits::is_serialized_subscription_argument<CallbackMessageT>::value),
     any_callback_(callback),
-    message_memory_strategy_(memory_strategy)
+    message_memory_strategy_(message_memory_strategy)
   {
-    if (event_callbacks.deadline_callback) {
-      this->add_event_handler(event_callbacks.deadline_callback,
+    if (options.event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        options.event_callbacks.deadline_callback,
         RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
     }
-    if (event_callbacks.liveliness_callback) {
-      this->add_event_handler(event_callbacks.liveliness_callback,
+    if (options.event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        options.event_callbacks.liveliness_callback,
         RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
     }
   }
 
+  /// Called after construction to continue setup that requires shared_from_this().
+  void
+  post_init_setup(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const rclcpp::QoS & qos,
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
+  {
+    // Setup intra process publishing if requested.
+    if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {
+      auto context = node_base->get_context();
+      using rclcpp::intra_process_manager::IntraProcessManager;
+      auto ipm = context->get_sub_context<IntraProcessManager>();
+      uint64_t intra_process_subscription_id = ipm->add_subscription(this->shared_from_this());
+      this->setup_intra_process(
+        intra_process_subscription_id,
+        ipm,
+        options.template to_rcl_subscription_options<CallbackMessageT>(qos));
+    }
+  }
+
   /// Support dynamically setting the message memory strategy.
   /**
    * Behavior may be undefined if called while the subscription could be executing.
@@ -116,7 +145,7 @@ public:
    */
   void set_message_memory_strategy(
     typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
-    Alloc>::SharedPtr message_memory_strategy)
+    AllocatorT>::SharedPtr message_memory_strategy)
   {
     message_memory_strategy_ = message_memory_strategy;
   }
@@ -170,6 +199,13 @@ public:
       // However, this can only really happen if this node has it disabled, but the other doesn't.
       return;
     }
+
+    if (!matches_any_intra_process_publishers(&message_info.publisher_gid)) {
+      // This intra-process message has not been created by a publisher from this context.
+      // we should ignore this copy of the message.
+      return;
+    }
+
     if (any_callback_.use_take_shared_method()) {
       ConstMessageSharedPtr msg;
       take_intra_process_message(
@@ -178,10 +214,11 @@ public:
         intra_process_subscription_id_,
         msg);
       if (!msg) {
-        // This either occurred because the publisher no longer exists or the
-        // message requested is no longer being stored.
-        RCLCPP_WARN(get_logger("rclcpp"),
-          "Intra process message not longer being stored when trying to handle it");
+        // This can happen when having two nodes in different process both using intraprocess
+        // communication. It could happen too if the publisher no longer exists or the requested
+        // message is not longer being stored.
+        // TODO(ivanpauno): Print a warn message in the last two cases described above,
+        // but not in the first one.
         return;
       }
       any_callback_.dispatch_intra_process(msg, message_info);
@@ -193,10 +230,11 @@ public:
         intra_process_subscription_id_,
         msg);
       if (!msg) {
-        // This either occurred because the publisher no longer exists or the
-        // message requested is no longer being stored.
-        RCLCPP_WARN(get_logger("rclcpp"),
-          "Intra process message not longer being stored when trying to handle it");
+        // This can happen when having two nodes in different process both using intraprocess
+        // communication. It could happen too if the publisher no longer exists or the requested
+        // message is not longer being stored.
+        // TODO(ivanpauno): Print a warn message in the last two cases described above,
+        // but not in the first one.
         return;
       }
       any_callback_.dispatch_intra_process(std::move(msg), message_info);
@@ -226,7 +264,7 @@ private:
       throw std::runtime_error(
               "intra process take called after destruction of intra process manager");
     }
-    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
+    ipm->template take_intra_process_message<CallbackMessageT, AllocatorT>(
       publisher_id, message_sequence, subscription_id, message);
   }
 
@@ -242,7 +280,7 @@ private:
       throw std::runtime_error(
               "intra process take called after destruction of intra process manager");
     }
-    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
+    ipm->template take_intra_process_message<CallbackMessageT, AllocatorT>(
       publisher_id, message_sequence, subscription_id, message);
   }
 
@@ -263,8 +301,8 @@ private:
 
   RCLCPP_DISABLE_COPY(Subscription)
 
-  AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
-  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
+  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_callback_;
+  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, AllocatorT>::SharedPtr
     message_memory_strategy_;
 };
 

rclcpp/include/rclcpp/subscription_base.hpp

@@ -36,7 +36,7 @@ namespace rclcpp
 
 namespace node_interfaces
 {
-class NodeTopicsInterface;
+class NodeBaseInterface;
 }  // namespace node_interfaces
 
 namespace intra_process_manager
@@ -50,14 +50,14 @@ class IntraProcessManager;
 
 /// Virtual base class for subscriptions. This pattern allows us to iterate over different template
 /// specializations of Subscription, among other things.
-class SubscriptionBase
+class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
 
   /// Default constructor.
   /**
-   * \param[in] node_handle The rcl representation of the node that owns this subscription.
+   * \param[in] node_base NodeBaseInterface pointer used in parts of the setup.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] subscription_options options for the subscription.
@@ -65,7 +65,7 @@ public:
    */
   RCLCPP_PUBLIC
   SubscriptionBase(
-    std::shared_ptr<rcl_node_t> node_handle,
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
     const rcl_subscription_options_t & subscription_options,
@@ -98,14 +98,32 @@ public:
   const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
   get_event_handlers() const;
 
+  /// Get the actual QoS settings, after the defaults have been determined.
+  /**
+   * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
+   * can only be resolved after the creation of the publisher, and it
+   * depends on the underlying rmw implementation.
+   * If the underlying setting in use can't be represented in ROS terms,
+   * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
+   * May throw runtime_error when an unexpected error occurs.
+   * \return The actual qos settings.
+   */
+  RCLCPP_PUBLIC
+  rmw_qos_profile_t
+  get_actual_qos() const;
+
   /// Borrow a new message.
   /** \return Shared pointer to the fresh message. */
-  virtual std::shared_ptr<void>
+  RCLCPP_PUBLIC
+  virtual
+  std::shared_ptr<void>
   create_message() = 0;
 
   /// Borrow a new serialized message
   /** \return Shared pointer to a rcl_message_serialized_t. */
-  virtual std::shared_ptr<rcl_serialized_message_t>
+  RCLCPP_PUBLIC
+  virtual
+  std::shared_ptr<rcl_serialized_message_t>
   create_serialized_message() = 0;
 
   /// Check if we need to handle the message, and execute the callback if we do.
@@ -113,27 +131,37 @@ public:
    * \param[in] message Shared pointer to the message to handle.
    * \param[in] message_info Metadata associated with this message.
    */
-  virtual void
+  RCLCPP_PUBLIC
+  virtual
+  void
   handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info) = 0;
 
   /// Return the message borrowed in create_message.
   /** \param[in] message Shared pointer to the returned message. */
-  virtual void
+  RCLCPP_PUBLIC
+  virtual
+  void
   return_message(std::shared_ptr<void> & message) = 0;
 
   /// Return the message borrowed in create_serialized_message.
   /** \param[in] message Shared pointer to the returned message. */
-  virtual void
+  RCLCPP_PUBLIC
+  virtual
+  void
   return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) = 0;
 
-  virtual void
+  RCLCPP_PUBLIC
+  virtual
+  void
   handle_intra_process_message(
     rcl_interfaces::msg::IntraProcessMessage & ipm,
     const rmw_message_info_t & message_info) = 0;
 
+  RCLCPP_PUBLIC
   const rosidl_message_type_support_t &
   get_message_type_support_handle() const;
 
+  RCLCPP_PUBLIC
   bool
   is_serialized() const;
 
@@ -147,7 +175,9 @@ public:
     std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
 
   /// Implemenation detail.
-  void setup_intra_process(
+  RCLCPP_PUBLIC
+  void
+  setup_intra_process(
     uint64_t intra_process_subscription_id,
     IntraProcessManagerWeakPtr weak_ipm,
     const rcl_subscription_options_t & intra_process_options);

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -43,6 +43,9 @@ namespace rclcpp
  * usually called from a templated "create_subscription" method of the Node
  * class, and is passed to the non-templated "create_subscription" method of
  * the NodeTopics class where it is used to create and setup the Subscription.
+ *
+ * It also handles the two step construction of Subscriptions, first calling
+ * the constructor and then the post_init_setup() method.
  */
 struct SubscriptionFactory
 {
@@ -51,71 +54,62 @@ struct SubscriptionFactory
     rclcpp::SubscriptionBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      const rcl_subscription_options_t & subscription_options)>;
+      const rclcpp::QoS & qos)>;
 
-  SubscriptionFactoryFunction create_typed_subscription;
-
-  // Function that takes a MessageT from the intra process manager
-  using SetupIntraProcessFunction = std::function<
-    void (
-      rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
-      rclcpp::SubscriptionBase::SharedPtr subscription,
-      const rcl_subscription_options_t & subscription_options)>;
-
-  SetupIntraProcessFunction setup_intra_process;
+  const SubscriptionFactoryFunction create_typed_subscription;
 };
 
 /// Return a SubscriptionFactory with functions for creating a SubscriptionT<MessageT, Alloc>.
 template<
   typename MessageT,
   typename CallbackT,
-  typename Alloc,
-  typename CallbackMessageT,
-  typename SubscriptionT>
+  typename AllocatorT,
+  typename CallbackMessageT =
+  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >>
 SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
-  const SubscriptionEventCallbacks & event_callbacks,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT, Alloc>::SharedPtr
-  msg_mem_strat,
-  std::shared_ptr<Alloc> allocator)
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
 {
-  SubscriptionFactory factory;
+  auto allocator = options.get_allocator();
 
   using rclcpp::AnySubscriptionCallback;
-  AnySubscriptionCallback<CallbackMessageT, Alloc> any_subscription_callback(allocator);
+  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_subscription_callback(allocator);
   any_subscription_callback.set(std::forward<CallbackT>(callback));
 
-  auto message_alloc =
-    std::make_shared<typename Subscription<CallbackMessageT, Alloc>::MessageAlloc>();
-
-  // factory function that creates a MessageT specific SubscriptionT
-  factory.create_typed_subscription =
-    [allocator, msg_mem_strat, any_subscription_callback, event_callbacks, message_alloc](
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    const std::string & topic_name,
-    const rcl_subscription_options_t & subscription_options
+  SubscriptionFactory factory {
+    // factory function that creates a MessageT specific SubscriptionT
+    [options, msg_mem_strat, any_subscription_callback](
+      rclcpp::node_interfaces::NodeBaseInterface * node_base,
+      const std::string & topic_name,
+      const rclcpp::QoS & qos
     ) -> rclcpp::SubscriptionBase::SharedPtr
     {
-      auto options_copy = subscription_options;
-      options_copy.allocator =
-        rclcpp::allocator::get_rcl_allocator<CallbackMessageT>(*message_alloc.get());
-
       using rclcpp::Subscription;
       using rclcpp::SubscriptionBase;
 
-      auto sub = Subscription<CallbackMessageT, Alloc>::make_shared(
-        node_base->get_shared_rcl_node_handle(),
+      auto sub = Subscription<CallbackMessageT, AllocatorT>::make_shared(
+        node_base,
         *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
         topic_name,
-        options_copy,
+        qos,
         any_subscription_callback,
-        event_callbacks,
+        options,
         msg_mem_strat);
+      // This is used for setting up things like intra process comms which
+      // require this->shared_from_this() which cannot be called from
+      // the constructor.
+      sub->post_init_setup(node_base, qos, options);
       auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
       return sub_base_ptr;
-    };
+    }
+  };
 
   // return the factory now that it is populated
   return factory;

rclcpp/include/rclcpp/subscription_options.hpp

@@ -70,6 +70,16 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
     result.qos = qos.get_rmw_qos_profile();
     return result;
   }
+
+  /// Get the allocator, creating one if needed.
+  std::shared_ptr<Allocator>
+  get_allocator() const
+  {
+    if (!this->allocator) {
+      return std::make_shared<Allocator>();
+    }
+    return this->allocator;
+  }
 };
 
 using SubscriptionOptions = SubscriptionOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/time_source.hpp

@@ -25,8 +25,6 @@
 #include "rcl_interfaces/msg/parameter_event.hpp"
 
 #include "rclcpp/node.hpp"
-#include "rclcpp/parameter_client.hpp"
-#include "rclcpp/parameter_events_filter.hpp"
 
 
 namespace rclcpp
@@ -100,9 +98,6 @@ private:
   // Destroy the subscription for the clock topic
   void destroy_clock_sub();
 
-  // Parameter Client pointer
-  std::shared_ptr<rclcpp::AsyncParametersClient> parameter_client_;
-
   // Parameter Event subscription
   using ParamMessageT = rcl_interfaces::msg::ParameterEvent;
   using ParamSubscriptionT = rclcpp::Subscription<ParamMessageT, Alloc>;

rclcpp/include/rclcpp/waitable.hpp

@@ -128,7 +128,7 @@ public:
    *
    * Example usage:
    *
-   * ```
+   * ```cpp
    * // ... create a wait set and a Waitable
    * // Add the Waitable to the wait set
    * bool add_ret = waitable.add_to_wait_set(wait_set);

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>0.7.2</version>
+  <version>0.8.0</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
@@ -26,6 +26,7 @@
 
   <depend>rcl</depend>
   <depend>rcl_yaml_param_parser</depend>
+  <depend>rcpputils</depend>
   <depend>rmw_implementation</depend>
 
   <exec_depend>ament_cmake</exec_depend>

rclcpp/resource/logging.hpp.em

@@ -95,7 +95,7 @@ def is_supported_feature_combination(feature_combination):
 #define RCLCPP_@(severity)@(suffix)(logger, @(''.join([p + ', ' for p in get_macro_parameters(feature_combination).keys()]))...) \
   do { \
     static_assert( \
-      ::std::is_same<typename std::remove_reference<typename std::remove_cv<decltype(logger)>::type>::type, \
+      ::std::is_same<typename std::remove_cv<typename std::remove_reference<decltype(logger)>::type>::type, \
       typename ::rclcpp::Logger>::value, \
       "First argument to logging macros must be an rclcpp::Logger"); \
     RCUTILS_LOG_@(severity)@(suffix)_NAMED( \

rclcpp/src/rclcpp/callback_group.cpp

@@ -23,40 +23,6 @@ CallbackGroup::CallbackGroup(CallbackGroupType group_type)
 : type_(group_type), can_be_taken_from_(true)
 {}
 
-const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
-CallbackGroup::get_subscription_ptrs() const
-{
-  std::lock_guard<std::mutex> lock(mutex_);
-  return subscription_ptrs_;
-}
-
-const std::vector<rclcpp::TimerBase::WeakPtr> &
-CallbackGroup::get_timer_ptrs() const
-{
-  std::lock_guard<std::mutex> lock(mutex_);
-  return timer_ptrs_;
-}
-
-const std::vector<rclcpp::ServiceBase::WeakPtr> &
-CallbackGroup::get_service_ptrs() const
-{
-  std::lock_guard<std::mutex> lock(mutex_);
-  return service_ptrs_;
-}
-
-const std::vector<rclcpp::ClientBase::WeakPtr> &
-CallbackGroup::get_client_ptrs() const
-{
-  std::lock_guard<std::mutex> lock(mutex_);
-  return client_ptrs_;
-}
-
-const std::vector<rclcpp::Waitable::WeakPtr> &
-CallbackGroup::get_waitable_ptrs() const
-{
-  std::lock_guard<std::mutex> lock(mutex_);
-  return waitable_ptrs_;
-}
 
 std::atomic_bool &
 CallbackGroup::can_be_taken_from()
@@ -76,6 +42,12 @@ CallbackGroup::add_subscription(
 {
   std::lock_guard<std::mutex> lock(mutex_);
   subscription_ptrs_.push_back(subscription_ptr);
+  subscription_ptrs_.erase(
+    std::remove_if(
+      subscription_ptrs_.begin(),
+      subscription_ptrs_.end(),
+      [](rclcpp::SubscriptionBase::WeakPtr x) {return x.expired();}),
+    subscription_ptrs_.end());
 }
 
 void
@@ -83,6 +55,12 @@ CallbackGroup::add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   timer_ptrs_.push_back(timer_ptr);
+  timer_ptrs_.erase(
+    std::remove_if(
+      timer_ptrs_.begin(),
+      timer_ptrs_.end(),
+      [](rclcpp::TimerBase::WeakPtr x) {return x.expired();}),
+    timer_ptrs_.end());
 }
 
 void
@@ -90,6 +68,12 @@ CallbackGroup::add_service(const rclcpp::ServiceBase::SharedPtr service_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   service_ptrs_.push_back(service_ptr);
+  service_ptrs_.erase(
+    std::remove_if(
+      service_ptrs_.begin(),
+      service_ptrs_.end(),
+      [](rclcpp::ServiceBase::WeakPtr x) {return x.expired();}),
+    service_ptrs_.end());
 }
 
 void
@@ -97,6 +81,12 @@ CallbackGroup::add_client(const rclcpp::ClientBase::SharedPtr client_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   client_ptrs_.push_back(client_ptr);
+  client_ptrs_.erase(
+    std::remove_if(
+      client_ptrs_.begin(),
+      client_ptrs_.end(),
+      [](rclcpp::ClientBase::WeakPtr x) {return x.expired();}),
+    client_ptrs_.end());
 }
 
 void
@@ -104,6 +94,12 @@ CallbackGroup::add_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   waitable_ptrs_.push_back(waitable_ptr);
+  waitable_ptrs_.erase(
+    std::remove_if(
+      waitable_ptrs_.begin(),
+      waitable_ptrs_.end(),
+      [](rclcpp::Waitable::WeakPtr x) {return x.expired();}),
+    waitable_ptrs_.end());
 }
 
 void

rclcpp/src/rclcpp/clock.cpp

@@ -119,8 +119,9 @@ Clock::create_jump_callback(
   }
 
   // Try to add the jump callback to the clock
-  rcl_ret_t ret = rcl_clock_add_jump_callback(&rcl_clock_, threshold,
-      Clock::on_time_jump, handler.get());
+  rcl_ret_t ret = rcl_clock_add_jump_callback(
+    &rcl_clock_, threshold, Clock::on_time_jump,
+    handler.get());
   if (RCL_RET_OK != ret) {
     exceptions::throw_from_rcl_error(ret, "Failed to add time jump callback");
   }

rclcpp/src/rclcpp/duration.cpp

@@ -233,4 +233,10 @@ Duration::to_rmw_time() const
   return result;
 }
 
+Duration
+Duration::from_seconds(double seconds)
+{
+  return Duration(static_cast<int64_t>(RCL_S_TO_NS(seconds)));
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/exceptions.cpp

