move user-defined literals in their own namespace (#284)

* isolate chrono literals in literals.hpp

* rclcpp.hpp: remove 'using namespace rclcpp::literals'

The examples have been migrated to the new namespace.

* literals: constexpr, make return types consistent with function body

_ms returned nanoseconds instead of milliseconds.

A few return types where using integral return type
for floating point literals.

* remove literals in favor of std::chrono_literals

rclcpp/CMakeLists.txt

@@ -1,16 +1,19 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 
 project(rclcpp)
 
 find_package(ament_cmake REQUIRED)
+find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 find_package(rosidl_generator_cpp REQUIRED)
+find_package(rosidl_typesupport_cpp REQUIRED)
 
-if(NOT WIN32)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-std=c++14")
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 include_directories(include)
@@ -21,19 +24,28 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/client.cpp
   src/rclcpp/context.cpp
   src/rclcpp/contexts/default_context.cpp
+  src/rclcpp/event.cpp
+  src/rclcpp/exceptions.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
   src/rclcpp/executors/multi_threaded_executor.cpp
   src/rclcpp/executors/single_threaded_executor.cpp
+  src/rclcpp/graph_listener.cpp
   src/rclcpp/intra_process_manager.cpp
   src/rclcpp/intra_process_manager_impl.cpp
   src/rclcpp/memory_strategies.cpp
   src/rclcpp/memory_strategy.cpp
+  src/rclcpp/node.cpp
+  src/rclcpp/node_interfaces/node_base.cpp
+  src/rclcpp/node_interfaces/node_graph.cpp
+  src/rclcpp/node_interfaces/node_parameters.cpp
+  src/rclcpp/node_interfaces/node_services.cpp
+  src/rclcpp/node_interfaces/node_timers.cpp
+  src/rclcpp/node_interfaces/node_topics.cpp
   src/rclcpp/parameter.cpp
   src/rclcpp/parameter_client.cpp
   src/rclcpp/parameter_service.cpp
   src/rclcpp/publisher.cpp
-  src/rclcpp/node.cpp
   src/rclcpp/service.cpp
   src/rclcpp/subscription.cpp
   src/rclcpp/timer.cpp
@@ -42,13 +54,15 @@ set(${PROJECT_NAME}_SRCS
 )
 
 macro(target)
+  if(NOT target_suffix STREQUAL "")
+    get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
+  endif()
   add_library(${PROJECT_NAME}${target_suffix} SHARED
     ${${PROJECT_NAME}_SRCS})
   ament_target_dependencies(${PROJECT_NAME}${target_suffix}
-    "rcl_interfaces"
-    "rmw"
+    "rcl${target_suffix}"
     "rosidl_generator_cpp"
-    "${rmw_implementation}")
+    "rosidl_typesupport_cpp")
 
   # Causes the visibility macros to use dllexport rather than dllimport,
   # which is appropriate when building the dll but not consuming it.
@@ -65,16 +79,16 @@ endmacro()
 
 call_for_each_rmw_implementation(target GENERATE_DEFAULT)
 
-ament_export_dependencies(rcl_interfaces)
-ament_export_dependencies(rmw)
-ament_export_dependencies(rmw_implementation)
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(rcl)
 ament_export_dependencies(rosidl_generator_cpp)
+ament_export_dependencies(rosidl_typesupport_cpp)
 
 ament_export_include_directories(include)
 
 ament_export_libraries(${PROJECT_NAME})
 
-if(AMENT_ENABLE_TESTING)
+if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
@@ -84,35 +98,82 @@ if(AMENT_ENABLE_TESTING)
       ${rcl_interfaces_INCLUDE_DIRS}
       ${rmw_INCLUDE_DIRS}
       ${rosidl_generator_cpp_INCLUDE_DIRS}
+      ${rosidl_typesupport_cpp_INCLUDE_DIRS}
     )
   endif()
   ament_add_gtest(test_mapped_ring_buffer test/test_mapped_ring_buffer.cpp)
   if(TARGET test_mapped_ring_buffer)
     target_include_directories(test_mapped_ring_buffer PUBLIC
+      ${rcl_INCLUDE_DIRS}
       ${rcl_interfaces_INCLUDE_DIRS}
       ${rmw_INCLUDE_DIRS}
       ${rosidl_generator_cpp_INCLUDE_DIRS}
+      ${rosidl_typesupport_cpp_INCLUDE_DIRS}
     )
   endif()
   ament_add_gtest(test_intra_process_manager test/test_intra_process_manager.cpp)
   if(TARGET test_intra_process_manager)
     target_include_directories(test_intra_process_manager PUBLIC
+      ${rcl_INCLUDE_DIRS}
       ${rcl_interfaces_INCLUDE_DIRS}
       ${rmw_INCLUDE_DIRS}
       ${rosidl_generator_cpp_INCLUDE_DIRS}
+      ${rosidl_typesupport_cpp_INCLUDE_DIRS}
     )
   endif()
-  ament_add_gtest(test_rate test/test_rate.cpp)
+  ament_add_gtest(test_rate test/test_rate.cpp
+    ENV RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation})
   if(TARGET test_rate)
     target_include_directories(test_rate PUBLIC
       ${rcl_interfaces_INCLUDE_DIRS}
       ${rmw_INCLUDE_DIRS}
       ${rosidl_generator_cpp_INCLUDE_DIRS}
+      ${rosidl_typesupport_cpp_INCLUDE_DIRS}
     )
     target_link_libraries(test_rate
-      ${PROJECT_NAME}${target_suffix}
+      ${PROJECT_NAME}
     )
   endif()
+  ament_add_gtest(test_find_weak_nodes test/test_find_weak_nodes.cpp)
+  if(TARGET test_find_weak_nodes)
+    target_include_directories(test_find_weak_nodes PUBLIC
+      ${rcl_INCLUDE_DIRS}
+    )
+    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 "${append_library_dirs}/$<CONFIGURATION>")
+  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)
+    target_include_directories(test_externally_defined_services PUBLIC
+      ${rcl_INCLUDE_DIRS}
+    )
+    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()
 endif()
 
 ament_package(

rclcpp/cmake/get_rclcpp_information.cmake

@@ -13,13 +13,13 @@
 # limitations under the License.
 
 #
-# Get all information abut rclcpp for a specific RMW implementation.
+# Get all information about rclcpp for a specific RMW implementation.
 #
 # It sets the common variables _DEFINITIONS, _INCLUDE_DIRS and _LIBRARIES
 # with the given prefix.
 #
 # :param rmw_implementation: the RMW implementation name
-# :type target: string
+# :type rmw_implementation: string
 # :param var_prefix: the prefix of all output variable names
 # :type var_prefix: string
 #
@@ -28,8 +28,13 @@ macro(get_rclcpp_information rmw_implementation var_prefix)
   # so that the variables can be used by various functions / macros
   set(${var_prefix}_FOUND TRUE)
 
+  # Get rcl using the existing macro
+  if(NOT target_suffix STREQUAL "")
+    get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
+  endif()
+
   # include directories
-  set(${var_prefix}_INCLUDE_DIRS
+  normalize_path(${var_prefix}_INCLUDE_DIRS
     "${rclcpp_DIR}/../../../include")
 