@@ -17,6 +17,7 @@
 #include <cstdio>
 #include <functional>
 #include <string>
+#include <vector>
 
 using namespace std::string_literals;
 
@@ -68,6 +69,8 @@ from_rcl_error(
       return std::make_exception_ptr(RCLBadAlloc(base_exc));
     case RCL_RET_INVALID_ARGUMENT:
       return std::make_exception_ptr(RCLInvalidArgument(base_exc, formatted_prefix));
+    case RCL_RET_INVALID_ROS_ARGS:
+      return std::make_exception_ptr(RCLInvalidROSArgsError(base_exc, formatted_prefix));
     default:
       return std::make_exception_ptr(RCLError(base_exc, formatted_prefix));
   }
@@ -126,5 +129,18 @@ RCLInvalidArgument::RCLInvalidArgument(
 : RCLErrorBase(base_exc), std::invalid_argument(prefix + base_exc.formatted_message)
 {}
 
+RCLInvalidROSArgsError::RCLInvalidROSArgsError(
+  rcl_ret_t ret,
+  const rcl_error_state_t * error_state,
+  const std::string & prefix)
+: RCLInvalidROSArgsError(RCLErrorBase(ret, error_state), prefix)
+{}
+
+RCLInvalidROSArgsError::RCLInvalidROSArgsError(
+  const RCLErrorBase & base_exc,
+  const std::string & prefix)
+: RCLErrorBase(base_exc), std::runtime_error(prefix + base_exc.formatted_message)
+{}
+
 }  // namespace exceptions
 }  // namespace rclcpp

rclcpp/src/rclcpp/executor.cpp

@@ -91,6 +91,10 @@ Executor::~Executor()
     }
   }
   weak_nodes_.clear();
+  for (auto & guard_condition : guard_conditions_) {
+    memory_strategy_->remove_guard_condition(guard_condition);
+  }
+  guard_conditions_.clear();
 
   // Finalize the wait set.
   if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) {
@@ -128,6 +132,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
     }
   }
   weak_nodes_.push_back(node_ptr);
+  guard_conditions_.push_back(node_ptr->get_notify_guard_condition());
   if (notify) {
     // Interrupt waiting to handle new node
     if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
@@ -135,6 +140,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
     }
   }
   // Add the node's notify condition to the guard condition handles
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -148,17 +154,21 @@ void
 Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
   bool node_removed = false;
-  weak_nodes_.erase(
-    std::remove_if(
-      weak_nodes_.begin(), weak_nodes_.end(),
-      [&](rclcpp::node_interfaces::NodeBaseInterface::WeakPtr & i)
-      {
-        bool matched = (i.lock() == node_ptr);
-        node_removed |= matched;
-        return matched;
+  {
+    auto node_it = weak_nodes_.begin();
+    auto gc_it = guard_conditions_.begin();
+    while (node_it != weak_nodes_.end()) {
+      bool matched = (node_it->lock() == node_ptr);
+      if (matched) {
+        node_it = weak_nodes_.erase(node_it);
+        gc_it = guard_conditions_.erase(gc_it);
+        node_removed = true;
+      } else {
+        ++node_it;
+        ++gc_it;
       }
-    )
-  );
+    }
+  }
   std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
   has_executor.store(false);
   if (notify) {
@@ -169,6 +179,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
       }
     }
   }
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -414,40 +425,47 @@ Executor::execute_client(
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
-  // Collect the subscriptions and timers to be waited on
-  memory_strategy_->clear_handles();
-  bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+  {
+    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
 
-  // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_nodes) {
-    weak_nodes_.erase(
-      remove_if(
-        weak_nodes_.begin(), weak_nodes_.end(),
-        [](rclcpp::node_interfaces::NodeBaseInterface::WeakPtr i)
-        {
-          return i.expired();
+    // Collect the subscriptions and timers to be waited on
+    memory_strategy_->clear_handles();
+    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+
+    // Clean up any invalid nodes, if they were detected
+    if (has_invalid_weak_nodes) {
+      auto node_it = weak_nodes_.begin();
+      auto gc_it = guard_conditions_.begin();
+      while (node_it != weak_nodes_.end()) {
+        if (node_it->expired()) {
+          node_it = weak_nodes_.erase(node_it);
+          memory_strategy_->remove_guard_condition(*gc_it);
+          gc_it = guard_conditions_.erase(gc_it);
+        } else {
+          ++node_it;
+          ++gc_it;
         }
-      )
-    );
-  }
-  // clear wait set
-  if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
-    throw std::runtime_error("Couldn't clear wait set");
-  }
+      }
+    }
+    // clear wait set
+    if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
+      throw std::runtime_error("Couldn't clear wait set");
+    }
 
-  // The size of waitables are accounted for in size of the other entities
-  rcl_ret_t ret = rcl_wait_set_resize(
-    &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
-    memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
-    memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
-    memory_strategy_->number_of_ready_events());
-  if (RCL_RET_OK != ret) {
-    throw std::runtime_error(
-            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
-  }
+    // The size of waitables are accounted for in size of the other entities
+    rcl_ret_t ret = rcl_wait_set_resize(
+      &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
+      memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
+      memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
+      memory_strategy_->number_of_ready_events());
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error(
+              std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
+    }
 
-  if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
-    throw std::runtime_error("Couldn't fill wait set");
+    if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
+      throw std::runtime_error("Couldn't fill wait set");
+    }
   }
   rcl_ret_t status =
     rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());
@@ -499,48 +517,23 @@ Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
       if (!group) {
         continue;
       }
-      for (auto & weak_timer : group->get_timer_ptrs()) {
-        auto t = weak_timer.lock();
-        if (t == timer) {
-          return group;
-        }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
+          return timer_ptr == timer;
+        });
+      if (timer_ref) {
+        return group;
       }
     }
   }
   return rclcpp::callback_group::CallbackGroup::SharedPtr();
 }
 
-void
-Executor::get_next_timer(AnyExecutable & any_exec)
-{
-  for (auto & weak_node : weak_nodes_) {
-    auto node = weak_node.lock();
-    if (!node) {
-      continue;
-    }
-    for (auto & weak_group : node->get_callback_groups()) {
-      auto group = weak_group.lock();
-      if (!group || !group->can_be_taken_from().load()) {
-        continue;
-      }
-      for (auto & timer_ref : group->get_timer_ptrs()) {
-        auto timer = timer_ref.lock();
-        if (timer && timer->is_ready()) {
-          any_exec.timer = timer;
-          any_exec.callback_group = group;
-          node = get_node_by_group(group);
-          return;
-        }
-      }
-    }
-  }
-}
-
 bool
 Executor::get_next_ready_executable(AnyExecutable & any_executable)
 {
-  // Check the timers to see if there are any that are ready, if so return
-  get_next_timer(any_executable);
+  // Check the timers to see if there are any that are ready
+  memory_strategy_->get_next_timer(any_executable, weak_nodes_);
   if (any_executable.timer) {
     return true;
   }

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -27,8 +27,11 @@ using rclcpp::executors::MultiThreadedExecutor;
 MultiThreadedExecutor::MultiThreadedExecutor(
   const rclcpp::executor::ExecutorArgs & args,
   size_t number_of_threads,
-  bool yield_before_execute)
-: executor::Executor(args), yield_before_execute_(yield_before_execute)
+  bool yield_before_execute,
+  std::chrono::nanoseconds next_exec_timeout)
+: executor::Executor(args),
+  yield_before_execute_(yield_before_execute),
+  next_exec_timeout_(next_exec_timeout)
 {
   number_of_threads_ = number_of_threads ? number_of_threads : std::thread::hardware_concurrency();
   if (number_of_threads_ == 0) {
@@ -77,12 +80,17 @@ MultiThreadedExecutor::run(size_t)
       if (!rclcpp::ok(this->context_) || !spinning.load()) {
         return;
       }
-      if (!get_next_executable(any_exec)) {
+      if (!get_next_executable(any_exec, next_exec_timeout_)) {
         continue;
       }
       if (any_exec.timer) {
         // Guard against multiple threads getting the same timer.
         if (scheduled_timers_.count(any_exec.timer) != 0) {
+          // Make sure that any_exec's callback group is reset before
+          // the lock is released.
+          if (any_exec.callback_group) {
+            any_exec.callback_group->can_be_taken_from().store(true);
+          }
           continue;
         }
         scheduled_timers_.insert(any_exec.timer);

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -20,7 +20,7 @@ using rclcpp::memory_strategy::MemoryStrategy;
 rclcpp::SubscriptionBase::SharedPtr
 MemoryStrategy::get_subscription_by_handle(
   std::shared_ptr<const rcl_subscription_t> subscriber_handle,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -32,16 +32,14 @@ MemoryStrategy::get_subscription_by_handle(
       if (!group) {
         continue;
       }
-      for (auto & weak_subscription : group->get_subscription_ptrs()) {
-        auto subscription = weak_subscription.lock();
-        if (subscription) {
-          if (subscription->get_subscription_handle() == subscriber_handle) {
-            return subscription;
-          }
-          if (subscription->get_intra_process_subscription_handle() == subscriber_handle) {
-            return subscription;
-          }
-        }
+      auto match_subscription = group->find_subscription_ptrs_if(
+        [&subscriber_handle](const rclcpp::SubscriptionBase::SharedPtr & subscription) -> bool {
+          return
+          (subscription->get_subscription_handle() == subscriber_handle) ||
+          (subscription->get_intra_process_subscription_handle() == subscriber_handle);
+        });
+      if (match_subscription) {
+        return match_subscription;
       }
     }
   }
@@ -51,7 +49,7 @@ MemoryStrategy::get_subscription_by_handle(
 rclcpp::ServiceBase::SharedPtr
 MemoryStrategy::get_service_by_handle(
   std::shared_ptr<const rcl_service_t> service_handle,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -63,11 +61,12 @@ MemoryStrategy::get_service_by_handle(
       if (!group) {
         continue;
       }
-      for (auto & weak_service : group->get_service_ptrs()) {
-        auto service = weak_service.lock();
-        if (service && service->get_service_handle() == service_handle) {
-          return service;
-        }
+      auto service_ref = group->find_service_ptrs_if(
+        [&service_handle](const rclcpp::ServiceBase::SharedPtr & service) -> bool {
+          return service->get_service_handle() == service_handle;
+        });
+      if (service_ref) {
+        return service_ref;
       }
     }
   }
@@ -77,7 +76,7 @@ MemoryStrategy::get_service_by_handle(
 rclcpp::ClientBase::SharedPtr
 MemoryStrategy::get_client_by_handle(
   std::shared_ptr<const rcl_client_t> client_handle,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -89,11 +88,39 @@ MemoryStrategy::get_client_by_handle(
       if (!group) {
         continue;
       }
-      for (auto & weak_client : group->get_client_ptrs()) {
-        auto client = weak_client.lock();
-        if (client && client->get_client_handle() == client_handle) {
-          return client;
-        }
+      auto client_ref = group->find_client_ptrs_if(
+        [&client_handle](const rclcpp::ClientBase::SharedPtr & client) -> bool {
+          return client->get_client_handle() == client_handle;
+        });
+      if (client_ref) {
+        return client_ref;
+      }
+    }
+  }
+  return nullptr;
+}
+
+rclcpp::TimerBase::SharedPtr
+MemoryStrategy::get_timer_by_handle(
+  std::shared_ptr<const rcl_timer_t> timer_handle,
+  const WeakNodeList & weak_nodes)
+{
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
+      continue;
+    }
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [&timer_handle](const rclcpp::TimerBase::SharedPtr & timer) -> bool {
+          return timer->get_timer_handle() == timer_handle;
+        });
+      if (timer_ref) {
+        return timer_ref;
       }
     }
   }
@@ -103,7 +130,7 @@ MemoryStrategy::get_client_by_handle(
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 MemoryStrategy::get_node_by_group(
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   if (!group) {
     return nullptr;
@@ -126,7 +153,7 @@ MemoryStrategy::get_node_by_group(
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_subscription(
   rclcpp::SubscriptionBase::SharedPtr subscription,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -138,11 +165,12 @@ MemoryStrategy::get_group_by_subscription(
       if (!group) {
         continue;
       }
-      for (auto & weak_sub : group->get_subscription_ptrs()) {
-        auto sub = weak_sub.lock();
-        if (sub == subscription) {
-          return group;
-        }
+      auto match_sub = group->find_subscription_ptrs_if(
+        [&subscription](const rclcpp::SubscriptionBase::SharedPtr & sub) -> bool {
+          return sub == subscription;
+        });
+      if (match_sub) {
+        return group;
       }
     }
   }
@@ -152,7 +180,7 @@ MemoryStrategy::get_group_by_subscription(
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_service(
   rclcpp::ServiceBase::SharedPtr service,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -164,11 +192,12 @@ MemoryStrategy::get_group_by_service(
       if (!group) {
         continue;
       }
-      for (auto & weak_serv : group->get_service_ptrs()) {
-        auto serv = weak_serv.lock();
-        if (serv && serv == service) {
-          return group;
-        }
+      auto service_ref = group->find_service_ptrs_if(
+        [&service](const rclcpp::ServiceBase::SharedPtr & serv) -> bool {
+          return serv == service;
+        });
+      if (service_ref) {
+        return group;
       }
     }
   }
@@ -178,7 +207,7 @@ MemoryStrategy::get_group_by_service(
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_client(
   rclcpp::ClientBase::SharedPtr client,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -190,11 +219,39 @@ MemoryStrategy::get_group_by_client(
       if (!group) {
         continue;
       }
-      for (auto & weak_client : group->get_client_ptrs()) {
-        auto cli = weak_client.lock();
-        if (cli && cli == client) {
-          return group;
-        }
+      auto client_ref = group->find_client_ptrs_if(
+        [&client](const rclcpp::ClientBase::SharedPtr & cli) -> bool {
+          return cli == client;
+        });
+      if (client_ref) {
+        return group;
+      }
+    }
+  }
+  return nullptr;
+}
+
+rclcpp::callback_group::CallbackGroup::SharedPtr
+MemoryStrategy::get_group_by_timer(
+  rclcpp::TimerBase::SharedPtr timer,
+  const WeakNodeList & weak_nodes)
+{
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
+      continue;
+    }
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [&timer](const rclcpp::TimerBase::SharedPtr & time) -> bool {
+          return time == timer;
+        });
+      if (timer_ref) {
+        return group;
       }
     }
   }
@@ -204,7 +261,7 @@ MemoryStrategy::get_group_by_client(
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_waitable(
   rclcpp::Waitable::SharedPtr waitable,
-  const WeakNodeVector & weak_nodes)
+  const WeakNodeList & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -216,11 +273,12 @@ MemoryStrategy::get_group_by_waitable(
       if (!group) {
         continue;
       }
-      for (auto & weak_waitable : group->get_waitable_ptrs()) {
-        auto group_waitable = weak_waitable.lock();
-        if (group_waitable && group_waitable == waitable) {
-          return group;
-        }
+      auto waitable_ref = group->find_waitable_ptrs_if(
+        [&waitable](const rclcpp::Waitable::SharedPtr & group_waitable) -> bool {
+          return group_waitable == waitable;
+        });
+      if (waitable_ref) {
+        return group;
       }
     }
   }

rclcpp/src/rclcpp/node.cpp

@@ -27,17 +27,7 @@
 #include "rclcpp/node_interfaces/node_clock.hpp"
 #include "rclcpp/node_interfaces/node_graph.hpp"
 #include "rclcpp/node_interfaces/node_logging.hpp"
-// When compiling this file, Windows produces a deprecation warning for the
-// deprecated function prototype of NodeParameters::register_param_change_callback().
-// Other compilers do not.
-#if defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
 #include "rclcpp/node_interfaces/node_parameters.hpp"
-#if defined(_WIN32)
-# pragma warning(pop)
-#endif
 #include "rclcpp/node_interfaces/node_services.hpp"
 #include "rclcpp/node_interfaces/node_time_source.hpp"
 #include "rclcpp/node_interfaces/node_timers.hpp"
@@ -132,13 +122,13 @@ Node::Node(
       node_topics_,
       node_services_,
       node_clock_,
-      options.initial_parameters(),
+      options.parameter_overrides(),
       options.start_parameter_services(),
       options.start_parameter_event_publisher(),
       options.parameter_event_qos(),
       options.parameter_event_publisher_options(),
       options.allow_undeclared_parameters(),
-      options.automatically_declare_initial_parameters()
+      options.automatically_declare_parameters_from_overrides()
     )),
   node_time_source_(new rclcpp::node_interfaces::NodeTimeSource(
       node_base_,
@@ -236,9 +226,14 @@ const rclcpp::ParameterValue &
 Node::declare_parameter(
   const std::string & name,
   const rclcpp::ParameterValue & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+  bool ignore_override)
 {
-  return this->node_parameters_->declare_parameter(name, default_value, parameter_descriptor);
+  return this->node_parameters_->declare_parameter(
+    name,
+    default_value,
+    parameter_descriptor,
+    ignore_override);
 }
 
 void
@@ -321,6 +316,18 @@ Node::list_parameters(const std::vector<std::string> & prefixes, uint64_t depth)
   return node_parameters_->list_parameters(prefixes, depth);
 }
 
+rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr
+Node::add_on_set_parameters_callback(OnParametersSetCallbackType callback)
+{
+  return node_parameters_->add_on_set_parameters_callback(callback);
+}
+
+void
+Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const callback)
+{
+  return node_parameters_->remove_on_set_parameters_callback(callback);
+}
+
 rclcpp::Node::OnParametersSetCallbackType
 Node::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
 {

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -137,7 +137,8 @@ NodeGraph::get_node_names() const
   std::vector<std::string> nodes;
   auto names_and_namespaces = get_node_names_and_namespaces();
 
-  std::transform(names_and_namespaces.begin(),
+  std::transform(
+    names_and_namespaces.begin(),
     names_and_namespaces.end(),
     std::back_inserter(nodes),
     [](std::pair<std::string, std::string> nns) {

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -12,20 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// When compiling this file, Windows produces a deprecation warning for the
-// deprecated function prototype of NodeParameters::register_param_change_callback().
-// Other compilers do not.
-#if defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
 #include "rclcpp/node_interfaces/node_parameters.hpp"
-#if defined(_WIN32)
-# pragma warning(pop)
-#endif
 
 #include <rcl_yaml_param_parser/parser.h>
 
+#include <cmath>
+#include <cstdlib>
+#include <functional>
+#include <limits>
 #include <map>
 #include <memory>
 #include <sstream>
@@ -48,13 +42,13 @@ NodeParameters::NodeParameters(
   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
   const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
   const rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
-  const std::vector<rclcpp::Parameter> & initial_parameters,
+  const std::vector<rclcpp::Parameter> & parameter_overrides,
   bool start_parameter_services,
   bool start_parameter_event_publisher,
   const rclcpp::QoS & parameter_event_qos,
   const rclcpp::PublisherOptionsBase & parameter_event_publisher_options,
   bool allow_undeclared_parameters,
-  bool automatically_declare_initial_parameters)
+  bool automatically_declare_parameters_from_overrides)
 : allow_undeclared_(allow_undeclared_parameters),
   events_publisher_(nullptr),
   node_logging_(node_logging),
@@ -90,84 +84,58 @@ NodeParameters::NodeParameters(
     throw std::runtime_error("Need valid node options in NodeParameters");
   }
 
-  // Get paths to yaml files containing initial parameter values
-  std::vector<std::string> yaml_paths;
-
-  auto get_yaml_paths = [&yaml_paths, &options](const rcl_arguments_t * args) {
-      int num_yaml_files = rcl_arguments_get_param_files_count(args);
-      if (num_yaml_files > 0) {
-        char ** param_files;
-        rcl_ret_t ret = rcl_arguments_get_param_files(args, options->allocator, &param_files);
-        if (RCL_RET_OK != ret) {
-          rclcpp::exceptions::throw_from_rcl_error(ret);
-        }
-        auto cleanup_param_files = make_scope_exit(
-          [&param_files, &num_yaml_files, &options]() {
-            for (int i = 0; i < num_yaml_files; ++i) {
-              options->allocator.deallocate(param_files[i], options->allocator.state);
-            }
-            options->allocator.deallocate(param_files, options->allocator.state);
-          });
-        for (int i = 0; i < num_yaml_files; ++i) {
-          yaml_paths.emplace_back(param_files[i]);
-        }
-      }
-    };
-
+  std::vector<const rcl_arguments_t *> argument_sources;
   // global before local so that local overwrites global
   if (options->use_global_arguments) {
     auto context_ptr = node_base->get_context()->get_rcl_context();
-    get_yaml_paths(&(context_ptr->global_arguments));
+    argument_sources.push_back(&(context_ptr->global_arguments));
   }
-  get_yaml_paths(&(options->arguments));
+  argument_sources.push_back(&options->arguments);
 
   // Get fully qualified node name post-remapping to use to find node's params in yaml files
   combined_name_ = node_base->get_fully_qualified_name();
 
-  // TODO(sloretz) use rcl to parse yaml when circular dependency is solved
-  // See https://github.com/ros2/rcl/issues/252
-  for (const std::string & yaml_path : yaml_paths) {
-    rcl_params_t * yaml_params = rcl_yaml_node_struct_init(options->allocator);
-    if (nullptr == yaml_params) {
-      throw std::bad_alloc();
+  for (const rcl_arguments_t * source : argument_sources) {
+    rcl_params_t * params = NULL;
+    rcl_ret_t ret = rcl_arguments_get_param_overrides(source, &params);
+    if (RCL_RET_OK != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret);
     }
-    if (!rcl_parse_yaml_file(yaml_path.c_str(), yaml_params)) {
-      std::ostringstream ss;
-      ss << "Failed to parse parameters from file '" << yaml_path << "': " <<
-        rcl_get_error_string().str;
-      rcl_reset_error();
-      throw std::runtime_error(ss.str());
-    }
-
-    rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(yaml_params);
-    rcl_yaml_node_struct_fini(yaml_params);
-    auto iter = initial_map.find(combined_name_);
-    if (initial_map.end() == iter) {
-      continue;
-    }
-
-    // Combine parameter yaml files, overwriting values in older ones
-    for (auto & param : iter->second) {
-      initial_parameter_values_[param.get_name()] =
-        rclcpp::ParameterValue(param.get_value_message());
+    if (params) {
+      auto cleanup_params = make_scope_exit(
+        [params]() {
+          rcl_yaml_node_struct_fini(params);
+        });
+      rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params);
+      for (auto iter = initial_map.begin(); initial_map.end() != iter; iter++) {
+        // TODO(cottsay) implement further wildcard matching
+        if (iter->first == "/**" || iter->first == combined_name_) {
+          // Combine parameter yaml files, overwriting values in older ones
+          for (auto & param : iter->second) {
+            parameter_overrides_[param.get_name()] =
+              rclcpp::ParameterValue(param.get_value_message());
+          }
+        }
+      }
     }
   }
 
-  // initial values passed to constructor overwrite yaml file sources
-  for (auto & param : initial_parameters) {
-    initial_parameter_values_[param.get_name()] =
+  // parameter overrides passed to constructor will overwrite overrides from yaml file sources
+  for (auto & param : parameter_overrides) {
+    parameter_overrides_[param.get_name()] =
       rclcpp::ParameterValue(param.get_value_message());
   }
 
   // If asked, initialize any parameters that ended up in the initial parameter values,
   // but did not get declared explcitily by this point.
-  if (automatically_declare_initial_parameters) {
-    for (const auto & pair : this->get_initial_parameter_values()) {
+  if (automatically_declare_parameters_from_overrides) {
+    for (const auto & pair : this->get_parameter_overrides()) {
       if (!this->has_parameter(pair.first)) {
         this->declare_parameter(
           pair.first,
           pair.second,
-          rcl_interfaces::msg::ParameterDescriptor());
+          rcl_interfaces::msg::ParameterDescriptor(),
+          true);
       }
     }
   }
@@ -185,23 +153,155 @@ __lockless_has_parameter(
   return parameters.find(name) != parameters.end();
 }
 
+// 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)
+{
+  return std::abs(x - y) <= std::numeric_limits<double>::epsilon() * std::abs(x + y) * ulp;
+}
+
+RCLCPP_LOCAL
+inline
+void
+format_reason(std::string & reason, const std::string & name, const char * range_type)
+{
+  std::ostringstream ss;
+  ss << "Parameter {" << name << "} doesn't comply with " << range_type << " range.";
+  reason = ss.str();
+}
+
+RCLCPP_LOCAL
+rcl_interfaces::msg::SetParametersResult
+__check_parameter_value_in_range(
+  const rcl_interfaces::msg::ParameterDescriptor & descriptor,
+  const rclcpp::ParameterValue & value)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  if (!descriptor.integer_range.empty() && value.get_type() == rclcpp::PARAMETER_INTEGER) {
+    int64_t v = value.get<int64_t>();
+    auto integer_range = descriptor.integer_range.at(0);
+    if (v == integer_range.from_value || v == integer_range.to_value) {
+      return result;
+    }
+    if ((v < integer_range.from_value) || (v > integer_range.to_value)) {
+      result.successful = false;
+      format_reason(result.reason, descriptor.name, "integer");
+      return result;
+    }
+    if (integer_range.step == 0) {
+      return result;
+    }
+    if (((v - integer_range.from_value) % integer_range.step) == 0) {
+      return result;
+    }
+    result.successful = false;
+    format_reason(result.reason, descriptor.name, "integer");
+    return result;
+  }
+
+  if (!descriptor.floating_point_range.empty() && value.get_type() == rclcpp::PARAMETER_DOUBLE) {
+    double v = value.get<double>();
+    auto fp_range = descriptor.floating_point_range.at(0);
+    if (__are_doubles_equal(v, fp_range.from_value) || __are_doubles_equal(v, fp_range.to_value)) {
+      return result;
+    }
+    if ((v < fp_range.from_value) || (v > fp_range.to_value)) {
+      result.successful = false;
+      format_reason(result.reason, descriptor.name, "floating point");
+      return result;
+    }
+    if (fp_range.step == 0.0) {
+      return result;
+    }
+    double rounded_div = std::round((v - fp_range.from_value) / fp_range.step);
+    if (__are_doubles_equal(v, fp_range.from_value + rounded_div * fp_range.step)) {
+      return result;
+    }
+    result.successful = false;
+    format_reason(result.reason, descriptor.name, "floating point");
+    return result;
+  }
+  return result;
+}
+
+// Return true if parameter values comply with the descriptors in parameter_infos.
+RCLCPP_LOCAL
+rcl_interfaces::msg::SetParametersResult
+__check_parameters(
+  std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameter_infos,
+  const std::vector<rclcpp::Parameter> & parameters)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  for (const rclcpp::Parameter & parameter : parameters) {
+    const rcl_interfaces::msg::ParameterDescriptor & descriptor =
+      parameter_infos[parameter.get_name()].descriptor;
+    result = __check_parameter_value_in_range(
+      descriptor,
+      parameter.get_parameter_value());
+    if (!result.successful) {
+      break;
+    }
+  }
+  return result;
+}
+
 using OnParametersSetCallbackType =
   rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
+using CallbacksContainerType =
+  rclcpp::node_interfaces::NodeParameters::CallbacksContainerType;
+using OnSetParametersCallbackHandle =
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle;
+
+RCLCPP_LOCAL
+rcl_interfaces::msg::SetParametersResult
+__call_on_parameters_set_callbacks(
+  const std::vector<rclcpp::Parameter> & parameters,
+  CallbacksContainerType & callback_container,
+  const OnParametersSetCallbackType & callback)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+  result.successful = true;
+  auto it = callback_container.begin();
+  while (it != callback_container.end()) {
+    auto shared_handle = it->lock();
+    if (nullptr != shared_handle) {
+      result = shared_handle->callback(parameters);
+      if (!result.successful) {
+        return result;
+      }
+      it++;
+    } else {
+      it = callback_container.erase(it);
+    }
+  }
+  if (callback) {
+    result = callback(parameters);
+  }
+  return result;
+}
 
 RCLCPP_LOCAL
 rcl_interfaces::msg::SetParametersResult
 __set_parameters_atomically_common(
   const std::vector<rclcpp::Parameter> & parameters,
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameter_infos,
-  OnParametersSetCallbackType on_set_parameters_callback)
+  CallbacksContainerType & callback_container,
+  const OnParametersSetCallbackType & callback)
 {
   // Call the user callback to see if the new value(s) are allowed.
-  rcl_interfaces::msg::SetParametersResult result;
-  result.successful = true;
-  if (on_set_parameters_callback) {
-    result = on_set_parameters_callback(parameters);
+  rcl_interfaces::msg::SetParametersResult result =
+    __call_on_parameters_set_callbacks(parameters, callback_container, callback);
+  if (!result.successful) {
+    return result;
+  }
+  // Check if the value being set complies with the descriptor.
+  result = __check_parameters(parameter_infos, parameters);
+  if (!result.successful) {
+    return result;
   }
-
   // If accepted, actually set the values.
   if (result.successful) {
     for (size_t i = 0; i < parameters.size(); ++i) {
@@ -223,19 +323,21 @@ __declare_parameter_common(
   const rclcpp::ParameterValue & default_value,
   const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters_out,
-  const std::map<std::string, rclcpp::ParameterValue> & initial_values,
-  OnParametersSetCallbackType on_set_parameters_callback,
-  rcl_interfaces::msg::ParameterEvent * parameter_event_out)
+  const std::map<std::string, rclcpp::ParameterValue> & overrides,
+  CallbacksContainerType & callback_container,
+  const OnParametersSetCallbackType & callback,
+  rcl_interfaces::msg::ParameterEvent * parameter_event_out,
+  bool ignore_override = false)
 {
   using rclcpp::node_interfaces::ParameterInfo;
   std::map<std::string, ParameterInfo> parameter_infos {{name, ParameterInfo()}};
   parameter_infos.at(name).descriptor = parameter_descriptor;
 
-  // Use the value from the initial_values if available, otherwise use the default.
+  // Use the value from the overrides if available, otherwise use the default.
   const rclcpp::ParameterValue * initial_value = &default_value;
-  auto initial_value_it = initial_values.find(name);
-  if (initial_value_it != initial_values.end()) {
-    initial_value = &initial_value_it->second;
+  auto overrides_it = overrides.find(name);
+  if (!ignore_override && overrides_it != overrides.end()) {
+    initial_value = &overrides_it->second;
   }
 
   // Check with the user's callback to see if the initial value can be set.
@@ -244,7 +346,8 @@ __declare_parameter_common(
   auto result = __set_parameters_atomically_common(
     parameter_wrappers,
     parameter_infos,
-    on_set_parameters_callback);
+    callback_container,
+    callback);
 
   // Add declared parameters to storage.
   parameters_out[name] = parameter_infos.at(name);
@@ -261,9 +364,12 @@ const rclcpp::ParameterValue &
 NodeParameters::declare_parameter(
   const std::string & name,
   const rclcpp::ParameterValue & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
+  bool ignore_override)
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
 
   // TODO(sloretz) parameter name validation
   if (name.empty()) {
@@ -282,9 +388,11 @@ NodeParameters::declare_parameter(
     default_value,
     parameter_descriptor,
     parameters_,
-    initial_parameter_values_,
+    parameter_overrides_,
+    on_parameters_set_callback_container_,
     on_parameters_set_callback_,
-    &parameter_event);
+    &parameter_event,
+    ignore_override);
 
   // If it failed to be set, then throw an exception.
   if (!result.successful) {
@@ -303,7 +411,9 @@ NodeParameters::declare_parameter(
 void
 NodeParameters::undeclare_parameter(const std::string & name)
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
 
   auto parameter_info = parameters_.find(name);
   if (parameter_info == parameters_.end()) {
@@ -322,7 +432,7 @@ NodeParameters::undeclare_parameter(const std::string & name)
 bool
 NodeParameters::has_parameter(const std::string & name) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
 
   return __lockless_has_parameter(parameters_, name);
 }
@@ -356,7 +466,9 @@ __find_parameter_by_name(
 rcl_interfaces::msg::SetParametersResult
 NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters)
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
 
   rcl_interfaces::msg::SetParametersResult result;
 
@@ -405,6 +517,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> staged_parameter_changes;
   rcl_interfaces::msg::ParameterEvent parameter_event_msg;
   parameter_event_msg.node = combined_name_;
+  CallbacksContainerType empty_callback_container;
   for (auto parameter_to_be_declared : parameters_to_be_declared) {
     // This should not throw, because we validated the name and checked that
     // the parameter was not already declared.
@@ -413,9 +526,12 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
       parameter_to_be_declared->get_parameter_value(),
       rcl_interfaces::msg::ParameterDescriptor(),  // Implicit declare uses default descriptor.
       staged_parameter_changes,
-      initial_parameter_values_,
-      nullptr,  // callback is explicitly null, so that it is called only once, when setting below.
-      &parameter_event_msg);
+      parameter_overrides_,
+      // Only call callbacks once below
+      empty_callback_container,  // callback_container is explicitly empty
+      nullptr,  // callback is explicitly null.
+      &parameter_event_msg,
+      true);
     if (!result.successful) {
       // Declare failed, return knowing that nothing was changed because the
       // staged changes were not applied.
@@ -462,13 +578,16 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
     }
   }
 
-  // Set the all of the parameters including the ones declared implicitly above.
+  // Set all of the parameters including the ones declared implicitly above.
   result = __set_parameters_atomically_common(
     // either the original parameters given by the user, or ones updated with initial values
     *parameters_to_be_set,
     // they are actually set on the official parameter storage
     parameters_,
     // this will get called once, with all the parameters to be set
+    on_parameters_set_callback_container_,
+    // These callbacks are called once. When a callback returns an unsuccessful result,
+    // the remaining aren't called.
     on_parameters_set_callback_);
 
   // If not successful, then stop here.
@@ -493,10 +612,10 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
     // assumption: the parameter to be undeclared should be in the parameter infos map
     assert(it != parameters_.end());
     if (it != parameters_.end()) {
-      // Remove it and update the parameter event message.
-      parameters_.erase(it);
+      // Update the parameter event message and remove it.
       parameter_event_msg.deleted_parameters.push_back(
         rclcpp::Parameter(it->first, it->second.value).to_parameter_msg());
+      parameters_.erase(it);
     }
   }
 
@@ -531,7 +650,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
 std::vector<rclcpp::Parameter>
 NodeParameters::get_parameters(const std::vector<std::string> & names) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
   std::vector<rclcpp::Parameter> results;
   results.reserve(names.size());
 
@@ -570,7 +689,7 @@ NodeParameters::get_parameter(
   const std::string & name,
   rclcpp::Parameter & parameter) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
 
   auto param_iter = parameters_.find(name);
   if (
@@ -589,7 +708,7 @@ NodeParameters::get_parameters_by_prefix(
   const std::string & prefix,
   std::map<std::string, rclcpp::Parameter> & parameters) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
 
   std::string prefix_with_dot = prefix.empty() ? prefix : prefix + ".";
   bool ret = false;
@@ -608,7 +727,7 @@ NodeParameters::get_parameters_by_prefix(
 std::vector<rcl_interfaces::msg::ParameterDescriptor>
 NodeParameters::describe_parameters(const std::vector<std::string> & names) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
   std::vector<rcl_interfaces::msg::ParameterDescriptor> results;
   results.reserve(names.size());
 
@@ -636,7 +755,7 @@ NodeParameters::describe_parameters(const std::vector<std::string> & names) cons
 std::vector<uint8_t>
 NodeParameters::get_parameter_types(const std::vector<std::string> & names) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
   std::vector<uint8_t> results;
   results.reserve(names.size());
 
@@ -662,7 +781,7 @@ NodeParameters::get_parameter_types(const std::vector<std::string> & names) cons
 rcl_interfaces::msg::ListParametersResult
 NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
   rcl_interfaces::msg::ListParametersResult result;
 
   // TODO(mikaelarguedas) define parameter separator different from "/" to avoid ambiguity
@@ -672,25 +791,27 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
     bool get_all = (prefixes.size() == 0) &&
       ((depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
       (static_cast<uint64_t>(std::count(kv.first.begin(), kv.first.end(), *separator)) < depth));
-    bool prefix_matches = std::any_of(prefixes.cbegin(), prefixes.cend(),
-        [&kv, &depth, &separator](const std::string & prefix) {
-          if (kv.first == prefix) {
-            return true;
-          } else if (kv.first.find(prefix + separator) == 0) {
-            size_t length = prefix.length();
-            std::string substr = kv.first.substr(length);
-            // Cast as unsigned integer to avoid warning
-            return (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
-            (static_cast<uint64_t>(std::count(substr.begin(), substr.end(), *separator)) < depth);
-          }
-          return false;
-        });
+    bool prefix_matches = std::any_of(
+      prefixes.cbegin(), prefixes.cend(),
+      [&kv, &depth, &separator](const std::string & prefix) {
+        if (kv.first == prefix) {
+          return true;
+        } else if (kv.first.find(prefix + separator) == 0) {
+          size_t length = prefix.length();
+          std::string substr = kv.first.substr(length);
+          // Cast as unsigned integer to avoid warning
+          return (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
+          (static_cast<uint64_t>(std::count(substr.begin(), substr.end(), *separator)) < depth);
+        }
+        return false;
+      });
     if (get_all || prefix_matches) {
       result.names.push_back(kv.first);
       size_t last_separator = kv.first.find_last_of(separator);
       if (std::string::npos != last_separator) {
         std::string prefix = kv.first.substr(0, last_separator);
-        if (std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) ==
+        if (
+          std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) ==
           result.prefixes.cend())
         {
           result.prefixes.push_back(prefix);
@@ -701,39 +822,67 @@ NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint6
   return result;
 }
 
+struct HandleCompare
+  : public std::unary_function<OnSetParametersCallbackHandle::WeakPtr, bool>
+{
+  explicit HandleCompare(const OnSetParametersCallbackHandle * const base)
+  : base_(base) {}
+  bool operator()(const OnSetParametersCallbackHandle::WeakPtr & handle)
+  {
+    auto shared_handle = handle.lock();
+    if (base_ == shared_handle.get()) {
+      return true;
+    }
+    return false;
+  }
+  const OnSetParametersCallbackHandle * const base_;
+};
+
+void
+NodeParameters::remove_on_set_parameters_callback(
+  const OnSetParametersCallbackHandle * const handle)
+{
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+
+  auto it = std::find_if(
+    on_parameters_set_callback_container_.begin(),
+    on_parameters_set_callback_container_.end(),
+    HandleCompare(handle));
+  if (it != on_parameters_set_callback_container_.end()) {
+    on_parameters_set_callback_container_.erase(it);
+  } else {
+    throw std::runtime_error("Callback doesn't exist");
+  }
+}
+
+OnSetParametersCallbackHandle::SharedPtr
+NodeParameters::add_on_set_parameters_callback(OnParametersSetCallbackType callback)
+{
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+
+  auto handle = std::make_shared<OnSetParametersCallbackHandle>();
+  handle->callback = callback;
+  // the last callback registered is executed first.
+  on_parameters_set_callback_container_.emplace_front(handle);
+  return handle;
+}
+
 NodeParameters::OnParametersSetCallbackType
 NodeParameters::set_on_parameters_set_callback(OnParametersSetCallbackType callback)
 {
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+
   auto existing_callback = on_parameters_set_callback_;
   on_parameters_set_callback_ = callback;
   return existing_callback;
 }
 
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-void
-NodeParameters::register_param_change_callback(ParametersCallbackFunction callback)
-{
-  if (on_parameters_set_callback_) {
-    RCLCPP_WARN(
-      node_logging_->get_logger(),
-      "on_parameters_set_callback already registered, overwriting previous callback");
-  }
-  on_parameters_set_callback_ = callback;
-}
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
 const std::map<std::string, rclcpp::ParameterValue> &
-NodeParameters::get_initial_parameter_values() const
+NodeParameters::get_parameter_overrides() const
 {
-  return initial_parameter_values_;
+  return parameter_overrides_;
 }

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -34,28 +34,10 @@ rclcpp::PublisherBase::SharedPtr
 NodeTopics::create_publisher(
   const std::string & topic_name,
   const rclcpp::PublisherFactory & publisher_factory,
-  const rcl_publisher_options_t & publisher_options,
-  bool use_intra_process)
+  const rclcpp::QoS & qos)
 {
-  // Create the MessageT specific Publisher using the factory, but store it as PublisherBase.
-  auto publisher = publisher_factory.create_typed_publisher(
-    node_base_, topic_name, publisher_options);
-
-  // Setup intra process publishing if requested.
-  if (use_intra_process) {
-    auto context = node_base_->get_context();
-    // Get the intra process manager instance for this context.
-    auto ipm = context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
-    // Register the publisher with the intra process manager.
-    uint64_t intra_process_publisher_id = ipm->add_publisher(publisher);
-    publisher->setup_intra_process(
-      intra_process_publisher_id,
-      ipm,
-      publisher_options);
-  }
-
-  // Return the completed publisher.
-  return publisher;
+  // Create the MessageT specific Publisher using the factory, but return it as PublisherBase.
+  return publisher_factory.create_typed_publisher(node_base_, topic_name, qos);
 }
 
 void
@@ -91,25 +73,10 @@ rclcpp::SubscriptionBase::SharedPtr
 NodeTopics::create_subscription(
   const std::string & topic_name,
   const rclcpp::SubscriptionFactory & subscription_factory,
-  const rcl_subscription_options_t & subscription_options,
-  bool use_intra_process)
+  const rclcpp::QoS & qos)
 {
-  auto subscription = subscription_factory.create_typed_subscription(
-    node_base_, topic_name, subscription_options);
-
-  // Setup intra process publishing if requested.
-  if (use_intra_process) {
-    auto context = node_base_->get_context();
-    auto ipm =
-      context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
-    uint64_t intra_process_subscription_id = ipm->add_subscription(subscription);
-    auto options_copy = subscription_options;
-    options_copy.ignore_local_publications = false;
-    subscription->setup_intra_process(intra_process_subscription_id, ipm, options_copy);
-  }
-
-  // Return the completed subscription.
-  return subscription;
+  // Create the MessageT specific Subscription using the factory, but return a SubscriptionBase.
+  return subscription_factory.create_typed_subscription(node_base_, topic_name, qos);
 }
 
 void

rclcpp/src/rclcpp/node_options.cpp

@@ -18,6 +18,7 @@
 #include <memory>
 #include <string>
 #include <vector>
+#include <utility>
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/logging.hpp"
@@ -44,6 +45,9 @@ rcl_node_options_t_destructor(rcl_node_options_t * node_options)
         "failed to finalize rcl node options: %s", rcl_get_error_string().str);
       rcl_reset_error();
     }
+
+    delete node_options;
+    node_options = nullptr;
   }
 }
 }  // namespace detail
@@ -64,14 +68,14 @@ NodeOptions::operator=(const NodeOptions & other)
   if (this != &other) {
     this->context_ = other.context_;
     this->arguments_ = other.arguments_;
-    this->initial_parameters_ = other.initial_parameters_;
+    this->parameter_overrides_ = other.parameter_overrides_;
     this->use_global_arguments_ = other.use_global_arguments_;
     this->use_intra_process_comms_ = other.use_intra_process_comms_;
     this->start_parameter_services_ = other.start_parameter_services_;
     this->allocator_ = other.allocator_;
     this->allow_undeclared_parameters_ = other.allow_undeclared_parameters_;
-    this->automatically_declare_initial_parameters_ =
-      other.automatically_declare_initial_parameters_;
+    this->automatically_declare_parameters_from_overrides_ =
+      other.automatically_declare_parameters_from_overrides_;
   }
   return *this;
 }
@@ -87,25 +91,48 @@ NodeOptions::get_rcl_node_options() const
     node_options_->use_global_arguments = this->use_global_arguments_;
     node_options_->domain_id = this->get_domain_id_from_env();
 
-    std::unique_ptr<const char *[]> c_args;
+    int c_argc = 0;
+    std::unique_ptr<const char *[]> c_argv;
     if (!this->arguments_.empty()) {
-      c_args.reset(new const char *[this->arguments_.size()]);
+      if (this->arguments_.size() > static_cast<size_t>(std::numeric_limits<int>::max())) {
+        throw_from_rcl_error(RCL_RET_INVALID_ARGUMENT, "Too many args");
+      }
+
+      c_argc = static_cast<int>(this->arguments_.size());
+      c_argv.reset(new const char *[c_argc]);
+
       for (std::size_t i = 0; i < this->arguments_.size(); ++i) {
-        c_args[i] = this->arguments_[i].c_str();
+        c_argv[i] = this->arguments_[i].c_str();
       }
     }
 
-    if (this->arguments_.size() > std::numeric_limits<int>::max()) {
-      throw_from_rcl_error(RCL_RET_INVALID_ARGUMENT, "Too many args");
-    }
-
-    rmw_ret_t ret = rcl_parse_arguments(
-      static_cast<int>(this->arguments_.size()), c_args.get(), this->allocator_,
-      &(node_options_->arguments));
+    rcl_ret_t ret = rcl_parse_arguments(
+      c_argc, c_argv.get(), this->allocator_, &(node_options_->arguments));
 
     if (RCL_RET_OK != ret) {
       throw_from_rcl_error(ret, "failed to parse arguments");
     }
+
+    int unparsed_ros_args_count =
+      rcl_arguments_get_count_unparsed_ros(&(node_options_->arguments));
+    if (unparsed_ros_args_count > 0) {
+      int * unparsed_ros_args_indices = nullptr;
+      ret = rcl_arguments_get_unparsed_ros(
+        &(node_options_->arguments), this->allocator_, &unparsed_ros_args_indices);
+      if (RCL_RET_OK != ret) {
+        throw_from_rcl_error(ret, "failed to get unparsed ROS arguments");
+      }
+      try {
+        std::vector<std::string> unparsed_ros_args;
+        for (int i = 0; i < unparsed_ros_args_count; ++i) {
+          unparsed_ros_args.push_back(c_argv[unparsed_ros_args_indices[i]]);
+        }
+        throw exceptions::UnknownROSArgsError(std::move(unparsed_ros_args));
+      } catch (...) {
+        this->allocator_.deallocate(unparsed_ros_args_indices, this->allocator_.state);
+        throw;
+      }
+    }
   }
 
   return node_options_.get();
@@ -139,21 +166,21 @@ NodeOptions::arguments(const std::vector<std::string> & arguments)
 }
 
 std::vector<rclcpp::Parameter> &
-NodeOptions::initial_parameters()
+NodeOptions::parameter_overrides()
 {
-  return this->initial_parameters_;
+  return this->parameter_overrides_;
 }
 
 const std::vector<rclcpp::Parameter> &
-NodeOptions::initial_parameters() const
+NodeOptions::parameter_overrides() const
 {
-  return this->initial_parameters_;
+  return this->parameter_overrides_;
 }
 
 NodeOptions &
-NodeOptions::initial_parameters(const std::vector<rclcpp::Parameter> & initial_parameters)
+NodeOptions::parameter_overrides(const std::vector<rclcpp::Parameter> & parameter_overrides)
 {
-  this->initial_parameters_ = initial_parameters;
+  this->parameter_overrides_ = parameter_overrides;
   return *this;
 }
 
@@ -251,16 +278,17 @@ NodeOptions::allow_undeclared_parameters(bool allow_undeclared_parameters)
 }
 
 bool
-NodeOptions::automatically_declare_initial_parameters() const
+NodeOptions::automatically_declare_parameters_from_overrides() const
 {
-  return this->automatically_declare_initial_parameters_;
+  return this->automatically_declare_parameters_from_overrides_;
 }
 
 NodeOptions &
-NodeOptions::automatically_declare_initial_parameters(
-  bool automatically_declare_initial_parameters)
+NodeOptions::automatically_declare_parameters_from_overrides(
+  bool automatically_declare_parameters_from_overrides)
 {
-  this->automatically_declare_initial_parameters_ = automatically_declare_initial_parameters;
+  this->automatically_declare_parameters_from_overrides_ =
+    automatically_declare_parameters_from_overrides;
   return *this;
 }
 

rclcpp/src/rclcpp/parameter.cpp

@@ -19,17 +19,7 @@
 #include <string>
 #include <vector>
 
-// When compiling this file, Windows produces a deprecation warning for the
-// deprecated function prototype of NodeParameters::register_param_change_callback().
-// Other compilers do not.
-#if defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
 #include "rclcpp/node_interfaces/node_parameters.hpp"
-#if defined(_WIN32)
-# pragma warning(pop)
-#endif
 #include "rclcpp/utilities.hpp"
 
 using rclcpp::ParameterType;

rclcpp/src/rclcpp/parameter_client.cpp

@@ -30,7 +30,8 @@ AsyncParametersClient::AsyncParametersClient(
   const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
   const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
   const std::string & remote_node_name,
-  const rmw_qos_profile_t & qos_profile)
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
 : node_topics_interface_(node_topics_interface)
 {
   if (remote_node_name != "") {
@@ -51,7 +52,7 @@ AsyncParametersClient::AsyncParametersClient(
     remote_node_name_ + "/" + parameter_service_names::get_parameters,
     options);
   auto get_parameters_base = std::dynamic_pointer_cast<ClientBase>(get_parameters_client_);
-  node_services_interface->add_client(get_parameters_base, nullptr);
+  node_services_interface->add_client(get_parameters_base, group);
 
   get_parameter_types_client_ = Client<rcl_interfaces::srv::GetParameterTypes>::make_shared(
     node_base_interface.get(),
@@ -60,7 +61,7 @@ AsyncParametersClient::AsyncParametersClient(
     options);
   auto get_parameter_types_base =
     std::dynamic_pointer_cast<ClientBase>(get_parameter_types_client_);
-  node_services_interface->add_client(get_parameter_types_base, nullptr);
+  node_services_interface->add_client(get_parameter_types_base, group);
 
   set_parameters_client_ = Client<rcl_interfaces::srv::SetParameters>::make_shared(
     node_base_interface.get(),
@@ -68,16 +69,17 @@ AsyncParametersClient::AsyncParametersClient(
     remote_node_name_ + "/" + parameter_service_names::set_parameters,
     options);
   auto set_parameters_base = std::dynamic_pointer_cast<ClientBase>(set_parameters_client_);
-  node_services_interface->add_client(set_parameters_base, nullptr);
+  node_services_interface->add_client(set_parameters_base, group);
 
   set_parameters_atomically_client_ =
-    Client<rcl_interfaces::srv::SetParametersAtomically>::make_shared(node_base_interface.get(),
-      node_graph_interface,
-      remote_node_name_ + "/" + parameter_service_names::set_parameters_atomically,
-      options);
+    Client<rcl_interfaces::srv::SetParametersAtomically>::make_shared(
+    node_base_interface.get(),
+    node_graph_interface,
+    remote_node_name_ + "/" + parameter_service_names::set_parameters_atomically,
+    options);
   auto set_parameters_atomically_base = std::dynamic_pointer_cast<ClientBase>(
     set_parameters_atomically_client_);
-  node_services_interface->add_client(set_parameters_atomically_base, nullptr);
+  node_services_interface->add_client(set_parameters_atomically_base, group);
 
   list_parameters_client_ = Client<rcl_interfaces::srv::ListParameters>::make_shared(
     node_base_interface.get(),
@@ -85,7 +87,7 @@ AsyncParametersClient::AsyncParametersClient(
     remote_node_name_ + "/" + parameter_service_names::list_parameters,
     options);
   auto list_parameters_base = std::dynamic_pointer_cast<ClientBase>(list_parameters_client_);
-  node_services_interface->add_client(list_parameters_base, nullptr);
+  node_services_interface->add_client(list_parameters_base, group);
 
   describe_parameters_client_ = Client<rcl_interfaces::srv::DescribeParameters>::make_shared(
     node_base_interface.get(),
@@ -94,33 +96,37 @@ AsyncParametersClient::AsyncParametersClient(
     options);
   auto describe_parameters_base =
     std::dynamic_pointer_cast<ClientBase>(describe_parameters_client_);
-  node_services_interface->add_client(describe_parameters_base, nullptr);
+  node_services_interface->add_client(describe_parameters_base, group);
 }
 