   # libraries
@@ -49,7 +54,7 @@ macro(get_rclcpp_information rmw_implementation var_prefix)
   )
   if(NOT _lib)
     # warn about not existing library and ignore it
-    message(FATAL_ERROR "Package 'rclcpp' doesn't contain the library '${_library_target}'")
+    message(WARNING "Package 'rclcpp' doesn't contain the library '${_library_target}'")
   elseif(NOT IS_ABSOLUTE "${_lib}")
     # the found library must be an absolute path
     message(FATAL_ERROR "Package 'rclcpp' found the library '${_library_target}' at '${_lib}' which is not an absolute path")
@@ -63,9 +68,9 @@ macro(get_rclcpp_information rmw_implementation var_prefix)
   # dependencies
   set(_exported_dependencies
     "rcl_interfaces"
-    "rmw"
-    "${rmw_implementation}"
-    "rosidl_generator_cpp")
+    "rcl${target_suffix}"
+    "rosidl_generator_cpp"
+    "rosidl_typesupport_cpp")
   set(${var_prefix}_DEFINITIONS)
   foreach(_dep ${_exported_dependencies})
     if(NOT ${_dep}_FOUND)

rclcpp/cmake/rclcpp_create_node_main.cmake

@@ -0,0 +1,26 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+set(rclcpp_node_main_SRC "${rclcpp_DIR}/../../../src/rclcpp/node_main.cpp")
+
+function(rclcpp_create_node_main node_library_target)
+  if(NOT TARGET ${node_library_target})
+    message(FATAL_ERROR "rclcpp_create_node_main() the first argument must be a valid target name")
+  endif()
+  set(executable_name_ ${node_library_target}_node)
+  add_executable(${executable_name_} ${rclcpp_node_main_SRC})
+  target_link_libraries(${executable_name_} ${node_library_target})
+  install(TARGETS ${executable_name_} DESTINATION bin)
+endfunction()

rclcpp/cmake/rclcpp_package_hook.cmake

@@ -0,0 +1,17 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# register node plugins
+ament_index_register_resource(
+  "node_plugin" CONTENT "${_RCLCPP__NODE_PLUGINS}")

rclcpp/cmake/rclcpp_register_node_plugins.cmake

@@ -0,0 +1,61 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Register a node plugin with the ament resource index.
+#
+# The passed library can contain multiple plugins extending the node interface.
+#
+# :param target: the shared library target
+# :type target: string
+# :param ARGN: the unique plugin names being exported using class_loader
+# :type ARGN: list of strings
+#
+macro(rclcpp_register_node_plugins target)
+  if(NOT TARGET ${target})
+    message(
+      FATAL_ERROR
+      "rclcpp_register_node_plugins() first argument "
+      "'${target}' is not a target")
+  endif()
+  get_target_property(_target_type ${target} TYPE)
+  if(NOT _target_type STREQUAL "SHARED_LIBRARY")
+    message(
+      FATAL_ERROR
+      "rclcpp_register_node_plugins() first argument "
+      "'${target}' is not a shared library target")
+  endif()
+
+  if(${ARGC} GREATER 0)
+    _rclcpp_register_package_hook()
+    set(_unique_names)
+    foreach(_arg ${ARGN})
+      if(_arg IN_LIST _unique_names)
+        message(
+          FATAL_ERROR
+          "rclcpp_register_node_plugins() the plugin names "
+          "must be unique (multiple '${_arg}')")
+      endif()
+      list(APPEND _unique_names "${_arg}")
+
+      if(WIN32)
+        set(_path "bin")
+      else()
+        set(_path "lib")
+      endif()
+      set(_RCLCPP__NODE_PLUGINS
+        "${_RCLCPP__NODE_PLUGINS}${_arg};${_path}/$<TARGET_FILE_NAME:${target}>\n")
+    endforeach()
+  endif()
+endmacro()

rclcpp/include/rclcpp/allocator/allocator_common.hpp

@@ -17,6 +17,8 @@
 
 #include <memory>
 
+#include "rcl/allocator.h"
+
 #include "rclcpp/allocator/allocator_deleter.hpp"
 
 namespace rclcpp
@@ -27,6 +29,66 @@ namespace allocator
 template<typename T, typename Alloc>
 using AllocRebind = typename std::allocator_traits<Alloc>::template rebind_traits<T>;
 
+template<typename Alloc>
+void * retyped_allocate(size_t size, void * untyped_allocator)
+{
+  auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
+  if (!typed_allocator) {
+    throw std::runtime_error("Received incorrect allocator type");
+  }
+  return std::allocator_traits<Alloc>::allocate(*typed_allocator, size);
+}
+
+template<typename T, typename Alloc>
+void retyped_deallocate(void * untyped_pointer, void * untyped_allocator)
+{
+  auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
+  if (!typed_allocator) {
+    throw std::runtime_error("Received incorrect allocator type");
+  }
+  auto typed_ptr = static_cast<T *>(untyped_pointer);
+  std::allocator_traits<Alloc>::deallocate(*typed_allocator, typed_ptr, 1);
+}
+
+template<typename T, typename Alloc>
+void * retyped_reallocate(void * untyped_pointer, size_t size, void * untyped_allocator)
+{
+  auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
+  if (!typed_allocator) {
+    throw std::runtime_error("Received incorrect allocator type");
+  }
+  auto typed_ptr = static_cast<T *>(untyped_pointer);
+  std::allocator_traits<Alloc>::deallocate(*typed_allocator, typed_ptr, 1);
+  return std::allocator_traits<Alloc>::allocate(*typed_allocator, size);
+}
+
+
+// Convert a std::allocator_traits-formatted Allocator into an rcl allocator
+template<typename T, typename Alloc,
+typename std::enable_if<!std::is_same<Alloc, std::allocator<void>>::value>::type * = nullptr>
+rcl_allocator_t get_rcl_allocator(Alloc & allocator)
+{
+  rcl_allocator_t rcl_allocator = rcl_get_default_allocator();
+#ifndef _WIN32
+  rcl_allocator.allocate = &retyped_allocate<Alloc>;
+  rcl_allocator.deallocate = &retyped_deallocate<T, Alloc>;
+  rcl_allocator.reallocate = &retyped_reallocate<T, Alloc>;
+  rcl_allocator.state = &allocator;
+#else
+  (void)allocator;  // Remove warning
+#endif
+  return rcl_allocator;
+}
+
+// TODO(jacquelinekay) Workaround for an incomplete implementation of std::allocator<void>
+template<typename T, typename Alloc,
+typename std::enable_if<std::is_same<Alloc, std::allocator<void>>::value>::type * = nullptr>
+rcl_allocator_t get_rcl_allocator(Alloc & allocator)
+{
+  (void)allocator;
+  return rcl_get_default_allocator();
+}
+
 }  // namespace allocator
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/any_executable.hpp

@@ -17,8 +17,13 @@
 
 #include <memory>
 
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/client.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -28,7 +33,7 @@ namespace executor
 
 struct AnyExecutable
 {
-  RCLCPP_SMART_PTR_DEFINITIONS(AnyExecutable);
+  RCLCPP_SMART_PTR_DEFINITIONS(AnyExecutable)
 
   RCLCPP_PUBLIC
   AnyExecutable();
@@ -44,7 +49,7 @@ struct AnyExecutable
   rclcpp::client::ClientBase::SharedPtr client;
   // These are used to keep the scope on the containing items
   rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
-  rclcpp::node::Node::SharedPtr node;
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
 };
 
 }  // namespace executor

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -21,6 +21,7 @@
 #include <memory>
 #include <stdexcept>
 #include <type_traits>
+#include <utility>
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/function_traits.hpp"

rclcpp/include/rclcpp/callback_group.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP__CALLBACK_GROUP_HPP_
 
 #include <atomic>
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -29,10 +30,12 @@ namespace rclcpp
 {
 
 // Forward declarations for friend statement in class CallbackGroup
-namespace node
+namespace node_interfaces
 {
-class Node;
-}  // namespace node
+class NodeServices;
+class NodeTimers;
+class NodeTopics;
+}  // namespace node_interfaces
 
 namespace callback_group
 {
@@ -45,10 +48,12 @@ enum class CallbackGroupType
 
 class CallbackGroup
 {
-  friend class rclcpp::node::Node;
+  friend class rclcpp::node_interfaces::NodeServices;
+  friend class rclcpp::node_interfaces::NodeTimers;
+  friend class rclcpp::node_interfaces::NodeTopics;
 
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup);
+  RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup)
 
   RCLCPP_PUBLIC
   explicit CallbackGroup(CallbackGroupType group_type);
@@ -62,11 +67,11 @@ public:
   get_timer_ptrs() const;
 
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::service::ServiceBase::SharedPtr> &
+  const std::vector<rclcpp::service::ServiceBase::WeakPtr> &
   get_service_ptrs() const;
 
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::client::ClientBase::SharedPtr> &
+  const std::vector<rclcpp::client::ClientBase::WeakPtr> &
   get_client_ptrs() const;
 
   RCLCPP_PUBLIC
@@ -77,8 +82,8 @@ public:
   const CallbackGroupType &
   type() const;
 
-private:
-  RCLCPP_DISABLE_COPY(CallbackGroup);
+protected:
+  RCLCPP_DISABLE_COPY(CallbackGroup)
 
   RCLCPP_PUBLIC
   void
@@ -97,10 +102,12 @@ private:
   add_client(const rclcpp::client::ClientBase::SharedPtr client_ptr);
 
   CallbackGroupType type_;
+  // Mutex to protect the subsequent vectors of pointers.
+  mutable std::mutex mutex_;
   std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
   std::vector<rclcpp::timer::TimerBase::WeakPtr> timer_ptrs_;
-  std::vector<rclcpp::service::ServiceBase::SharedPtr> service_ptrs_;
-  std::vector<rclcpp::client::ClientBase::SharedPtr> client_ptrs_;
+  std::vector<rclcpp::service::ServiceBase::WeakPtr> service_ptrs_;
+  std::vector<rclcpp::client::ClientBase::WeakPtr> client_ptrs_;
   std::atomic_bool can_be_taken_from_;
 };
 

rclcpp/include/rclcpp/client.hpp

@@ -23,27 +23,40 @@
 #include <tuple>
 #include <utility>
 
+#include "rcl/client.h"
+#include "rcl/error_handling.h"
+#include "rcl/wait.h"
+
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
 namespace rclcpp
 {
+
+namespace node_interfaces
+{
+class NodeBaseInterface;
+}  // namespace node_interfaces
+
 namespace client
 {
 
 class ClientBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase);
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase)
 
   RCLCPP_PUBLIC
   ClientBase(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_client_t * client_handle,
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
     const std::string & service_name);
 
   RCLCPP_PUBLIC
@@ -54,20 +67,43 @@ public:
   get_service_name() const;
 
   RCLCPP_PUBLIC
-  const rmw_client_t *
+  const rcl_client_t *
   get_client_handle() const;
 
+  RCLCPP_PUBLIC
+  bool
+  service_is_ready() const;
+
+  template<typename RatioT = std::milli>
+  bool
+  wait_for_service(
+    std::chrono::duration<int64_t, RatioT> timeout = std::chrono::duration<int64_t, RatioT>(-1))
+  {
+    return wait_for_service_nanoseconds(
+      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
+    );
+  }
+
   virtual std::shared_ptr<void> create_response() = 0;
-  virtual std::shared_ptr<void> create_request_header() = 0;
+  virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
   virtual void handle_response(
-    std::shared_ptr<void> & request_header, std::shared_ptr<void> & response) = 0;
+    std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<void> response) = 0;
 
-private:
-  RCLCPP_DISABLE_COPY(ClientBase);
+protected:
+  RCLCPP_DISABLE_COPY(ClientBase)
 
-  std::shared_ptr<rmw_node_t> node_handle_;
+  RCLCPP_PUBLIC
+  bool
+  wait_for_service_nanoseconds(std::chrono::nanoseconds timeout);
 
-  rmw_client_t * client_handle_;
+  RCLCPP_PUBLIC
+  rcl_node_t *
+  get_rcl_node_handle() const;
+
+  rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
+  std::shared_ptr<rcl_node_t> node_handle_;
+
+  rcl_client_t client_handle_ = rcl_get_zero_initialized_client();
   std::string service_name_;
 };
 
@@ -90,34 +126,63 @@ public:
   using CallbackType = std::function<void(SharedFuture)>;
   using CallbackWithRequestType = std::function<void(SharedFutureWithRequest)>;
 
-  RCLCPP_SMART_PTR_DEFINITIONS(Client);
+  RCLCPP_SMART_PTR_DEFINITIONS(Client)
 
   Client(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_client_t * client_handle,
-    const std::string & service_name)
-  : ClientBase(node_handle, client_handle, service_name)
-  {}
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
+    const std::string & service_name,
+    rcl_client_options_t & client_options)
+  : ClientBase(node_base, node_graph, service_name)
+  {
+    using rosidl_typesupport_cpp::get_service_type_support_handle;
+    auto service_type_support_handle =
+      get_service_type_support_handle<ServiceT>();
+    if (rcl_client_init(&client_handle_, this->get_rcl_node_handle(),
+      service_type_support_handle, service_name.c_str(), &client_options) != RCL_RET_OK)
+    {
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
+      throw std::runtime_error(
+        std::string("could not create client: ") +
+        rcl_get_error_string_safe());
+      // *INDENT-ON*
+    }
+  }
 
-  std::shared_ptr<void> create_response()
+  virtual ~Client()
+  {
+    if (rcl_client_fini(&client_handle_, this->get_rcl_node_handle()) != RCL_RET_OK) {
+      fprintf(stderr,
+        "Error in destruction of rmw client handle: %s\n", rmw_get_error_string_safe());
+    }
+  }
+
+  std::shared_ptr<void>
+  create_response()
   {
     return std::shared_ptr<void>(new typename ServiceT::Response());
   }
 
-  std::shared_ptr<void> create_request_header()
+  std::shared_ptr<rmw_request_id_t>
+  create_request_header()
   {
     // TODO(wjwwood): This should probably use rmw_request_id's allocator.
     //                (since it is a C type)
-    return std::shared_ptr<void>(new rmw_request_id_t);
+    return std::shared_ptr<rmw_request_id_t>(new rmw_request_id_t);
   }
 
-  void handle_response(std::shared_ptr<void> & request_header, std::shared_ptr<void> & response)
+  void
+  handle_response(std::shared_ptr<rmw_request_id_t> request_header,
+    std::shared_ptr<void> response)
   {
-    auto typed_request_header = std::static_pointer_cast<rmw_request_id_t>(request_header);
+    std::lock_guard<std::mutex> lock(pending_requests_mutex_);
     auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(response);
-    int64_t sequence_number = typed_request_header->sequence_number;
-    // TODO(esteve) this must check if the sequence_number is valid otherwise the
-    // call_promise will be null
+    int64_t sequence_number = request_header->sequence_number;
+    // TODO(esteve) this should throw instead since it is not expected to happen in the first place
+    if (this->pending_requests_.count(sequence_number) == 0) {
+      fprintf(stderr, "Received invalid sequence number. Ignoring...\n");
+      return;
+    }
     auto tuple = this->pending_requests_[sequence_number];
     auto call_promise = std::get<0>(tuple);
     auto callback = std::get<1>(tuple);
@@ -127,7 +192,8 @@ public:
     callback(future);
   }
 
-  SharedFuture async_send_request(SharedRequest request)
+  SharedFuture
+  async_send_request(SharedRequest request)
   {
     return async_send_request(request, [](SharedFuture) {});
   }
@@ -141,13 +207,15 @@ public:
       >::value
     >::type * = nullptr
   >
-  SharedFuture async_send_request(SharedRequest request, CallbackT && cb)
+  SharedFuture
+  async_send_request(SharedRequest request, CallbackT && cb)
   {
+    std::lock_guard<std::mutex> lock(pending_requests_mutex_);
     int64_t sequence_number;
-    if (RMW_RET_OK != rmw_send_request(get_client_handle(), request.get(), &sequence_number)) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    if (RCL_RET_OK != rcl_send_request(get_client_handle(), request.get(), &sequence_number)) {
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(
-        std::string("failed to send request: ") + rmw_get_error_string_safe());
+        std::string("failed to send request: ") + rcl_get_error_string_safe());
       // *INDENT-ON*
     }
 
@@ -167,7 +235,8 @@ public:
       >::value
     >::type * = nullptr
   >
-  SharedFutureWithRequest async_send_request(SharedRequest request, CallbackT && cb)
+  SharedFutureWithRequest
+  async_send_request(SharedRequest request, CallbackT && cb)
   {
     SharedPromiseWithRequest promise = std::make_shared<PromiseWithRequest>();
     SharedFutureWithRequest future_with_request(promise->get_future());
@@ -184,9 +253,10 @@ public:
   }
 
 private:
-  RCLCPP_DISABLE_COPY(Client);
+  RCLCPP_DISABLE_COPY(Client)
 
   std::map<int64_t, std::tuple<SharedPromise, CallbackType, SharedFuture>> pending_requests_;
+  std::mutex pending_requests_mutex_;
 };
 