 AsyncParametersClient::AsyncParametersClient(
   const rclcpp::Node::SharedPtr node,
   const std::string & remote_node_name,
-  const rmw_qos_profile_t & qos_profile)
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
 : AsyncParametersClient(
     node->get_node_base_interface(),
     node->get_node_topics_interface(),
     node->get_node_graph_interface(),
     node->get_node_services_interface(),
     remote_node_name,
-    qos_profile)
+    qos_profile,
+    group)
 {}
 
 AsyncParametersClient::AsyncParametersClient(
   rclcpp::Node * node,
   const std::string & remote_node_name,
-  const rmw_qos_profile_t & qos_profile)
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
 : AsyncParametersClient(
     node->get_node_base_interface(),
     node->get_node_topics_interface(),
     node->get_node_graph_interface(),
     node->get_node_services_interface(),
     remote_node_name,
-    qos_profile)
+    qos_profile,
+    group)
 {}
 
 std::shared_future<std::vector<rclcpp::Parameter>>
@@ -150,8 +156,7 @@ AsyncParametersClient::get_parameters(
         rcl_interfaces::msg::Parameter parameter;
         parameter.name = request->names[i];
         parameter.value = pvalue;
-        parameters.push_back(rclcpp::Parameter::from_parameter_msg(
-          parameter));
+        parameters.push_back(rclcpp::Parameter::from_parameter_msg(parameter));
       }
 
       promise_result->set_value(parameters);
@@ -211,10 +216,9 @@ AsyncParametersClient::set_parameters(
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
 
-  std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
-    [](rclcpp::Parameter p) {
-      return p.to_parameter_msg();
-    }
+  std::transform(
+    parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
+    [](rclcpp::Parameter p) {return p.to_parameter_msg();}
   );
 
   set_parameters_client_->async_send_request(
@@ -245,10 +249,9 @@ AsyncParametersClient::set_parameters_atomically(
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();
 
-  std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
-    [](rclcpp::Parameter p) {
-      return p.to_parameter_msg();
-    }
+  std::transform(
+    parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
+    [](rclcpp::Parameter p) {return p.to_parameter_msg();}
   );
 
   set_parameters_atomically_client_->async_send_request(
@@ -411,8 +414,10 @@ SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_
 {
   auto f = async_parameters_client_->get_parameters(parameter_names);
   using rclcpp::executors::spin_node_until_future_complete;
-  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (
+    spin_node_until_future_complete(
+      *executor_, node_base_interface_,
+      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -435,8 +440,10 @@ SyncParametersClient::get_parameter_types(const std::vector<std::string> & param
   auto f = async_parameters_client_->get_parameter_types(parameter_names);
 
   using rclcpp::executors::spin_node_until_future_complete;
-  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (
+    spin_node_until_future_complete(
+      *executor_, node_base_interface_,
+      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -450,8 +457,10 @@ SyncParametersClient::set_parameters(
   auto f = async_parameters_client_->set_parameters(parameters);
 
   using rclcpp::executors::spin_node_until_future_complete;
-  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (
+    spin_node_until_future_complete(
+      *executor_, node_base_interface_,
+      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -465,8 +474,10 @@ SyncParametersClient::set_parameters_atomically(
   auto f = async_parameters_client_->set_parameters_atomically(parameters);
 
   using rclcpp::executors::spin_node_until_future_complete;
-  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (
+    spin_node_until_future_complete(
+      *executor_, node_base_interface_,
+      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -482,8 +493,10 @@ SyncParametersClient::list_parameters(
   auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);
 
   using rclcpp::executors::spin_node_until_future_complete;
-  if (spin_node_until_future_complete(*executor_, node_base_interface_, f) ==
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+  if (
+    spin_node_until_future_complete(
+      *executor_, node_base_interface_,
+      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }

rclcpp/src/rclcpp/parameter_service.cpp

@@ -57,11 +57,16 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
       std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response)
     {
-      auto types = node_params->get_parameter_types(request->names);
-      std::transform(types.cbegin(), types.cend(),
-      std::back_inserter(response->types), [](const uint8_t & type) {
-        return static_cast<rclcpp::ParameterType>(type);
-      });
+      try {
+        auto types = node_params->get_parameter_types(request->names);
+        std::transform(
+          types.cbegin(), types.cend(),
+          std::back_inserter(response->types), [](const uint8_t & type) {
+            return static_cast<rclcpp::ParameterType>(type);
+          });
+      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
+        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to get parameter types: %s", ex.what());
+      }
     },
     qos_profile, nullptr);
 
@@ -73,12 +78,20 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
     {
-      std::vector<rclcpp::Parameter> pvariants;
+      // Set parameters one-by-one, since there's no way to return a partial result if
+      // set_parameters() fails.
+      auto result = rcl_interfaces::msg::SetParametersResult();
       for (auto & p : request->parameters) {
-        pvariants.push_back(rclcpp::Parameter::from_parameter_msg(p));
+        try {
+          result = node_params->set_parameters_atomically(
+            {rclcpp::Parameter::from_parameter_msg(p)});
+        } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
+          RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to set parameter: %s", ex.what());
+          result.successful = false;
+          result.reason = ex.what();
+        }
+        response->results.push_back(result);
       }
-      auto results = node_params->set_parameters(pvariants);
-      response->results = results;
     },
     qos_profile, nullptr);
 
@@ -91,13 +104,21 @@ ParameterService::ParameterService(
       std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Response> response)
     {
       std::vector<rclcpp::Parameter> pvariants;
-      std::transform(request->parameters.cbegin(), request->parameters.cend(),
-      std::back_inserter(pvariants),
-      [](const rcl_interfaces::msg::Parameter & p) {
-        return rclcpp::Parameter::from_parameter_msg(p);
-      });
-      auto result = node_params->set_parameters_atomically(pvariants);
-      response->result = result;
+      std::transform(
+        request->parameters.cbegin(), request->parameters.cend(),
+        std::back_inserter(pvariants),
+        [](const rcl_interfaces::msg::Parameter & p) {
+          return rclcpp::Parameter::from_parameter_msg(p);
+        });
+      try {
+        auto result = node_params->set_parameters_atomically(pvariants);
+        response->result = result;
+      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
+        RCLCPP_WARN(
+          rclcpp::get_logger("rclcpp"), "Failed to set parameters atomically: %s", ex.what());
+        response->result.successful = false;
+        response->result.reason = "One or more parameters wer not declared before setting";
+      }
     },
     qos_profile, nullptr);
 
@@ -109,8 +130,12 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
     {
-      auto descriptors = node_params->describe_parameters(request->names);
-      response->descriptors = descriptors;
+      try {
+        auto descriptors = node_params->describe_parameters(request->names);
+        response->descriptors = descriptors;
+      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
+        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to describe parameters: %s", ex.what());
+      }
     },
     qos_profile, nullptr);
 

rclcpp/src/rclcpp/publisher_base.cpp

@@ -265,7 +265,7 @@ PublisherBase::setup_intra_process(
 {
   // Intraprocess configuration is not allowed with "durability" qos policy non "volatile".
   if (this->get_actual_qos().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
-    throw exceptions::InvalidParametersException(
+    throw std::invalid_argument(
             "intraprocess communication is not allowed with durability qos policy non-volatile");
   }
   const char * topic_name = this->get_topic_name();

rclcpp/src/rclcpp/qos.cpp

@@ -120,7 +120,7 @@ QoS::durability(rmw_qos_durability_policy_t durability)
 }
 
 QoS &
-QoS::volitile()
+QoS::durability_volatile()
 {
   return this->durability(RMW_QOS_POLICY_DURABILITY_VOLATILE);
 }

rclcpp/src/rclcpp/signal_handler.cpp

@@ -165,13 +165,15 @@ __safe_strerror(int errnum, char * buffer, size_t buffer_length)
 {
 #if defined(_WIN32)
   strerror_s(buffer, buffer_length, errnum);
-#elif (defined(_GNU_SOURCE) && !defined(ANDROID))
+#elif defined(_GNU_SOURCE) && (!defined(ANDROID) || __ANDROID_API__ >= 23)
+  /* GNU-specific */
   char * msg = strerror_r(errnum, buffer, buffer_length);
   if (msg != buffer) {
     strncpy(buffer, msg, buffer_length);
     buffer[buffer_length - 1] = '\0';
   }
 #else
+  /* XSI-compliant */
   int error_status = strerror_r(errnum, buffer, buffer_length);
   if (error_status != 0) {
     throw std::runtime_error("Failed to get error string for errno: " + std::to_string(errnum));

rclcpp/src/rclcpp/subscription_base.cpp

@@ -23,6 +23,7 @@
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -30,18 +31,18 @@
 using rclcpp::SubscriptionBase;
 
 SubscriptionBase::SubscriptionBase(
-  std::shared_ptr<rcl_node_t> node_handle,
+  rclcpp::node_interfaces::NodeBaseInterface * node_base,
   const rosidl_message_type_support_t & type_support_handle,
   const std::string & topic_name,
   const rcl_subscription_options_t & subscription_options,
   bool is_serialized)
-: node_handle_(node_handle),
+: node_handle_(node_base->get_shared_rcl_node_handle()),
   use_intra_process_(false),
   intra_process_subscription_id_(0),
   type_support_(type_support_handle),
   is_serialized_(is_serialized)
 {
-  auto custom_deletor = [node_handle](rcl_subscription_t * rcl_subs)
+  auto custom_deletor = [node_handle = this->node_handle_](rcl_subscription_t * rcl_subs)
     {
       if (rcl_subscription_fini(rcl_subs, node_handle.get()) != RCL_RET_OK) {
         RCLCPP_ERROR(
@@ -128,6 +129,18 @@ SubscriptionBase::get_event_handlers() const
   return event_handlers_;
 }
 
+rmw_qos_profile_t
+SubscriptionBase::get_actual_qos() const
+{
+  const rmw_qos_profile_t * qos = rcl_subscription_get_actual_qos(subscription_handle_.get());
+  if (!qos) {
+    auto msg = std::string("failed to get qos settings: ") + rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(msg);
+  }
+  return *qos;
+}
+
 const rosidl_message_type_support_t &
 SubscriptionBase::get_message_type_support_handle() const
 {
@@ -155,7 +168,8 @@ SubscriptionBase::get_publisher_count() const
   return inter_process_publisher_count;
 }
 
-void SubscriptionBase::setup_intra_process(
+void
+SubscriptionBase::setup_intra_process(
   uint64_t intra_process_subscription_id,
   IntraProcessManagerWeakPtr weak_ipm,
   const rcl_subscription_options_t & intra_process_options)

rclcpp/src/rclcpp/time.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <limits>
+#include <string>
 #include <utility>
 
 #include "rclcpp/clock.hpp"
@@ -194,7 +195,10 @@ Duration
 Time::operator-(const rclcpp::Time & rhs) const
 {
   if (rcl_time_.clock_type != rhs.rcl_time_.clock_type) {
-    throw std::runtime_error("can't subtract times with different time sources");
+    throw std::runtime_error(
+            std::string("can't subtract times with different time sources [") +
+            std::to_string(rcl_time_.clock_type) + " != " +
+            std::to_string(rhs.rcl_time_.clock_type) + "]");
   }
 
   if (rclcpp::sub_will_overflow(rcl_time_.nanoseconds, rhs.rcl_time_.nanoseconds)) {

rclcpp/src/rclcpp/time_source.cpp

@@ -25,6 +25,8 @@
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp/parameter_client.hpp"
+#include "rclcpp/parameter_events_filter.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/time_source.hpp"
 
@@ -98,27 +100,22 @@ void TimeSource::attachNode(
   } else {
     // TODO(wjwwood): use set_on_parameters_set_callback to catch the type mismatch,
     //   before the use_sim_time parameter can ever be set to an invalid value
-    RCLCPP_ERROR(logger_, "Invalid type '%s' for parameter 'use_sim_time', should be 'bool'",
+    RCLCPP_ERROR(
+      logger_, "Invalid type '%s' for parameter 'use_sim_time', should be 'bool'",
       rclcpp::to_string(use_sim_time_param.get_type()).c_str());
   }
 
   // TODO(tfoote) use parameters interface not subscribe to events via topic ticketed #609
-  parameter_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
-    node_base_,
+  parameter_subscription_ = rclcpp::AsyncParametersClient::on_parameter_event(
     node_topics_,
-    node_graph_,
-    node_services_
-  );
-  parameter_subscription_ =
-    parameter_client_->on_parameter_event(std::bind(&TimeSource::on_parameter_event,
-      this, std::placeholders::_1));
+    std::bind(&TimeSource::on_parameter_event, this, std::placeholders::_1));
 }
 
 void TimeSource::detachNode()
 {
   this->ros_time_active_ = false;
   clock_subscription_.reset();
-  parameter_client_.reset();
+  parameter_subscription_.reset();
   node_base_.reset();
   node_topics_.reset();
   node_graph_.reset();
@@ -158,7 +155,8 @@ void TimeSource::detachClock(std::shared_ptr<rclcpp::Clock> clock)
 
 TimeSource::~TimeSource()
 {
-  if (node_base_ || node_topics_ || node_graph_ || node_services_ ||
+  if (
+    node_base_ || node_topics_ || node_graph_ || node_services_ ||
     node_logging_ || node_clock_ || node_parameters_)
   {
     this->detachNode();
@@ -224,13 +222,17 @@ void TimeSource::destroy_clock_sub()
 
 void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
 {
+  // Filter out events on 'use_sim_time' parameter instances in other nodes.
+  if (event->node != node_base_->get_fully_qualified_name()) {
+    return;
+  }
   // Filter for only 'use_sim_time' being added or changed.
   rclcpp::ParameterEventsFilter filter(event, {"use_sim_time"},
     {rclcpp::ParameterEventsFilter::EventType::NEW,
       rclcpp::ParameterEventsFilter::EventType::CHANGED});
   for (auto & it : filter.get_events()) {
     if (it.second->value.type != ParameterType::PARAMETER_BOOL) {
-      RCLCPP_ERROR(logger_, "use_sim_time parameter set to something besides a bool");
+      RCLCPP_ERROR(logger_, "use_sim_time parameter cannot be set to anything but a bool");
       continue;
     }
     if (it.second->value.bool_value) {

rclcpp/src/rclcpp/timer.cpp

@@ -55,7 +55,8 @@ TimerBase::TimerBase(
   *timer_handle_.get() = rcl_get_zero_initialized_timer();
 
   rcl_clock_t * clock_handle = clock_->get_clock_handle();
-  if (rcl_timer_init(
+  if (
+    rcl_timer_init(
       timer_handle_.get(), clock_handle, rcl_context.get(), period.count(), nullptr,
       rcl_get_default_allocator()) != RCL_RET_OK)
   {
@@ -110,12 +111,14 @@ std::chrono::nanoseconds
 TimerBase::time_until_trigger()
 {
   int64_t time_until_next_call = 0;
-  if (rcl_timer_get_time_until_next_call(timer_handle_.get(),
-    &time_until_next_call) != RCL_RET_OK)
+  if (
+    rcl_timer_get_time_until_next_call(
+      timer_handle_.get(),
+      &time_until_next_call) != RCL_RET_OK)
   {
     throw std::runtime_error(
-            std::string("Timer could not get time until next call: ") +
-            rcl_get_error_string().str);
+            std::string(
+              "Timer could not get time until next call: ") + rcl_get_error_string().str);
   }
   return std::chrono::nanoseconds(time_until_next_call);
 }

rclcpp/test/mock_msgs/srv/Mock.srv

@@ -1,3 +0,0 @@
-bool request
----
-bool response

rclcpp/test/node_interfaces/test_get_node_interfaces.cpp

@@ -85,6 +85,26 @@ TEST_F(TestGetNodeInterfaces, node_reference) {
     >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
 }
 
+TEST_F(TestGetNodeInterfaces, rclcpp_node_pointer) {
+  rclcpp::Node * node_pointer = this->node.get();
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(node_pointer);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
+TEST_F(TestGetNodeInterfaces, node_pointer) {
+  NodeWrapper * wrapped_node_pointer = this->wrapped_node.get();
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(wrapped_node_pointer);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
 TEST_F(TestGetNodeInterfaces, interface_shared_pointer) {
   std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> interface_shared_ptr =
     this->node->get_node_topics_interface();

rclcpp/test/resources/test_node/test_parameters.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    parameter_int: 21
+    parameter_string_array: [baz, baz, baz]

rclcpp/test/test_client.cpp

@@ -75,12 +75,37 @@ TEST_F(TestClient, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       auto client = node->create_client<ListParameters>("invalid_service?");
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
 }
 