 }  // namespace client

rclcpp/include/rclcpp/context.hpp

@@ -21,6 +21,7 @@
 #include <typeindex>
 #include <typeinfo>
 #include <unordered_map>
+#include <utility>
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -35,7 +36,7 @@ namespace context
 class Context
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(Context);
+  RCLCPP_SMART_PTR_DEFINITIONS(Context)
 
   RCLCPP_PUBLIC
   Context();
@@ -51,7 +52,7 @@ public:
     auto it = sub_contexts_.find(type_i);
     if (it == sub_contexts_.end()) {
       // It doesn't exist yet, make it
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       sub_context = std::shared_ptr<SubContext>(
         new SubContext(std::forward<Args>(args) ...),
         [] (SubContext * sub_context_ptr) {
@@ -67,7 +68,7 @@ public:
   }
 
 private:
-  RCLCPP_DISABLE_COPY(Context);
+  RCLCPP_DISABLE_COPY(Context)
 
   std::unordered_map<std::type_index, std::shared_ptr<void>> sub_contexts_;
   std::mutex mutex_;

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -28,7 +28,7 @@ namespace default_context
 class DefaultContext : public rclcpp::context::Context
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(DefaultContext);
+  RCLCPP_SMART_PTR_DEFINITIONS(DefaultContext)
 
   RCLCPP_PUBLIC
   DefaultContext();

rclcpp/include/rclcpp/create_publisher.hpp

@@ -0,0 +1,51 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__CREATE_PUBLISHER_HPP_
+#define RCLCPP__CREATE_PUBLISHER_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/publisher_factory.hpp"
+#include "rmw/qos_profiles.h"
+
+namespace rclcpp
+{
+
+template<typename MessageT, typename AllocatorT, typename PublisherT>
+std::shared_ptr<PublisherT>
+create_publisher(
+  rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
+  const std::string & topic_name,
+  const rmw_qos_profile_t & qos_profile,
+  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>(allocator),
+    publisher_options,
+    use_intra_process_comms);
+  node_topics->add_publisher(pub);
+  return std::dynamic_pointer_cast<PublisherT>(pub);
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_PUBLISHER_HPP_

rclcpp/include/rclcpp/create_subscription.hpp

@@ -0,0 +1,62 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__CREATE_SUBSCRIPTION_HPP_
+#define RCLCPP__CREATE_SUBSCRIPTION_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/subscription_factory.hpp"
+#include "rmw/qos_profiles.h"
+
+namespace rclcpp
+{
+
+template<typename MessageT, typename CallbackT, typename AllocatorT, typename SubscriptionT>
+typename rclcpp::subscription::Subscription<MessageT, AllocatorT>::SharedPtr
+create_subscription(
+  rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
+  const std::string & topic_name,
+  CallbackT && callback,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications,
+  bool use_intra_process_comms,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, 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, SubscriptionT>(
+    std::forward<CallbackT>(callback), 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);
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/event.hpp

@@ -0,0 +1,58 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EVENT_HPP_
+#define RCLCPP__EVENT_HPP_
+
+#include <atomic>
+#include <memory>
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace event
+{
+
+class Event
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Event)
+
+  RCLCPP_PUBLIC
+  Event();
+
+  RCLCPP_PUBLIC
+  bool
+  set();
+
+  RCLCPP_PUBLIC
+  bool
+  check();
+
+  RCLCPP_PUBLIC
+  bool
+  check_and_clear();
+
+private:
+  RCLCPP_DISABLE_COPY(Event)
+
+  std::atomic_bool state_;
+};
+
+}  // namespace event
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EVENT_HPP_

rclcpp/include/rclcpp/exceptions.hpp

@@ -0,0 +1,117 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXCEPTIONS_HPP_
+#define RCLCPP__EXCEPTIONS_HPP_
+
+#include <stdexcept>
+#include <string>
+
+#include "rcl/error_handling.h"
+#include "rcl/types.h"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace exceptions
+{
+
+/// Thrown when a method is trying to use a node, but it is invalid.
+class InvalidNodeError : public std::runtime_error
+{
+public:
+  InvalidNodeError()
+  : std::runtime_error("node is invalid") {}
+};
+
+/// Throw a C++ std::exception which was created based on an rcl error.
+/*
+ * \param ret the return code for the current error state
+ * \param prefix string to prefix to the error if applicable (not all errors have custom messages)
+ * \param reset_error if true rcl_reset_error() is called before returning
+ * \throws std::invalid_argument if ret is RCL_RET_OK
+ * \throws std::runtime_error if the rcl_get_error_state returns 0
+ * \throws RCLErrorBase some child class exception based on ret
+ */
+RCLCPP_PUBLIC
+void
+throw_from_rcl_error(rcl_ret_t ret, const std::string & prefix = "", bool reset_error = true);
+
+class RCLErrorBase
+{
+public:
+  RCLCPP_PUBLIC
+  RCLErrorBase(rcl_ret_t ret, const rcl_error_state_t * error_state);
+  virtual ~RCLErrorBase() {}
+
+  rcl_ret_t ret;
+  std::string message;
+  std::string file;
+  size_t line;
+  std::string formatted_message;
+};
+
+/// Created when the return code does not match one of the other specialized exceptions.
+class RCLError : public RCLErrorBase, public std::runtime_error
+{
+public:
+  RCLCPP_PUBLIC
+  RCLError(rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
+  RCLCPP_PUBLIC
+  RCLError(const RCLErrorBase & base_exc, const std::string & prefix);
+};
+
+/// Created when the ret is RCL_RET_BAD_ALLOC.
+class RCLBadAlloc : public RCLErrorBase, public std::bad_alloc
+{
+public:
+  RCLCPP_PUBLIC
+  RCLBadAlloc(rcl_ret_t ret, const rcl_error_state_t * error_state);
+  RCLCPP_PUBLIC
+  explicit RCLBadAlloc(const RCLErrorBase & base_exc);
+};
+
+/// Created when the ret is RCL_RET_INVALID_ARGUMENT.
+class RCLInvalidArgument : public RCLErrorBase, public std::invalid_argument
+{
+public:
+  RCLCPP_PUBLIC
+  RCLInvalidArgument(
+    rcl_ret_t ret,
+    const rcl_error_state_t * error_state,
+    const std::string & prefix);
+  RCLCPP_PUBLIC
+  RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix);
+};
+
+/// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
+class InvalidEventError : public std::runtime_error
+{
+public:
+  InvalidEventError()
+  : std::runtime_error("event is invalid") {}
+};
+
+/// Thrown when an unregistered rclcpp::Event is encountered where a registered one was expected.
+class EventNotRegisteredError : public std::runtime_error
+{
+public:
+  EventNotRegisteredError()
+  : std::runtime_error("event already registered") {}
+};
+
+}  // namespace exceptions
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXCEPTIONS_HPP_

rclcpp/include/rclcpp/executor.hpp

@@ -17,22 +17,32 @@
 
 #include <algorithm>
 #include <cassert>
+#include <chrono>
 #include <cstdlib>
 #include <iostream>
 #include <list>
 #include <memory>
+#include <string>
 #include <vector>
 
-#include "rclcpp/any_executable.hpp"
-#include "rclcpp/macros.hpp"
+#include "rcl/guard_condition.h"
+#include "rcl/wait.h"
+
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/memory_strategies.hpp"
 #include "rclcpp/memory_strategy.hpp"
-#include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
+
+// Forward declaration is used in convenience method signature.
+namespace node
+{
+class Node;
+}  // namespace node
+
 namespace executor
 {
 
@@ -42,7 +52,33 @@ namespace executor
  * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
  * TIMEOUT: Spinning timed out.
  */
-enum FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
+enum class FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
+
+RCLCPP_PUBLIC
+std::ostream &
+operator<<(std::ostream & os, const FutureReturnCode & future_return_code);
+
+RCLCPP_PUBLIC
+std::string
+to_string(const FutureReturnCode & future_return_code);
+
+///
+/**
+ * Options to be passed to the executor constructor.
+ */
+struct ExecutorArgs
+{
+  memory_strategy::MemoryStrategy::SharedPtr memory_strategy;
+  size_t max_conditions = 0;
+};
+
+static inline ExecutorArgs create_default_executor_arguments()
+{
+  ExecutorArgs args;
+  args.memory_strategy = memory_strategies::create_default_strategy();
+  args.max_conditions = 0;
+  return args;
+}
 
 /// Coordinate the order and timing of available communication tasks.
 /**
@@ -57,13 +93,12 @@ enum FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
 class Executor
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor);
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor)
 
   /// Default constructor.
   // \param[in] ms The memory strategy to be used with this executor.
   RCLCPP_PUBLIC
-  explicit Executor(
-    memory_strategy::MemoryStrategy::SharedPtr ms = memory_strategies::create_default_strategy());
+  explicit Executor(const ExecutorArgs & args = create_default_executor_arguments());
 
   /// Default destructor.
   RCLCPP_PUBLIC
@@ -84,7 +119,12 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  add_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify = true);
+  add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
+
+  /// Convenience function which takes Node and forwards NodeBaseInterface.
+  RCLCPP_PUBLIC
+  virtual void
+  add_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify = true);
 
   /// Remove a node from the executor.
   /**
@@ -95,7 +135,12 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  remove_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify = true);
+  remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
+
+  /// Convenience function which takes Node and forwards NodeBaseInterface.
+  RCLCPP_PUBLIC
+  virtual void
+  remove_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify = true);
 
   /// Add a node to executor, execute the next available unit of work, and remove the node.
   /**
@@ -106,7 +151,7 @@ public:
    */
   template<typename T = std::milli>
   void
-  spin_node_once(rclcpp::node::Node::SharedPtr node,
+  spin_node_once(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
     std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t, T>(-1))
   {
     return spin_node_once_nanoseconds(
@@ -115,13 +160,30 @@ public:
     );
   }
 
+  /// Convenience function which takes Node and forwards NodeBaseInterface.
+  template<typename NodeT = rclcpp::node::Node, typename T = std::milli>
+  void
+  spin_node_once(std::shared_ptr<NodeT> node,
+    std::chrono::duration<int64_t, T> timeout = std::chrono::duration<int64_t, T>(-1))
+  {
+    return spin_node_once_nanoseconds(
+      node->get_node_base_interface(),
+      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout)
+    );
+  }
+
   /// Add a node, complete all immediately available work, and remove the node.
   /**
    * \param[in] node Shared pointer to the node to add.
    */
   RCLCPP_PUBLIC
   void
-  spin_node_some(rclcpp::node::Node::SharedPtr node);
+  spin_node_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node);
+
+  /// Convenience function which takes Node and forwards NodeBaseInterface.
+  RCLCPP_PUBLIC
+  void
+  spin_node_some(std::shared_ptr<rclcpp::node::Node> node);
 
   /// Complete all available queued work without blocking.
   /**
@@ -142,7 +204,8 @@ public:
   /**
    * \param[in] executor The executor which will spin the node.
    * \param[in] node_ptr The node to spin.
-   * \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 SUCCESS, the future is safe to access after this
+     function.
    * \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 code.
@@ -160,23 +223,40 @@ public:
     // Check the future before entering the while loop.
     // If the future is already complete, don't try to spin.
     std::future_status status = future.wait_for(std::chrono::seconds(0));
-
-    auto start_time = std::chrono::system_clock::now();
-
-    while (status != std::future_status::ready && rclcpp::utilities::ok()) {
-      spin_once(timeout);
-      if (timeout.count() >= 0) {
-        if (start_time + timeout < std::chrono::system_clock::now()) {
-          return TIMEOUT;
-        }
-      }
-      status = future.wait_for(std::chrono::seconds(0));
-    }
-
-    // If the future completed, and we weren't interrupted by ctrl-C, return the response
     if (status == std::future_status::ready) {
       return FutureReturnCode::SUCCESS;
     }
+
+    auto end_time = std::chrono::steady_clock::now();
+    std::chrono::nanoseconds timeout_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
+      timeout);
+    if (timeout_ns > std::chrono::nanoseconds::zero()) {
+      end_time += timeout_ns;
+    }
+    std::chrono::nanoseconds timeout_left = timeout_ns;
+
+    while (rclcpp::utilities::ok()) {
+      // Do one item of work.
+      spin_once(timeout_left);
+      // Check if the future is set, return SUCCESS if it is.
+      status = future.wait_for(std::chrono::seconds(0));
+      if (status == std::future_status::ready) {
+        return FutureReturnCode::SUCCESS;
+      }
+      // If the original timeout is < 0, then this is blocking, never TIMEOUT.
+      if (timeout_ns < std::chrono::nanoseconds::zero()) {
+        continue;
+      }
+      // Otherwise check if we still have time to wait, return TIMEOUT if not.
+      auto now = std::chrono::steady_clock::now();
+      if (now >= end_time) {
+        return FutureReturnCode::TIMEOUT;
+      }
+      // Subtract the elapsed time from the original timeout.
+      timeout_left = std::chrono::duration_cast<std::chrono::nanoseconds>(end_time - now);
+    }
+
+    // The future did not complete before ok() returned false, return INTERRUPTED.
     return FutureReturnCode::INTERRUPTED;
   }
 
@@ -199,7 +279,9 @@ public:
 protected:
   RCLCPP_PUBLIC
   void
-  spin_node_once_nanoseconds(rclcpp::node::Node::SharedPtr node, std::chrono::nanoseconds timeout);
+  spin_node_once_nanoseconds(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
+    std::chrono::nanoseconds timeout);
 
   /// Find the next available executable and do the work associated with it.
   /** \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
@@ -236,7 +318,7 @@ protected:
   wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
   RCLCPP_PUBLIC
-  rclcpp::node::Node::SharedPtr
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
@@ -247,10 +329,6 @@ protected:
   void
   get_next_timer(AnyExecutable::SharedPtr any_exec);
 
-  RCLCPP_PUBLIC
-  std::chrono::nanoseconds
-  get_earliest_timer();
-
   RCLCPP_PUBLIC
   AnyExecutable::SharedPtr
   get_next_ready_executable();
@@ -263,16 +341,18 @@ protected:
   std::atomic_bool spinning;
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
-  rmw_guard_condition_t * interrupt_guard_condition_;
+  rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
+
+  /// Waitset for managing entities that the rmw layer waits on.
+  rcl_wait_set_t waitset_ = rcl_get_zero_initialized_wait_set();
 
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
   memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 
 private:
-  RCLCPP_DISABLE_COPY(Executor);
+  RCLCPP_DISABLE_COPY(Executor)
 
-  std::vector<std::weak_ptr<rclcpp::node::Node>> weak_nodes_;
-  std::array<void *, 2> guard_cond_handles_;
+  std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
 };
 
 }  // namespace executor

rclcpp/include/rclcpp/executors.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP__EXECUTORS_HPP_
 
 #include <future>
+#include <memory>
 
 #include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
@@ -30,13 +31,21 @@ namespace rclcpp
 // \param[in] node_ptr Shared pointer to the node to spin.
 RCLCPP_PUBLIC
 void
-spin_some(node::Node::SharedPtr node_ptr);
+spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+
+RCLCPP_PUBLIC
+void
+spin_some(rclcpp::node::Node::SharedPtr node_ptr);
 