+TEST_F(TestClient, construction_with_free_function) {
+  {
+    auto client = rclcpp::create_client<rcl_interfaces::srv::ListParameters>(
+      node->get_node_base_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface(),
+      "service",
+      rmw_qos_profile_services_default,
+      nullptr);
+  }
+  {
+    ASSERT_THROW(
+    {
+      auto client = rclcpp::create_client<rcl_interfaces::srv::ListParameters>(
+        node->get_node_base_interface(),
+        node->get_node_graph_interface(),
+        node->get_node_services_interface(),
+        "invalid_?service",
+        rmw_qos_profile_services_default,
+        nullptr);
+    }, rclcpp::exceptions::InvalidServiceNameError);
+  }
+}
+
 /*
    Testing client construction and destruction for subnodes.
  */
@@ -92,7 +117,8 @@ TEST_F(TestClientSub, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       auto client = node->create_client<ListParameters>("invalid_service?");
     }, rclcpp::exceptions::InvalidServiceNameError);
   }

rclcpp/test/test_create_timer.cpp

@@ -0,0 +1,63 @@
+// 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 <atomic>
+#include <chrono>
+#include <memory>
+
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "node_interfaces/node_wrapper.hpp"
+
+using namespace std::chrono_literals;
+
+TEST(TestCreateTimer, timer_executes)
+{
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("test_create_timer_node");
+
+  std::atomic<bool> got_callback{false};
+
+  rclcpp::TimerBase::SharedPtr timer;
+  timer = rclcpp::create_timer(
+    node,
+    node->get_clock(),
+    rclcpp::Duration(0ms),
+    [&got_callback, &timer]() {
+      got_callback = true;
+      timer->cancel();
+    });
+
+  rclcpp::spin_some(node);
+
+  ASSERT_TRUE(got_callback);
+  rclcpp::shutdown();
+}
+
+TEST(TestCreateTimer, call_with_node_wrapper_compiles)
+{
+  rclcpp::init(0, nullptr);
+  NodeWrapper node("test_create_timer_call_with_node_wrapper_compiles");
+
+  rclcpp::TimerBase::SharedPtr timer;
+  timer = rclcpp::create_timer(
+    node,
+    node.get_node_clock_interface()->get_clock(),
+    rclcpp::Duration(0ms),
+    []() {});
+  rclcpp::shutdown();
+}

rclcpp/test/test_duration.cpp

@@ -136,3 +136,20 @@ TEST(TestDuration, maximum_duration) {
 
   EXPECT_EQ(max_duration, max);
 }
+
+static const int64_t HALF_SEC_IN_NS = 500 * 1000 * 1000;
+static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;
+
+TEST(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) {
+  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));
+}

rclcpp/test/test_executor.cpp

@@ -60,3 +60,10 @@ TEST_F(TestExecutors, detachOnDestruction) {
     EXPECT_NO_THROW(executor.add_node(node));
   }
 }
+
+// Make sure that the executor can automatically remove expired nodes correctly
+TEST_F(TestExecutors, addTemporaryNode) {
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(std::make_shared<rclcpp::Node>("temporary_node"));
+  EXPECT_NO_THROW(executor.spin_some());
+}

rclcpp/test/test_expand_topic_or_service_name.cpp

@@ -33,39 +33,45 @@ TEST(TestExpandTopicOrServiceName, normal) {
 TEST(TestExpandTopicOrServiceName, exceptions) {
   using rclcpp::expand_topic_or_service_name;
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       expand_topic_or_service_name("chatter", "invalid_node?", "/ns");
     }, rclcpp::exceptions::InvalidNodeNameError);
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       expand_topic_or_service_name("chatter", "node", "/invalid_ns?");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       expand_topic_or_service_name("chatter/42invalid", "node", "/ns");
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       // this one will only fail on the "full" topic name validation check
       expand_topic_or_service_name("chatter/{ns}/invalid", "node", "/ns");
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       // is_service = true
       expand_topic_or_service_name("chatter/42invalid", "node", "/ns", true);
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       // is_service = true
       // this one will only fail on the "full" topic name validation check
       expand_topic_or_service_name("chatter/{ns}/invalid", "node", "/ns", true);

rclcpp/test/test_externally_defined_services.cpp

@@ -24,8 +24,8 @@
 
 #include "rcl/service.h"
 
-#include "rclcpp/srv/mock.hpp"
-#include "rclcpp/srv/mock.h"
+#include "test_msgs/srv/empty.hpp"
+#include "test_msgs/srv/empty.h"
 
 class TestExternallyDefinedServices : public ::testing::Test
 {
@@ -38,16 +38,15 @@ protected:
 
 void
 callback(
-  const std::shared_ptr<rclcpp::srv::Mock::Request>/*req*/,
-  std::shared_ptr<rclcpp::srv::Mock::Response>/*resp*/)
+  const std::shared_ptr<test_msgs::srv::Empty::Request>/*req*/,
+  std::shared_ptr<test_msgs::srv::Empty::Response>/*resp*/)
 {}
 
 TEST_F(TestExternallyDefinedServices, default_behavior) {
   auto node_handle = rclcpp::Node::make_shared("base_node");
 
   try {
-    auto srv = node_handle->create_service<rclcpp::srv::Mock>("test",
-        callback);
+    auto srv = node_handle->create_service<test_msgs::srv::Empty>("test", callback);
   } catch (const std::exception &) {
     FAIL();
     return;
@@ -55,19 +54,18 @@ TEST_F(TestExternallyDefinedServices, default_behavior) {
   SUCCEED();
 }
 
-
 TEST_F(TestExternallyDefinedServices, extern_defined_uninitialized) {
   auto node_handle = rclcpp::Node::make_shared("base_node");
 
   // mock for externally defined service
   rcl_service_t service_handle = rcl_get_zero_initialized_service();
 
-  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
+  rclcpp::AnyServiceCallback<test_msgs::srv::Empty> cb;
 
   // don't initialize the service
   // expect fail
   try {
-    rclcpp::Service<rclcpp::srv::Mock>(
+    rclcpp::Service<test_msgs::srv::Empty>(
       node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
       &service_handle, cb);
   } catch (const std::runtime_error &) {
@@ -85,7 +83,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
   rcl_service_t service_handle = rcl_get_zero_initialized_service();
   rcl_service_options_t service_options = rcl_service_get_default_options();
   const rosidl_service_type_support_t * ts =
-    rosidl_typesupport_cpp::get_service_type_support_handle<rclcpp::srv::Mock>();
+    rosidl_typesupport_cpp::get_service_type_support_handle<test_msgs::srv::Empty>();
   rcl_ret_t ret = rcl_service_init(
     &service_handle,
     node_handle->get_node_base_interface()->get_rcl_node_handle(),
@@ -95,10 +93,10 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
     return;
   }
 
-  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
+  rclcpp::AnyServiceCallback<test_msgs::srv::Empty> cb;
 
   try {
-    rclcpp::Service<rclcpp::srv::Mock>(
+    rclcpp::Service<test_msgs::srv::Empty>(
       node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
       &service_handle, cb);
   } catch (const std::runtime_error &) {
@@ -125,7 +123,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
   rcl_service_t service_handle = rcl_get_zero_initialized_service();
   rcl_service_options_t service_options = rcl_service_get_default_options();
   const rosidl_service_type_support_t * ts =
-    rosidl_typesupport_cpp::get_service_type_support_handle<rclcpp::srv::Mock>();
+    rosidl_typesupport_cpp::get_service_type_support_handle<test_msgs::srv::Empty>();
   rcl_ret_t ret = rcl_service_init(
     &service_handle,
     node_handle->get_node_base_interface()->get_rcl_node_handle(),
@@ -134,11 +132,11 @@ TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
     FAIL();
     return;
   }
-  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
+  rclcpp::AnyServiceCallback<test_msgs::srv::Empty> cb;
 
   {
     // Call constructor
-    rclcpp::Service<rclcpp::srv::Mock> srv_cpp(
+    rclcpp::Service<test_msgs::srv::Empty> srv_cpp(
       node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
       &service_handle, cb);
     // Call destructor

rclcpp/test/test_find_weak_nodes.cpp

@@ -36,15 +36,15 @@ TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
     rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
   auto existing_node = rclcpp::Node::make_shared("existing_node");
   auto dead_node = rclcpp::Node::make_shared("dead_node");
-  rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
+  rclcpp::memory_strategy::MemoryStrategy::WeakNodeList weak_nodes;
   weak_nodes.push_back(existing_node->get_node_base_interface());
   weak_nodes.push_back(dead_node->get_node_base_interface());
 
   // AND
   // Delete dead_node, creating a dangling pointer in weak_nodes
   dead_node.reset();
-  ASSERT_FALSE(weak_nodes[0].expired());
-  ASSERT_TRUE(weak_nodes[1].expired());
+  ASSERT_FALSE(weak_nodes.front().expired());
+  ASSERT_TRUE(weak_nodes.back().expired());
 
   // WHEN
   bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
@@ -64,11 +64,11 @@ TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
     rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
   auto existing_node1 = rclcpp::Node::make_shared("existing_node1");
   auto existing_node2 = rclcpp::Node::make_shared("existing_node2");
-  rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
+  rclcpp::memory_strategy::MemoryStrategy::WeakNodeList weak_nodes;
   weak_nodes.push_back(existing_node1->get_node_base_interface());
   weak_nodes.push_back(existing_node2->get_node_base_interface());
-  ASSERT_FALSE(weak_nodes[0].expired());
-  ASSERT_FALSE(weak_nodes[1].expired());
+  ASSERT_FALSE(weak_nodes.front().expired());
+  ASSERT_FALSE(weak_nodes.back().expired());
 
   // WHEN
   bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);

rclcpp/test/test_function_traits.cpp

@@ -80,6 +80,12 @@ struct ObjectMember
     return 7;
   }
 
+  int callback_one_bool_const(bool a) const
+  {
+    (void)a;
+    return 7;
+  }
+
   int callback_two_bools(bool a, bool b)
   {
     (void)a;
@@ -394,6 +400,16 @@ TEST(TestFunctionTraits, argument_types) {
       rclcpp::function_traits::function_traits<decltype(bind_one_bool)>::template argument_type<0>
     >::value, "Functor accepts a bool as first argument");
 
+  auto bind_one_bool_const = std::bind(
+    &ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
+
+  static_assert(
+    std::is_same<
+      bool,
+      rclcpp::function_traits::function_traits<decltype(bind_one_bool_const)>::template
+      argument_type<0>
+    >::value, "Functor accepts a bool as first argument");
+
   auto bind_two_bools = std::bind(
     &ObjectMember::callback_two_bools, &object_member, std::placeholders::_1,
     std::placeholders::_2);
@@ -561,6 +577,14 @@ TEST(TestFunctionTraits, check_arguments) {
   static_assert(
     rclcpp::function_traits::check_arguments<decltype(bind_one_bool), bool>::value,
     "Functor accepts a single bool as arguments");
+
+  auto bind_one_bool_const = std::bind(
+    &ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
+
+  // Test std::bind functions
+  static_assert(
+    rclcpp::function_traits::check_arguments<decltype(bind_one_bool_const), bool>::value,
+    "Functor accepts a single bool as arguments");
 }
 
 /*
@@ -718,8 +742,9 @@ public:
    TEST_F GTest macro.
 */
 TEST_F(TestMember, bind_member_functor) {
-  auto bind_member_functor = std::bind(&TestMember::MemberFunctor, this, std::placeholders::_1,
-      std::placeholders::_2, std::placeholders::_3);
+  auto bind_member_functor = std::bind(
+    &TestMember::MemberFunctor, this, std::placeholders::_1,
+    std::placeholders::_2, std::placeholders::_3);
 
   static_assert(
     rclcpp::function_traits::check_arguments<decltype(bind_member_functor), int, float,

rclcpp/test/test_intra_process_manager.cpp

@@ -37,6 +37,9 @@ public:
   PublisherBase()
   : mock_topic_name(""), mock_queue_size(0) {}
 
+  virtual ~PublisherBase()
+  {}
+
   const char * get_topic_name() const
   {
     return mock_topic_name.c_str();

rclcpp/test/test_local_parameters.cpp

@@ -1,97 +0,0 @@
-// Copyright 2018 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstdio>
-#include <map>
-#include <string>
-
-#include "gtest/gtest.h"
-
-#include "rclcpp/rclcpp.hpp"
-
-TEST(test_local_parameters, set_parameter_if_not_set) {
-  auto node = rclcpp::Node::make_shared(
-    "test_local_parameters_set_parameter_if_not_set",
-    rclcpp::NodeOptions().allow_undeclared_parameters(true));
-
-  {
-    // try to set a map of parameters
-    std::map<std::string, double> bar_map{
-      {"x", 0.5},
-      {"y", 1.0},
-    };
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-    node->set_parameters_if_not_set("bar", bar_map);
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-    double bar_x_value;
-    ASSERT_TRUE(node->get_parameter("bar.x", bar_x_value));
-    EXPECT_EQ(bar_x_value, 0.5);
-    double bar_y_value;
-    ASSERT_TRUE(node->get_parameter("bar.y", bar_y_value));
-    EXPECT_EQ(bar_y_value, 1.0);
-    std::map<std::string, double> new_map;
-    ASSERT_TRUE(node->get_parameters("bar", new_map));
-    ASSERT_EQ(new_map.size(), 2U);
-    EXPECT_EQ(new_map["x"], 0.5);
-    EXPECT_EQ(new_map["y"], 1.0);
-  }
-
-  {
-    // try to get a map of parameters that doesn't exist
-    std::map<std::string, double> no_exist_map;
-    ASSERT_FALSE(node->get_parameters("no_exist", no_exist_map));
-  }
-
-  {
-    // set parameters for a map with different types, then try to get them back as a map
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-    node->set_parameter_if_not_set("baz.x", 1.0);
-    node->set_parameter_if_not_set("baz.y", "hello");
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-    std::map<std::string, double> baz_map;
-    EXPECT_THROW(node->get_parameters("baz", baz_map), rclcpp::ParameterTypeException);
-  }
-}
-
-int main(int argc, char ** argv)
-{
-  ::setvbuf(stdout, NULL, _IONBF, BUFSIZ);
-
-  // NOTE: use custom main to ensure that rclcpp::init is called only once
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}

rclcpp/test/test_logging.cpp

@@ -162,3 +162,28 @@ TEST_F(TestLoggingMacros, test_logging_skipfirst) {
     EXPECT_EQ(i - 1, g_log_calls);
   }
 }
+
+bool log_function(rclcpp::Logger logger)
+{
+  RCLCPP_INFO(logger, "successful log");
+  return true;
+}
+
+bool log_function_const(const rclcpp::Logger logger)
+{
+  RCLCPP_INFO(logger, "successful log");
+  return true;
+}
+
+bool log_function_const_ref(const rclcpp::Logger & logger)
+{
+  RCLCPP_INFO(logger, "successful log");
+  return true;
+}
+
+TEST_F(TestLoggingMacros, test_log_from_node) {
+  auto logger = rclcpp::get_logger("test_logging_logger");
+  EXPECT_TRUE(log_function(logger));
+  EXPECT_TRUE(log_function_const(logger));
+  EXPECT_TRUE(log_function_const_ref(logger));
+}

rclcpp/test/test_node_global_args.cpp

@@ -28,14 +28,15 @@ class TestNodeWithGlobalArgs : public ::testing::Test
 protected:
   static void SetUpTestCase()
   {
-    const char * const args[] = {"proc", "__node:=global_node_name"};
-    rclcpp::init(2, args);
+    const char * const args[] = {"proc", "--ros-args", "-r", "__node:=global_node_name"};
+    const int argc = sizeof(args) / sizeof(const char *);
+    rclcpp::init(argc, args);
   }
 };
 