 /// Create a default single-threaded executor and spin the specified node.
 // \param[in] node_ptr Shared pointer to the node to spin.
 RCLCPP_PUBLIC
 void
-spin(node::Node::SharedPtr node_ptr);
+spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+
+RCLCPP_PUBLIC
+void
+spin(rclcpp::node::Node::SharedPtr node_ptr);
 
 namespace executors
 {
@@ -57,7 +66,8 @@ using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
 template<typename ResponseT, typename TimeT = std::milli>
 rclcpp::executor::FutureReturnCode
 spin_node_until_future_complete(
-  rclcpp::executor::Executor & executor, rclcpp::node::Node::SharedPtr node_ptr,
+  rclcpp::executor::Executor & executor,
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
   std::shared_future<ResponseT> & future,
   std::chrono::duration<int64_t, TimeT> timeout = std::chrono::duration<int64_t, TimeT>(-1))
 {
@@ -69,18 +79,44 @@ spin_node_until_future_complete(
   return retcode;
 }
 
+template<typename NodeT = rclcpp::node::Node, typename ResponseT, typename TimeT = std::milli>
+rclcpp::executor::FutureReturnCode
+spin_node_until_future_complete(
+  rclcpp::executor::Executor & executor,
+  std::shared_ptr<NodeT> node_ptr,
+  std::shared_future<ResponseT> & future,
+  std::chrono::duration<int64_t, TimeT> timeout = std::chrono::duration<int64_t, TimeT>(-1))
+{
+  return rclcpp::executors::spin_node_until_future_complete(
+    executor,
+    node_ptr->get_node_base_interface(),
+    future,
+    timeout);
+}
+
 }  // namespace executors
 
 template<typename FutureT, typename TimeT = std::milli>
 rclcpp::executor::FutureReturnCode
 spin_until_future_complete(
-  node::Node::SharedPtr node_ptr, std::shared_future<FutureT> & future,
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+  std::shared_future<FutureT> & future,
   std::chrono::duration<int64_t, TimeT> timeout = std::chrono::duration<int64_t, TimeT>(-1))
 {
   rclcpp::executors::SingleThreadedExecutor executor;
   return executors::spin_node_until_future_complete<FutureT>(executor, node_ptr, future, timeout);
 }
 
+template<typename NodeT = rclcpp::node::Node, typename FutureT, typename TimeT = std::milli>
+rclcpp::executor::FutureReturnCode
+spin_until_future_complete(
+  std::shared_ptr<NodeT> node_ptr,
+  std::shared_future<FutureT> & future,
+  std::chrono::duration<int64_t, TimeT> timeout = std::chrono::duration<int64_t, TimeT>(-1))
+{
+  return rclcpp::spin_until_future_complete(node_ptr->get_node_base_interface(), future, timeout);
+}
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EXECUTORS_HPP_

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -34,11 +34,11 @@ namespace multi_threaded_executor
 class MultiThreadedExecutor : public executor::Executor
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor);
+  RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor)
 
   RCLCPP_PUBLIC
   MultiThreadedExecutor(
-    memory_strategy::MemoryStrategy::SharedPtr ms = memory_strategies::create_default_strategy());
+    const executor::ExecutorArgs & args = rclcpp::executor::create_default_executor_arguments());
 
   RCLCPP_PUBLIC
   virtual ~MultiThreadedExecutor();
@@ -57,7 +57,7 @@ protected:
   run(size_t this_thread_number);
 
 private:
-  RCLCPP_DISABLE_COPY(MultiThreadedExecutor);
+  RCLCPP_DISABLE_COPY(MultiThreadedExecutor)
 
   std::mutex wait_mutex_;
   size_t number_of_threads_;

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp

@@ -42,12 +42,12 @@ namespace single_threaded_executor
 class SingleThreadedExecutor : public executor::Executor
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor);
+  RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor)
 
   /// Default constructor. See the default constructor for Executor.
   RCLCPP_PUBLIC
   SingleThreadedExecutor(
-    memory_strategy::MemoryStrategy::SharedPtr ms = memory_strategies::create_default_strategy());
+    const executor::ExecutorArgs & args = rclcpp::executor::create_default_executor_arguments());
 
   /// Default destrcutor.
   RCLCPP_PUBLIC
@@ -61,7 +61,7 @@ public:
   spin();
 
 private:
-  RCLCPP_DISABLE_COPY(SingleThreadedExecutor);
+  RCLCPP_DISABLE_COPY(SingleThreadedExecutor)
 };
 
 }  // namespace single_threaded_executor

rclcpp/include/rclcpp/graph_listener.hpp

@@ -0,0 +1,170 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__GRAPH_LISTENER_HPP_
+#define RCLCPP__GRAPH_LISTENER_HPP_
+
+#include <atomic>
+#include <memory>
+#include <mutex>
+#include <thread>
+#include <vector>
+
+#include "rcl/guard_condition.h"
+#include "rcl/wait.h"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+namespace graph_listener
+{
+
+/// Thrown when a function is called on a GraphListener that is already shutdown.
+class GraphListenerShutdownError : public std::runtime_error
+{
+public:
+  GraphListenerShutdownError()
+  : std::runtime_error("GraphListener already shutdown") {}
+};
+
+/// Thrown when a node has already been added to the GraphListener.
+class NodeAlreadyAddedError : public std::runtime_error
+{
+public:
+  NodeAlreadyAddedError()
+  : std::runtime_error("node already added") {}
+};
+
+/// Thrown when the given node is not in the GraphListener.
+class NodeNotFoundError : public std::runtime_error
+{
+public:
+  NodeNotFoundError()
+  : std::runtime_error("node not found") {}
+};
+
+/// Notifies many nodes of graph changes by listening in a thread.
+class GraphListener : public std::enable_shared_from_this<GraphListener>
+{
+public:
+  RCLCPP_PUBLIC
+  GraphListener();
+
+  RCLCPP_PUBLIC
+  virtual ~GraphListener();
+
+  /// Start the graph listener's listen thread if it hasn't been started.
+  /* This function is thread-safe.
+   *
+   * \throws GraphListenerShutdownError if the GraphListener is shutdown
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  start_if_not_started();
+
+  /// Add a node to the graph listener's list of nodes.
+  /*
+   * \throws GraphListenerShutdownError if the GraphListener is shutdown
+   * \throws NodeAlreadyAddedError if the given node is already in the list
+   * \throws std::invalid_argument if node is nullptr
+   * \throws std::system_error anything std::mutex::lock() throws
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph);
+
+  /// Return true if the given node is in the graph listener's list of nodes.
+  /* Also return false if given nullptr.
+   *
+   * \throws std::system_error anything std::mutex::lock() throws
+   */
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  has_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph);
+
+  /// Remove a node from the graph listener's list of nodes.
+  /*
+   * \throws NodeNotFoundError if the given node is not in the list
+   * \throws std::invalid_argument if node is nullptr
+   * \throws std::system_error anything std::mutex::lock() throws
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  remove_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph);
+
+  /// Stop the listening thread.
+  /* The thread cannot be restarted, and the class is defunct after calling.
+   * This function is called by the ~GraphListener() and does nothing if
+   * shutdown() was already called.
+   * This function exists separately from the ~GraphListener() so that it can
+   * be called before and exceptions can be caught.
+   *
+   * If start_if_not_started() was never called, this function still succeeds,
+   * but start_if_not_started() still cannot be called after this function.
+   *
+   * \throws rclcpp::execptions::RCLError from rcl_guard_condition_fini()
+   * \throws rclcpp::execptions::RCLError from rcl_wait_set_fini()
+   * \throws std::system_error anything std::mutex::lock() throws
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  shutdown();
+
+  /// Return true if shutdown() has been called, else false.
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  is_shutdown();
+
+protected:
+  /// Main function for the listening thread.
+  RCLCPP_PUBLIC
+  virtual
+  void
+  run();
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  run_loop();
+
+private:
+  RCLCPP_DISABLE_COPY(GraphListener)
+
+  std::thread listener_thread_;
+  bool is_started_;
+  std::atomic_bool is_shutdown_;
+  mutable std::mutex shutdown_mutex_;
+
+  mutable std::mutex node_graph_interfaces_barrier_mutex_;
+  mutable std::mutex node_graph_interfaces_mutex_;
+  std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_;
+
+  rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
+  rcl_guard_condition_t * shutdown_guard_condition_;
+  rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
+};
+
+}  // namespace graph_listener
+}  // namespace rclcpp
+
+#endif  // RCLCPP__GRAPH_LISTENER_HPP_

rclcpp/include/rclcpp/intra_process_manager.hpp

@@ -120,10 +120,10 @@ namespace intra_process_manager
 class IntraProcessManager
 {
 private:
-  RCLCPP_DISABLE_COPY(IntraProcessManager);
+  RCLCPP_DISABLE_COPY(IntraProcessManager)
 
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(IntraProcessManager);
+  RCLCPP_SMART_PTR_DEFINITIONS(IntraProcessManager)
 
   RCLCPP_PUBLIC
   explicit IntraProcessManager(

rclcpp/include/rclcpp/intra_process_manager_impl.hpp

@@ -17,6 +17,7 @@
 
 #include <algorithm>
 #include <atomic>
+#include <cstring>
 #include <functional>
 #include <limits>
 #include <map>
@@ -41,7 +42,7 @@ namespace intra_process_manager
 class IntraProcessManagerImplBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(IntraProcessManagerImplBase);
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(IntraProcessManagerImplBase)
 
   IntraProcessManagerImplBase() = default;
   ~IntraProcessManagerImplBase() = default;
@@ -78,7 +79,7 @@ public:
   matches_any_publishers(const rmw_gid_t * id) const = 0;
 
 private:
-  RCLCPP_DISABLE_COPY(IntraProcessManagerImplBase);
+  RCLCPP_DISABLE_COPY(IntraProcessManagerImplBase)
 };
 
 template<typename Allocator = std::allocator<void>>
@@ -92,6 +93,8 @@ public:
   add_subscription(uint64_t id, subscription::SubscriptionBase::SharedPtr subscription)
   {
     subscriptions_[id] = subscription;
+    // subscription->get_topic_name() -> const char * can be used as the key,
+    // since subscriptions_ shares the ownership of subscription
     subscription_ids_by_topic_[subscription->get_topic_name()].insert(id);
   }
 
@@ -242,7 +245,7 @@ public:
   }
 
 private:
-  RCLCPP_DISABLE_COPY(IntraProcessManagerImpl);
+  RCLCPP_DISABLE_COPY(IntraProcessManagerImpl)
 
   template<typename T>
   using RebindAlloc = typename std::allocator_traits<Allocator>::template rebind_alloc<T>;
@@ -253,8 +256,20 @@ private:
   using SubscriptionMap = std::unordered_map<uint64_t, subscription::SubscriptionBase::WeakPtr,
       std::hash<uint64_t>, std::equal_to<uint64_t>,
       RebindAlloc<std::pair<const uint64_t, subscription::SubscriptionBase::WeakPtr>>>;
-  using IDTopicMap = std::map<std::string, AllocSet,
-      std::less<std::string>, RebindAlloc<std::pair<std::string, AllocSet>>>;
+
+  struct strcmp_wrapper : public std::binary_function<const char *, const char *, bool>
+  {
+    bool
+    operator()(const char * lhs, const char * rhs) const
+    {
+      return std::strcmp(lhs, rhs) < 0;
+    }
+  };
+  using IDTopicMap = std::map<
+      const char *,
+      AllocSet,
+      strcmp_wrapper,
+      RebindAlloc<std::pair<const std::string, AllocSet>>>;
 
   SubscriptionMap subscriptions_;
 
@@ -262,7 +277,7 @@ private:
 
   struct PublisherInfo
   {
-    RCLCPP_DISABLE_COPY(PublisherInfo);
+    RCLCPP_DISABLE_COPY(PublisherInfo)
 
     PublisherInfo() = default;
 

rclcpp/include/rclcpp/macros.hpp

@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <memory>
+#include <utility>
+
 #ifndef RCLCPP__MACROS_HPP_
 #define RCLCPP__MACROS_HPP_
 
@@ -47,7 +50,23 @@
   RCLCPP_WEAK_PTR_DEFINITIONS(__VA_ARGS__) \
   __RCLCPP_UNIQUE_PTR_ALIAS(__VA_ARGS__)
 
-#define __RCLCPP_SHARED_PTR_ALIAS(...) using SharedPtr = std::shared_ptr<__VA_ARGS__>;
+/* Defines aliases only for using the Class with smart pointers.
+ *
+ * Same as RCLCPP_SMART_PTR_DEFINITIONS expect it excludes the static
+ * method definitions which do not work on pure virtual classes and classes
+ * which are not CopyConstructable.
+ *
+ * Use in the public section of the class.
+ * Make sure to include <memory> in the header when using this.
+ */
+#define RCLCPP_SMART_PTR_ALIASES_ONLY(...) \
+  __RCLCPP_SHARED_PTR_ALIAS(__VA_ARGS__) \
+  __RCLCPP_WEAK_PTR_ALIAS(__VA_ARGS__) \
+  __RCLCPP_MAKE_SHARED_DEFINITION(__VA_ARGS__)
+
+#define __RCLCPP_SHARED_PTR_ALIAS(...) \
+  using SharedPtr = std::shared_ptr<__VA_ARGS__>; \
+  using ConstSharedPtr = std::shared_ptr<const __VA_ARGS__>;
 
 #define __RCLCPP_MAKE_SHARED_DEFINITION(...) \
   template<typename ... Args> \
@@ -62,7 +81,9 @@
   __RCLCPP_SHARED_PTR_ALIAS(__VA_ARGS__) \
   __RCLCPP_MAKE_SHARED_DEFINITION(__VA_ARGS__)
 
-#define __RCLCPP_WEAK_PTR_ALIAS(...) using WeakPtr = std::weak_ptr<__VA_ARGS__>;
+#define __RCLCPP_WEAK_PTR_ALIAS(...) \
+  using WeakPtr = std::weak_ptr<__VA_ARGS__>; \
+  using ConstWeakPtr = std::weak_ptr<const __VA_ARGS__>;
 
 /// Defines aliases and static functions for using the Class with weak_ptrs.
 #define RCLCPP_WEAK_PTR_DEFINITIONS(...) __RCLCPP_WEAK_PTR_ALIAS(__VA_ARGS__)

rclcpp/include/rclcpp/mapped_ring_buffer.hpp

@@ -20,6 +20,7 @@
 #include <cstdint>
 #include <memory>
 #include <mutex>
+#include <utility>
 #include <vector>
 
 #include "rclcpp/allocator/allocator_common.hpp"
@@ -34,7 +35,7 @@ namespace mapped_ring_buffer
 class RCLCPP_PUBLIC MappedRingBufferBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(MappedRingBufferBase);
+  RCLCPP_SMART_PTR_DEFINITIONS(MappedRingBufferBase)
 };
 
 /// Ring buffer container of unique_ptr's of T, which can be accessed by a key.
@@ -57,7 +58,7 @@ template<typename T, typename Alloc = std::allocator<void>>
 class MappedRingBuffer : public MappedRingBufferBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(MappedRingBuffer<T, Alloc>);
+  RCLCPP_SMART_PTR_DEFINITIONS(MappedRingBuffer<T, Alloc>)
   using ElemAllocTraits = allocator::AllocRebind<T, Alloc>;
   using ElemAlloc = typename ElemAllocTraits::allocator_type;
   using ElemDeleter = allocator::Deleter<ElemAlloc, T>;
@@ -206,7 +207,7 @@ public:
   }
 
 private:
-  RCLCPP_DISABLE_COPY(MappedRingBuffer<T, Alloc>);
+  RCLCPP_DISABLE_COPY(MappedRingBuffer<T, Alloc>)
 
   struct element
   {
@@ -220,7 +221,7 @@ private:
   typename std::vector<element, VectorAlloc>::iterator
   get_iterator_of_key(uint64_t key)
   {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
     auto it = std::find_if(elements_.begin(), elements_.end(), [key](element & e) -> bool {
       return e.key == key && e.in_use;
     });

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -18,9 +18,12 @@
 #include <memory>
 #include <vector>
 
+#include "rcl/allocator.h"
+#include "rcl/wait.h"
+
 #include "rclcpp/any_executable.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -37,28 +40,29 @@ namespace memory_strategy
 class RCLCPP_PUBLIC MemoryStrategy
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy);
-  using WeakNodeVector = std::vector<std::weak_ptr<rclcpp::node::Node>>;
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
+  using WeakNodeVector = std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
 