 TEST_F(TestNodeWithGlobalArgs, local_arguments_before_global) {
   auto options = rclcpp::NodeOptions()
-    .arguments({"__node:=local_arguments_test"});
+    .arguments({"--ros-args", "-r", "__node:=local_arguments_test"});
 
   auto node = rclcpp::Node::make_shared("orig_name", options);
   EXPECT_STREQ("local_arguments_test", node->get_name());

rclcpp/test/test_node_options.cpp

@@ -0,0 +1,100 @@
+// 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 <string>
+#include <vector>
+
+#include "rcl/allocator.h"
+#include "rcl/arguments.h"
+#include "rcl/remap.h"
+
+#include "rclcpp/node_options.hpp"
+
+
+TEST(TestNodeOptions, ros_args_only) {
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  auto options = rclcpp::NodeOptions(allocator)
+    .arguments({"--ros-args", "-r", "__node:=some_node", "-r", "__ns:=/some_ns"});
+
+  const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
+  ASSERT_TRUE(rcl_options != nullptr);
+  ASSERT_EQ(0, rcl_arguments_get_count_unparsed(&rcl_options->arguments));
+  ASSERT_EQ(0, rcl_arguments_get_count_unparsed_ros(&rcl_options->arguments));
+
+  char * node_name = nullptr;
+  EXPECT_EQ(RCL_RET_OK, rcl_remap_node_name(
+      &rcl_options->arguments, nullptr, "my_node", allocator, &node_name));
+  ASSERT_TRUE(node_name != nullptr);
+  EXPECT_STREQ("some_node", node_name);
+  allocator.deallocate(node_name, allocator.state);
+
+  char * namespace_name = nullptr;
+  EXPECT_EQ(RCL_RET_OK, rcl_remap_node_namespace(
+      &rcl_options->arguments, nullptr, "my_ns", allocator, &namespace_name));
+  ASSERT_TRUE(namespace_name != nullptr);
+  EXPECT_STREQ("/some_ns", namespace_name);
+  allocator.deallocate(namespace_name, allocator.state);
+}
+
+TEST(TestNodeOptions, ros_args_and_non_ros_args) {
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  auto options = rclcpp::NodeOptions(allocator).arguments({
+    "--non-ros-flag", "--ros-args", "-r", "__node:=some_node",
+    "-r", "__ns:=/some_ns", "--", "non-ros-arg"});
+
+  const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
+  ASSERT_TRUE(rcl_options != nullptr);
+  ASSERT_EQ(0, rcl_arguments_get_count_unparsed_ros(&rcl_options->arguments));
+  ASSERT_EQ(2, rcl_arguments_get_count_unparsed(&rcl_options->arguments));
+
+  char * node_name = nullptr;
+  EXPECT_EQ(RCL_RET_OK, rcl_remap_node_name(
+      &rcl_options->arguments, nullptr, "my_node", allocator, &node_name));
+  ASSERT_TRUE(node_name != nullptr);
+  EXPECT_STREQ("some_node", node_name);
+  allocator.deallocate(node_name, allocator.state);
+
+  char * namespace_name = nullptr;
+  EXPECT_EQ(RCL_RET_OK, rcl_remap_node_namespace(
+      &rcl_options->arguments, nullptr, "my_ns", allocator, &namespace_name));
+  ASSERT_TRUE(namespace_name != nullptr);
+  EXPECT_STREQ("/some_ns", namespace_name);
+  allocator.deallocate(namespace_name, allocator.state);
+
+  int * output_indices = nullptr;
+  EXPECT_EQ(RCL_RET_OK, rcl_arguments_get_unparsed(
+      &rcl_options->arguments, allocator, &output_indices));
+  ASSERT_TRUE(output_indices != nullptr);
+  const std::vector<std::string> & args = options.arguments();
+  EXPECT_EQ("--non-ros-flag", args[output_indices[0]]);
+  EXPECT_EQ("non-ros-arg", args[output_indices[1]]);
+  allocator.deallocate(output_indices, allocator.state);
+}
+
+TEST(TestNodeOptions, bad_ros_args) {
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  auto options = rclcpp::NodeOptions(allocator)
+    .arguments({"--ros-args", "-r", "foo:="});
+
+  EXPECT_THROW(
+    options.get_rcl_node_options(),
+    rclcpp::exceptions::RCLInvalidROSArgsError);
+
+  options.arguments({"--ros-args", "-r", "foo:=bar", "not-a-ros-arg"});
+  EXPECT_THROW(
+    options.get_rcl_node_options(),
+    rclcpp::exceptions::UnknownROSArgsError);
+}

rclcpp/test/test_parameter.cpp

@@ -53,7 +53,8 @@ TEST(TestParameter, not_set_variant) {
   EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET, not_set_param.value.type);
 
   // From parameter message
-  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_NOT_SET,
+  EXPECT_EQ(
+    rclcpp::ParameterType::PARAMETER_NOT_SET,
     rclcpp::Parameter::from_parameter_msg(not_set_param).get_type());
 }
 
@@ -65,7 +66,8 @@ TEST(TestParameter, bool_variant) {
   EXPECT_EQ("bool", bool_variant_true.get_type_name());
   EXPECT_TRUE(bool_variant_true.get_value<rclcpp::ParameterType::PARAMETER_BOOL>());
   EXPECT_TRUE(bool_variant_true.get_value_message().bool_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
     bool_variant_true.get_value_message().type);
   EXPECT_TRUE(bool_variant_true.as_bool());
 
@@ -83,7 +85,8 @@ TEST(TestParameter, bool_variant) {
   rclcpp::Parameter bool_variant_false("bool_param", false);
   EXPECT_FALSE(bool_variant_false.get_value<rclcpp::ParameterType::PARAMETER_BOOL>());
   EXPECT_FALSE(bool_variant_false.get_value_message().bool_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
     bool_variant_false.get_value_message().type);
 
   rcl_interfaces::msg::Parameter bool_param = bool_variant_true.to_parameter_msg();
@@ -99,7 +102,8 @@ TEST(TestParameter, bool_variant) {
   EXPECT_EQ("bool", from_msg_true.get_type_name());
   EXPECT_TRUE(from_msg_true.get_value<rclcpp::ParameterType::PARAMETER_BOOL>());
   EXPECT_TRUE(from_msg_true.get_value_message().bool_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
     bool_variant_false.get_value_message().type);
 
   bool_param.value.bool_value = false;
@@ -107,7 +111,8 @@ TEST(TestParameter, bool_variant) {
     rclcpp::Parameter::from_parameter_msg(bool_param);
   EXPECT_FALSE(from_msg_false.get_value<rclcpp::ParameterType::PARAMETER_BOOL>());
   EXPECT_FALSE(from_msg_false.get_value_message().bool_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
     bool_variant_false.get_value_message().type);
 }
 
@@ -119,10 +124,12 @@ TEST(TestParameter, integer_variant) {
   EXPECT_EQ("integer_param", integer_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, integer_variant.get_type());
   EXPECT_EQ("integer", integer_variant.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     integer_variant.get_value<rclcpp::ParameterType::PARAMETER_INTEGER>());
   EXPECT_EQ(TEST_VALUE, integer_variant.get_value_message().integer_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
     integer_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, integer_variant.as_int());
 
@@ -148,10 +155,12 @@ TEST(TestParameter, integer_variant) {
   EXPECT_EQ("integer_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, from_msg.get_type());
   EXPECT_EQ("integer", from_msg.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_INTEGER>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().integer_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
     from_msg.get_value_message().type);
 }
 
@@ -163,10 +172,12 @@ TEST(TestParameter, long_integer_variant) {
   EXPECT_EQ("long_integer_param", long_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, long_variant.get_type());
   EXPECT_EQ("integer", long_variant.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     long_variant.get_value<rclcpp::ParameterType::PARAMETER_INTEGER>());
   EXPECT_EQ(TEST_VALUE, long_variant.get_value_message().integer_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
     long_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, long_variant.as_int());
 
@@ -192,10 +203,12 @@ TEST(TestParameter, long_integer_variant) {
   EXPECT_EQ("long_integer_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER, from_msg.get_type());
   EXPECT_EQ("integer", from_msg.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_INTEGER>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().integer_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
     from_msg.get_value_message().type);
 }
 
@@ -207,10 +220,12 @@ TEST(TestParameter, float_variant) {
   EXPECT_EQ("float_param", float_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE, float_variant.get_type());
   EXPECT_EQ("double", float_variant.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     float_variant.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE>());
   EXPECT_EQ(TEST_VALUE, float_variant.get_value_message().double_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
     float_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, float_variant.as_double());
 
@@ -236,10 +251,12 @@ TEST(TestParameter, float_variant) {
   EXPECT_EQ("float_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE, from_msg.get_type());
   EXPECT_EQ("double", from_msg.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().double_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
     from_msg.get_value_message().type);
 }
 
@@ -251,10 +268,12 @@ TEST(TestParameter, double_variant) {
   EXPECT_EQ("double_param", double_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE, double_variant.get_type());
   EXPECT_EQ("double", double_variant.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     double_variant.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE>());
   EXPECT_EQ(TEST_VALUE, double_variant.get_value_message().double_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
     double_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, double_variant.as_double());
 
@@ -280,10 +299,12 @@ TEST(TestParameter, double_variant) {
   EXPECT_EQ("double_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE, from_msg.get_type());
   EXPECT_EQ("double", from_msg.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().double_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
     from_msg.get_value_message().type);
 }
 
@@ -295,10 +316,12 @@ TEST(TestParameter, string_variant) {
   EXPECT_EQ("string_param", string_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_STRING, string_variant.get_type());
   EXPECT_EQ("string", string_variant.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     string_variant.get_value<rclcpp::ParameterType::PARAMETER_STRING>());
   EXPECT_EQ(TEST_VALUE, string_variant.get_value_message().string_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
     string_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, string_variant.as_string());
 
@@ -326,7 +349,8 @@ TEST(TestParameter, string_variant) {
   EXPECT_EQ("string", from_msg.get_type_name());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value<rclcpp::ParameterType::PARAMETER_STRING>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().string_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
     from_msg.get_value_message().type);
 }
 
@@ -338,10 +362,12 @@ TEST(TestParameter, byte_array_variant) {
   EXPECT_EQ("byte_array_param", byte_array_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_BYTE_ARRAY, byte_array_variant.get_type());
   EXPECT_EQ("byte_array", byte_array_variant.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     byte_array_variant.get_value<rclcpp::ParameterType::PARAMETER_BYTE_ARRAY>());
   EXPECT_EQ(TEST_VALUE, byte_array_variant.get_value_message().byte_array_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY,
     byte_array_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, byte_array_variant.as_byte_array());
 
@@ -367,10 +393,12 @@ TEST(TestParameter, byte_array_variant) {
   EXPECT_EQ("byte_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_BYTE_ARRAY, from_msg.get_type());
   EXPECT_EQ("byte_array", from_msg.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_BYTE_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().byte_array_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY,
     from_msg.get_value_message().type);
 }
 
@@ -382,10 +410,12 @@ TEST(TestParameter, bool_array_variant) {
   EXPECT_EQ("bool_array_param", bool_array_variant.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_BOOL_ARRAY, bool_array_variant.get_type());
   EXPECT_EQ("bool_array", bool_array_variant.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     bool_array_variant.get_value<rclcpp::ParameterType::PARAMETER_BOOL_ARRAY>());
   EXPECT_EQ(TEST_VALUE, bool_array_variant.get_value_message().bool_array_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY,
     bool_array_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, bool_array_variant.as_bool_array());
 
@@ -411,10 +441,12 @@ TEST(TestParameter, bool_array_variant) {
   EXPECT_EQ("bool_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_BOOL_ARRAY, from_msg.get_type());
   EXPECT_EQ("bool_array", from_msg.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_BOOL_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().bool_array_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY,
     from_msg.get_value_message().type);
 }
 
@@ -426,10 +458,12 @@ TEST(TestParameter, integer_array_variant) {
   rclcpp::Parameter integer_array_variant("integer_array_param", TEST_VALUE);
 
   EXPECT_EQ("integer_array_param", integer_array_variant.get_name());
-  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(
+    rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY,
     integer_array_variant.get_type());
   EXPECT_EQ("integer_array", integer_array_variant.get_type_name());
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     integer_array_variant.get_value_message().type);
 
   // No direct comparison of vectors of ints and long ints
@@ -464,7 +498,8 @@ TEST(TestParameter, integer_array_variant) {
 
   rcl_interfaces::msg::Parameter integer_array_param = integer_array_variant.to_parameter_msg();
   EXPECT_EQ("integer_array_param", integer_array_param.name);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     integer_array_param.value.type);
 
   param_value = integer_array_param.value.integer_array_value;
@@ -489,7 +524,8 @@ TEST(TestParameter, integer_array_variant) {
   EXPECT_EQ(TEST_VALUE.end(), mismatches.first);
   EXPECT_EQ(param_value.end(), mismatches.second);
 
-  EXPECT_EQ(from_msg.get_value_message().type,
+  EXPECT_EQ(
+    from_msg.get_value_message().type,
     rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
 }
 
@@ -499,12 +535,15 @@ TEST(TestParameter, long_integer_array_variant) {
 
   rclcpp::Parameter long_array_variant("long_integer_array_param", TEST_VALUE);
   EXPECT_EQ("long_integer_array_param", long_array_variant.get_name());
-  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(
+    rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY,
     long_array_variant.get_type());
   EXPECT_EQ("integer_array", long_array_variant.get_type_name());
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     long_array_variant.get_value_message().type);
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     long_array_variant.get_value<rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY>());
   EXPECT_EQ(TEST_VALUE, long_array_variant.get_value_message().integer_array_value);
   EXPECT_EQ(TEST_VALUE, long_array_variant.as_integer_array());
@@ -524,7 +563,8 @@ TEST(TestParameter, long_integer_array_variant) {
 
   rcl_interfaces::msg::Parameter integer_array_param = long_array_variant.to_parameter_msg();
   EXPECT_EQ("long_integer_array_param", integer_array_param.name);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     integer_array_param.value.type);
   EXPECT_EQ(TEST_VALUE, integer_array_param.value.integer_array_value);
 
@@ -534,10 +574,12 @@ TEST(TestParameter, long_integer_array_variant) {
   EXPECT_EQ("long_integer_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY, from_msg.get_type());
   EXPECT_EQ("integer_array", from_msg.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().integer_array_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY,
     from_msg.get_value_message().type);
 }
 
@@ -549,10 +591,12 @@ TEST(TestParameter, float_array_variant) {
   rclcpp::Parameter float_array_variant("float_array_param", TEST_VALUE);
 
   EXPECT_EQ("float_array_param", float_array_variant.get_name());
-  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(
+    rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY,
     float_array_variant.get_type());
   EXPECT_EQ("double_array", float_array_variant.get_type_name());
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     float_array_variant.get_value_message().type);
 
   // No direct comparison of vectors of floats and doubles
@@ -587,7 +631,8 @@ TEST(TestParameter, float_array_variant) {
 
   rcl_interfaces::msg::Parameter float_array_param = float_array_variant.to_parameter_msg();
   EXPECT_EQ("float_array_param", float_array_param.name);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     float_array_param.value.type);
 
   param_value = float_array_param.value.double_array_value;
@@ -612,7 +657,8 @@ TEST(TestParameter, float_array_variant) {
   EXPECT_EQ(TEST_VALUE.end(), mismatches.first);
   EXPECT_EQ(param_value.end(), mismatches.second);
 
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     from_msg.get_value_message().type);
 }
 
@@ -622,12 +668,15 @@ TEST(TestParameter, double_array_variant) {
 
   rclcpp::Parameter double_array_variant("double_array_param", TEST_VALUE);
   EXPECT_EQ("double_array_param", double_array_variant.get_name());
-  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(
+    rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY,
     double_array_variant.get_type());
   EXPECT_EQ("double_array", double_array_variant.get_type_name());
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     double_array_variant.get_value_message().type);
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     double_array_variant.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY>());
   EXPECT_EQ(TEST_VALUE, double_array_variant.get_value_message().double_array_value);
   EXPECT_EQ(TEST_VALUE, double_array_variant.as_double_array());
@@ -647,7 +696,8 @@ TEST(TestParameter, double_array_variant) {
 
   rcl_interfaces::msg::Parameter double_array_param = double_array_variant.to_parameter_msg();
   EXPECT_EQ("double_array_param", double_array_param.name);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     double_array_param.value.type);
   EXPECT_EQ(TEST_VALUE, double_array_param.value.double_array_value);
 
@@ -657,10 +707,12 @@ TEST(TestParameter, double_array_variant) {
   EXPECT_EQ("double_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY, from_msg.get_type());
   EXPECT_EQ("double_array", from_msg.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().double_array_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY,
     from_msg.get_value_message().type);
 }
 
@@ -670,13 +722,16 @@ TEST(TestParameter, string_array_variant) {
   // Direct instantiation
   rclcpp::Parameter string_array_variant("string_array_param", TEST_VALUE);
   EXPECT_EQ("string_array_param", string_array_variant.get_name());
-  EXPECT_EQ(rclcpp::ParameterType::PARAMETER_STRING_ARRAY,
+  EXPECT_EQ(
+    rclcpp::ParameterType::PARAMETER_STRING_ARRAY,
     string_array_variant.get_type());
   EXPECT_EQ("string_array", string_array_variant.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     string_array_variant.get_value<rclcpp::ParameterType::PARAMETER_STRING_ARRAY>());
   EXPECT_EQ(TEST_VALUE, string_array_variant.get_value_message().string_array_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
     string_array_variant.get_value_message().type);
   EXPECT_EQ(TEST_VALUE, string_array_variant.as_string_array());
 
@@ -693,7 +748,8 @@ TEST(TestParameter, string_array_variant) {
 
   rcl_interfaces::msg::Parameter string_array_param = string_array_variant.to_parameter_msg();
   EXPECT_EQ("string_array_param", string_array_param.name);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
     string_array_param.value.type);
   EXPECT_EQ(TEST_VALUE, string_array_param.value.string_array_value);
 
@@ -703,9 +759,11 @@ TEST(TestParameter, string_array_variant) {
   EXPECT_EQ("string_array_param", from_msg.get_name());
   EXPECT_EQ(rclcpp::ParameterType::PARAMETER_STRING_ARRAY, from_msg.get_type());
   EXPECT_EQ("string_array", from_msg.get_type_name());
-  EXPECT_EQ(TEST_VALUE,
+  EXPECT_EQ(
+    TEST_VALUE,
     from_msg.get_value<rclcpp::ParameterType::PARAMETER_STRING_ARRAY>());
   EXPECT_EQ(TEST_VALUE, from_msg.get_value_message().string_array_value);
-  EXPECT_EQ(rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
+  EXPECT_EQ(
+    rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY,
     from_msg.get_value_message().type);
 }

rclcpp/test/test_parameter_client.cpp

@@ -0,0 +1,157 @@
+// 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 <string>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "rcl_interfaces/msg/parameter_event.hpp"
+
+class TestParameterClient : public ::testing::Test
+{
+public:
+  void OnMessage(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
+  {
+    (void)event;
+  }
+
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void SetUp()
+  {
+    node = std::make_shared<rclcpp::Node>("test_parameter_client", "/ns");
+  }
+
+  void TearDown()
+  {
+    node.reset();
+  }
+
+  rclcpp::Node::SharedPtr node;
+};
+
+/*
+   Testing async parameter client construction and destruction.
+ */
+TEST_F(TestParameterClient, async_construction_and_destruction) {
+  {
+    auto asynchronous_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
+    (void)asynchronous_client;
+  }
+
+  {
+    auto asynchronous_client = std::make_shared<rclcpp::AsyncParametersClient>(
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface());
+    (void)asynchronous_client;
+  }
+
+  {
+    ASSERT_THROW(
+    {
+      std::make_shared<rclcpp::AsyncParametersClient>(node, "invalid_remote_node?");
+    }, rclcpp::exceptions::InvalidServiceNameError);
+  }
+}
+
+/*
+   Testing sync parameter client construction and destruction.
+ */
+TEST_F(TestParameterClient, sync_construction_and_destruction) {
+  {
+    auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(node);
+    (void)synchronous_client;
+  }
+
+  {
+    auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(
+      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
+      node);
+    (void)synchronous_client;
+  }
+
+  {
+    auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(
+      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
+      node->get_node_base_interface(),
+      node->get_node_topics_interface(),
+      node->get_node_graph_interface(),
+      node->get_node_services_interface());
+    (void)synchronous_client;
+  }
+
+  {
+    ASSERT_THROW(
+    {
+      std::make_shared<rclcpp::SyncParametersClient>(node, "invalid_remote_node?");
+    }, rclcpp::exceptions::InvalidServiceNameError);
+  }
+}
+
+/*
+   Testing different methods for parameter event subscription from asynchronous clients.
+ */
+TEST_F(TestParameterClient, async_parameter_event_subscription) {
+  auto callback = std::bind(&TestParameterClient::OnMessage, this, std::placeholders::_1);
+  {
+    auto asynchronous_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
+    auto event_sub = asynchronous_client->on_parameter_event(callback);
+    (void)event_sub;
+  }
+
+  {
+    auto event_sub = rclcpp::AsyncParametersClient::on_parameter_event(node, callback);
+    (void)event_sub;
+  }
+
+  {
+    auto event_sub = rclcpp::AsyncParametersClient::on_parameter_event(
+      node->get_node_topics_interface(),
+      callback);
+    (void)event_sub;
+  }
+}
+
+/*
+   Testing different methods for parameter event subscription from synchronous clients.
+ */
+TEST_F(TestParameterClient, sync_parameter_event_subscription) {
+  auto callback = std::bind(&TestParameterClient::OnMessage, this, std::placeholders::_1);
+  {
+    auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(node);
+    auto event_sub = synchronous_client->on_parameter_event(callback);
+    (void)event_sub;
+  }
+
+  {
+    auto event_sub = rclcpp::SyncParametersClient::on_parameter_event(node, callback);
+    (void)event_sub;
+  }
+
+  {
+    auto event_sub = rclcpp::SyncParametersClient::on_parameter_event(
+      node->get_node_topics_interface(),
+      callback);
+    (void)event_sub;
+  }
+}

rclcpp/test/test_parameter_map.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
+#include <rcl/allocator.h>
 #include <rcl_yaml_param_parser/parser.h>
 #include <rcutils/strdup.h>
 

rclcpp/test/test_publisher.cpp

@@ -16,6 +16,7 @@
 
 #include <string>
 #include <memory>
+#include <vector>
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -24,12 +25,13 @@
 
 class TestPublisher : public ::testing::Test
 {
-protected:
+public:
   static void SetUpTestCase()
   {
     rclcpp::init(0, nullptr);
   }
 
+protected:
   void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
   {
     node = std::make_shared<rclcpp::Node>("my_node", "/ns", node_options);
@@ -43,6 +45,25 @@ protected:
   rclcpp::Node::SharedPtr node;
 };
 
+struct TestParameters
+{
+  TestParameters(rclcpp::QoS qos, std::string description)
+  : qos(qos), description(description) {}
+  rclcpp::QoS qos;
+  std::string description;
+};
+
+std::ostream & operator<<(std::ostream & out, const TestParameters & params)
+{
+  out << params.description;
+  return out;
+}
+
+class TestPublisherInvalidIntraprocessQos
+  : public TestPublisher,
+  public ::testing::WithParamInterface<TestParameters>
+{};
+
 class TestPublisherSub : public ::testing::Test
 {
 protected:
@@ -65,14 +86,6 @@ protected:
   rclcpp::Node::SharedPtr subnode;
 };
 
-static constexpr rmw_qos_profile_t invalid_qos_profile()
-{
-  rmw_qos_profile_t profile = rmw_qos_profile_default;
-  profile.depth = 1;
-  profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-  return profile;
-}
-
 /*
    Testing publisher construction and destruction.
  */
@@ -85,7 +98,8 @@ TEST_F(TestPublisher, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       auto publisher = node->create_publisher<IntraProcessMessage>("invalid_topic?", 42);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
@@ -125,69 +139,48 @@ TEST_F(TestPublisher, various_creation_signatures) {
       rclcpp::create_publisher<IntraProcessMessage>(node, "topic", 42, rclcpp::PublisherOptions());
     (void)publisher;
   }
-  // Now deprecated functions.
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  {
-    auto publisher = node->create_publisher<IntraProcessMessage>("topic");
-    (void)publisher;
-  }
-  {
-    auto publisher = node->create_publisher<IntraProcessMessage>(
-      "topic",
-      42,
-      std::make_shared<std::allocator<IntraProcessMessage>>());
-    (void)publisher;
-  }
-  {
-    auto publisher = node->create_publisher<IntraProcessMessage>("topic", rmw_qos_profile_default);
-    (void)publisher;
-  }
-  {
-    auto publisher = node->create_publisher<IntraProcessMessage>(
-      "topic",
-      rmw_qos_profile_default,
-      std::make_shared<std::allocator<IntraProcessMessage>>());
-    (void)publisher;
-  }
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
 }
 
 /*
    Testing publisher with intraprocess enabled and invalid QoS
  */
-TEST_F(TestPublisher, intraprocess_with_invalid_qos) {
+TEST_P(TestPublisherInvalidIntraprocessQos, test_publisher_throws) {
   initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
-  rmw_qos_profile_t qos = invalid_qos_profile();
+  rclcpp::QoS qos = GetParam().qos;
   using rcl_interfaces::msg::IntraProcessMessage;
   {
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
     ASSERT_THROW(
       {auto publisher = node->create_publisher<IntraProcessMessage>("topic", qos);},
-      rclcpp::exceptions::InvalidParametersException);
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
+      std::invalid_argument);
   }
 }
 
+static std::vector<TestParameters> invalid_qos_profiles()
+{
+  std::vector<TestParameters> parameters;
+
+  parameters.reserve(3);
+  parameters.push_back(
+    TestParameters(
+      rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(),
+      "transient_local_qos"));
+  parameters.push_back(
+    TestParameters(
+      rclcpp::QoS(rclcpp::KeepLast(0)),
+      "keep_last_qos_with_zero_history_depth"));
+  parameters.push_back(
+    TestParameters(
+      rclcpp::QoS(rclcpp::KeepAll()),
+      "keep_all_qos"));
+
+  return parameters;
+}
+
+INSTANTIATE_TEST_CASE_P(
+  TestPublisherThrows, TestPublisherInvalidIntraprocessQos,
+  ::testing::ValuesIn(invalid_qos_profiles()),
+  ::testing::PrintToStringParamName());
+
 /*
    Testing publisher construction and destruction for subnodes.
  */
@@ -206,7 +199,8 @@ TEST_F(TestPublisherSub, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       auto publisher = subnode->create_publisher<IntraProcessMessage>("invalid_topic?", 42);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }

rclcpp/test/test_serialized_message_allocator.cpp

@@ -56,8 +56,9 @@ TEST(TestSerializedMessageAllocator, borrow_from_subscription) {
 
   auto node = std::make_shared<rclcpp::Node>("test_serialized_message_allocator_node");
   std::shared_ptr<rclcpp::SubscriptionBase> sub =
-    node->create_subscription<test_msgs::msg::Empty>("~/dummy_topic", 10,
-      [](std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;});
+    node->create_subscription<test_msgs::msg::Empty>(
+    "~/dummy_topic", 10,
+    [](std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;});
 
   auto msg0 = sub->create_serialized_message();
   EXPECT_EQ(0u, msg0->buffer_capacity);

rclcpp/test/test_service.cpp

@@ -78,7 +78,8 @@ TEST_F(TestService, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       auto service = node->create_service<ListParameters>("invalid_service?", callback);
     }, rclcpp::exceptions::InvalidServiceNameError);
   }
@@ -98,7 +99,8 @@ TEST_F(TestServiceSub, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       auto service = node->create_service<ListParameters>("invalid_service?", callback);
     }, rclcpp::exceptions::InvalidServiceNameError);
   }

rclcpp/test/test_subscription.cpp

@@ -129,7 +129,8 @@ TEST_F(TestSubscription, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       auto sub = node->create_subscription<IntraProcessMessage>("invalid_topic?", 10, callback);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
@@ -161,7 +162,8 @@ TEST_F(TestSubscriptionSub, construction_and_destruction) {
   }
 
   {
-    ASSERT_THROW({
+    ASSERT_THROW(
+    {
       auto sub = node->create_subscription<IntraProcessMessage>("invalid_topic?", 1, callback);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
@@ -201,40 +203,6 @@ TEST_F(TestSubscription, various_creation_signatures) {
       node, "topic", 42, cb, rclcpp::SubscriptionOptions());
     (void)sub;
   }
-  // Now deprecated functions.
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, 42);
-    (void)sub;
-  }
-  {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb);
-    (void)sub;
-  }
-  {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, rmw_qos_profile_default);
-    (void)sub;
-  }
-  {
-    auto sub =
-      node->create_subscription<IntraProcessMessage>("topic", cb, rmw_qos_profile_default, nullptr);
-    (void)sub;
-  }
-  {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, 42, nullptr);
-    (void)sub;
-  }
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
 }
 
 /*

rclcpp/test/test_time.cpp

@@ -97,13 +97,15 @@ TEST(TestTime, conversions) {
   negative_time_msg.sec = -1;
   negative_time_msg.nanosec = 1;
 
-  EXPECT_ANY_THROW({
+  EXPECT_ANY_THROW(
+  {
     rclcpp::Time negative_time = negative_time_msg;
   });
 
   EXPECT_ANY_THROW(rclcpp::Time(-1, 1));
 
-  EXPECT_ANY_THROW({
+  EXPECT_ANY_THROW(
+  {
     rclcpp::Time assignment(1, 2);
     assignment = negative_time_msg;
   });

rclcpp/test/test_time_source.cpp

@@ -161,7 +161,8 @@ void set_use_sim_time_parameter(
 
   using namespace std::chrono_literals;
   EXPECT_TRUE(parameters_client->wait_for_service(2s));
-  auto set_parameters_results = parameters_client->set_parameters({
+  auto set_parameters_results = parameters_client->set_parameters(
+  {
     rclcpp::Parameter("use_sim_time", value)
   });
   for (auto & result : set_parameters_results) {

rclcpp/test/test_timer.cpp

@@ -40,17 +40,18 @@ protected:
 
     test_node = std::make_shared<rclcpp::Node>("test_timer_node");
 
-    timer = test_node->create_wall_timer(100ms,
-        [this]() -> void
-        {
-          this->has_timer_run.store(true);
+    timer = test_node->create_wall_timer(
+      100ms,
+      [this]() -> void
+      {
+        this->has_timer_run.store(true);
 
-          if (this->cancel_timer.load()) {
-            this->timer->cancel();
-          }
-          // prevent any tests running timer from blocking
-          this->executor->cancel();
+        if (this->cancel_timer.load()) {
+          this->timer->cancel();
         }
+        // prevent any tests running timer from blocking
+        this->executor->cancel();
+      }
     );
 
     executor->add_node(test_node);

rclcpp/test/test_utilities.cpp

@@ -22,8 +22,13 @@
 #include "rclcpp/utilities.hpp"
 
 TEST(TestUtilities, remove_ros_arguments) {
-  const char * const argv[] = {"process_name", "-d", "__ns:=/foo/bar",
-    "__ns:=/fiz/buz", "--foo=bar", "--baz"};
+  const char * const argv[] = {
+    "process_name",
+    "-d", "--ros-args",
+    "-r", "__ns:=/foo/bar",
+    "-r", "__ns:=/fiz/buz",
+    "--", "--foo=bar", "--baz"
+  };
   int argc = sizeof(argv) / sizeof(const char *);
   auto args = rclcpp::remove_ros_arguments(argc, argv);
 
@@ -37,7 +42,8 @@ TEST(TestUtilities, remove_ros_arguments) {
 TEST(TestUtilities, remove_ros_arguments_null) {
   // In the case of a C executable, we would expect to get
   // argc=1 and argv = ["process_name"], so this is an invalid input.
-  ASSERT_THROW({
+  ASSERT_THROW(
+  {
     rclcpp::remove_ros_arguments(0, nullptr);
   }, rclcpp::exceptions::RCLErrorBase);
 }

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,25 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.8.0 (2019-09-26)
+------------------
+* Fix UnknownGoalHandle error string. (`#856 <https://github.com/ros2/rclcpp/issues/856>`_)
+* Guard against making multiple result requests for a goal handle (`#808 <https://github.com/ros2/rclcpp/issues/808>`_)
+* Add line break after first open paren in multiline function call (`#785 <https://github.com/ros2/rclcpp/issues/785>`_)
+* Fix typo in test fixture tear down method name (`#787 <https://github.com/ros2/rclcpp/issues/787>`_)
+* Contributors: Chris Lalancette, Dan Rose, Jacob Perron
+
+0.7.5 (2019-05-30)
+------------------
+
+0.7.4 (2019-05-29)
+------------------
+* Guard against calling null goal response callback (`#738 <https://github.com/ros2/rclcpp/issues/738>`_)
+* Contributors: Jacob Perron
+
+0.7.3 (2019-05-20)
+------------------
+
 0.7.2 (2019-05-08)
 ------------------
 * Added return code to CancelGoal service response. (`#710 <https://github.com/ros2/rclcpp/issues/710>`_)

rclcpp_action/include/rclcpp_action/client.hpp

@@ -368,21 +368,23 @@ public:
         // Do not use std::make_shared as friendship cannot be forwarded.
         std::shared_ptr<GoalHandle> goal_handle(
           new GoalHandle(goal_info, options.feedback_callback, options.result_callback));
+        {
+          std::lock_guard<std::mutex> guard(goal_handles_mutex_);
+          goal_handles_[goal_handle->get_goal_id()] = goal_handle;
+        }
+        promise->set_value(goal_handle);
+        if (options.goal_response_callback) {
+          options.goal_response_callback(future);
+        }
+
         if (options.result_callback) {
           try {
             this->make_result_aware(goal_handle);
           } catch (...) {
             promise->set_exception(std::current_exception());
-            options.goal_response_callback(future);
             return;
           }
         }
-        std::lock_guard<std::mutex> guard(goal_handles_mutex_);
-        goal_handles_[goal_handle->get_goal_id()] = goal_handle;
-        promise->set_value(goal_handle);
-        if (options.goal_response_callback) {
-          options.goal_response_callback(future);
-        }
       });
     return future;
   }
@@ -408,10 +410,7 @@ public:
       // This will override any previously registered callback
       goal_handle->set_result_callback(result_callback);
     }
-    // If the user chose to ignore the result before, then ask the server for the result now.
-    if (!goal_handle->is_result_aware()) {
-      this->make_result_aware(goal_handle);
-    }
+    this->make_result_aware(goal_handle);
     return goal_handle->async_result();
   }
 
@@ -593,6 +592,10 @@ private:
   void
   make_result_aware(typename GoalHandle::SharedPtr goal_handle)
   {
+    // Avoid making more than one request
+    if (goal_handle->set_result_awareness(true)) {
+      return;
+    }
     using GoalResultRequest = typename ActionT::Impl::GetResultService::Request;
     auto goal_result_request = std::make_shared<GoalResultRequest>();
     goal_result_request->goal_id.uuid = goal_handle->get_goal_id();
@@ -612,7 +615,6 @@ private:
         std::lock_guard<std::mutex> lock(goal_handles_mutex_);
         goal_handles_.erase(goal_handle->get_goal_id());
       });
-    goal_handle->set_result_awareness(true);
   }
 
   /// \internal

rclcpp_action/include/rclcpp_action/client_goal_handle.hpp

@@ -134,7 +134,8 @@ private:
     typename ClientGoalHandle<ActionT>::SharedPtr shared_this,
     typename std::shared_ptr<const Feedback> feedback_message);
 
-  void
+  /// Returns the previous value of awareness
+  bool
   set_result_awareness(bool awareness);
 
   void

rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp

@@ -127,11 +127,13 @@ ClientGoalHandle<ActionT>::is_result_aware()
 }
 
 template<typename ActionT>
-void
+bool
 ClientGoalHandle<ActionT>::set_result_awareness(bool awareness)
 {
   std::lock_guard<std::mutex> guard(handle_mutex_);
+  bool previous = is_result_aware_;
   is_result_aware_ = awareness;
+  return previous;
 }
 
 template<typename ActionT>
@@ -140,8 +142,7 @@ ClientGoalHandle<ActionT>::invalidate()
 {
   std::lock_guard<std::mutex> guard(handle_mutex_);
   status_ = GoalStatus::STATUS_UNKNOWN;
-  result_promise_.set_exception(std::make_exception_ptr(
-      exceptions::UnawareGoalHandleError()));
+  result_promise_.set_exception(std::make_exception_ptr(exceptions::UnawareGoalHandleError()));
 }
 
 template<typename ActionT>

rclcpp_action/include/rclcpp_action/exceptions.hpp

@@ -25,7 +25,7 @@ class UnknownGoalHandleError : public std::invalid_argument
 {
 public:
   UnknownGoalHandleError()
-  : std::invalid_argument("Goal handle is not know to this client.")
+  : std::invalid_argument("Goal handle is not known to this client.")
   {
   }
 };

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>0.7.2</version>
+  <version>0.8.0</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>