-  // return the new number of subscribers
-  virtual size_t fill_subscriber_handles(void ** & ptr) = 0;
-
-  // return the new number of services
-  virtual size_t fill_service_handles(void ** & ptr) = 0;
-
-  // return the new number of clients
-  virtual size_t fill_client_handles(void ** & ptr) = 0;
-
-  virtual void clear_active_entities() = 0;
-
-  virtual void clear_handles() = 0;
-  virtual void remove_null_handles() = 0;
   virtual bool collect_entities(const WeakNodeVector & weak_nodes) = 0;
 
+  virtual size_t number_of_ready_subscriptions() const = 0;
+  virtual size_t number_of_ready_services() const = 0;
+  virtual size_t number_of_ready_clients() const = 0;
+  virtual size_t number_of_ready_timers() const = 0;
+  virtual size_t number_of_guard_conditions() const = 0;
+
+  virtual bool add_handles_to_waitset(rcl_wait_set_t * wait_set) = 0;
+  virtual void clear_handles() = 0;
+  virtual void remove_null_handles(rcl_wait_set_t * wait_set) = 0;
+
   /// Provide a newly initialized AnyExecutable object.
   // \return Shared pointer to the fresh executable.
   virtual rclcpp::executor::AnyExecutable::SharedPtr instantiate_next_executable() = 0;
 
+  virtual void add_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
+
+  virtual void remove_guard_condition(const rcl_guard_condition_t * guard_condition) = 0;
+
   virtual void
   get_next_subscription(rclcpp::executor::AnyExecutable::SharedPtr any_exec,
     const WeakNodeVector & weak_nodes) = 0;
@@ -71,17 +75,20 @@ public:
   get_next_client(rclcpp::executor::AnyExecutable::SharedPtr any_exec,
     const WeakNodeVector & weak_nodes) = 0;
 
+  virtual rcl_allocator_t
+  get_allocator() = 0;
+
   static rclcpp::subscription::SubscriptionBase::SharedPtr
-  get_subscription_by_handle(void * subscriber_handle,
+  get_subscription_by_handle(const rcl_subscription_t * subscriber_handle,
     const WeakNodeVector & weak_nodes);
 
   static rclcpp::service::ServiceBase::SharedPtr
-  get_service_by_handle(void * service_handle, const WeakNodeVector & weak_nodes);
+  get_service_by_handle(const rcl_service_t * service_handle, const WeakNodeVector & weak_nodes);
 
   static rclcpp::client::ClientBase::SharedPtr
-  get_client_by_handle(void * client_handle, const WeakNodeVector & weak_nodes);
+  get_client_by_handle(const rcl_client_t * client_handle, const WeakNodeVector & weak_nodes);
 
-  static rclcpp::node::Node::SharedPtr
+  static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group,
     const WeakNodeVector & weak_nodes);
 

rclcpp/include/rclcpp/message_memory_strategy.hpp

@@ -33,7 +33,7 @@ template<typename MessageT, typename Alloc = std::allocator<void>>
 class MessageMemoryStrategy
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(MessageMemoryStrategy);
+  RCLCPP_SMART_PTR_DEFINITIONS(MessageMemoryStrategy)
 
   using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
   using MessageAlloc = typename MessageAllocTraits::allocator_type;

rclcpp/include/rclcpp/node.hpp

@@ -15,13 +15,19 @@
 #ifndef RCLCPP__NODE_HPP_
 #define RCLCPP__NODE_HPP_
 
+#include <atomic>
+#include <condition_variable>
 #include <list>
 #include <map>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <tuple>
 #include <vector>
 
+#include "rcl/error_handling.h"
+#include "rcl/node.h"
+
 #include "rcl_interfaces/msg/list_parameters_result.hpp"
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
 #include "rcl_interfaces/msg/parameter_event.hpp"
@@ -30,8 +36,15 @@
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/client.hpp"
 #include "rclcpp/context.hpp"
+#include "rclcpp/event.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/publisher.hpp"
 #include "rclcpp/service.hpp"
@@ -39,22 +52,17 @@
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-// Forward declaration of ROS middleware class
-namespace rmw
-{
-struct rmw_node_t;
-}  // namespace rmw
-
 namespace rclcpp
 {
 
 namespace node
 {
+
 /// Node is the single point of entry for creating publishers and subscribers.
-class Node
+class Node : public std::enable_shared_from_this<Node>
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(Node);
+  RCLCPP_SMART_PTR_DEFINITIONS(Node)
 
   /// Create a new node with the specified name.
   /**
@@ -77,10 +85,13 @@ public:
     const std::string & node_name, rclcpp::context::Context::SharedPtr context,
     bool use_intra_process_comms = false);
 
+  RCLCPP_PUBLIC
+  virtual ~Node();
+
   /// Get the name of the node.
   // \return The name of the node.
   RCLCPP_PUBLIC
-  const std::string &
+  const char *
   get_name() const;
 
   /// Create and return a callback group.
@@ -88,14 +99,21 @@ public:
   rclcpp::callback_group::CallbackGroup::SharedPtr
   create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
 
+  /// Return the list of callback groups in the node.
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  get_callback_groups() const;
+
   /// 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.
    * \return Shared pointer to the created publisher.
    */
-  template<typename MessageT, typename Alloc = std::allocator<void>>
-  typename rclcpp::publisher::Publisher<MessageT, Alloc>::SharedPtr
+  template<
+    typename MessageT, typename Alloc = std::allocator<void>,
+    typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
+  std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name, size_t qos_history_depth,
     std::shared_ptr<Alloc> allocator = nullptr);
@@ -106,8 +124,10 @@ public:
    * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
    * \return Shared pointer to the created publisher.
    */
-  template<typename MessageT, typename Alloc = std::allocator<void>>
-  typename rclcpp::publisher::Publisher<MessageT, Alloc>::SharedPtr
+  template<
+    typename MessageT, typename Alloc = std::allocator<void>,
+    typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
+  std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
@@ -127,8 +147,12 @@ public:
      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 rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
+  template<
+    typename MessageT,
+    typename CallbackT,
+    typename Alloc = std::allocator<void>,
+    typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
+  std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
     CallbackT && callback,
@@ -153,8 +177,12 @@ public:
      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 rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
+  template<
+    typename MessageT,
+    typename CallbackT,
+    typename Alloc = std::allocator<void>,
+    typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
+  std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
     size_t qos_history_depth,
@@ -171,30 +199,13 @@ public:
    * \param[in] callback User-defined callback function.
    * \param[in] group Callback group to execute this timer's callback in.
    */
-  template<typename CallbackType>
-  typename rclcpp::timer::WallTimer<CallbackType>::SharedPtr
+  template<typename DurationT = std::milli, typename CallbackT>
+  typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
   create_wall_timer(
-    std::chrono::nanoseconds period,
-    CallbackType callback,
+    std::chrono::duration<int64_t, DurationT> period,
+    CallbackT callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  /// Create a timer.
-  /**
-   * \param[in] period Time interval between triggers of the callback.
-   * \param[in] callback User-defined callback function.
-   * \param[in] group Callback group to execute this timer's callback in.
-   */
-  // TODO(wjwwood): reenable this once I figure out why the demo doesn't build with it.
-  // rclcpp::timer::WallTimer::SharedPtr
-  // create_wall_timer(
-  //   std::chrono::duration<long double, std::nano> period,
-  //   rclcpp::timer::CallbackType callback,
-  //   rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
-
-  using CallbackGroup = rclcpp::callback_group::CallbackGroup;
-  using CallbackGroupWeakPtr = std::weak_ptr<CallbackGroup>;
-  using CallbackGroupWeakPtrList = std::list<CallbackGroupWeakPtr>;
-
   /* Create and return a Client. */
   template<typename ServiceT>
   typename rclcpp::client::Client<ServiceT>::SharedPtr
@@ -224,6 +235,20 @@ public:
   std::vector<rclcpp::parameter::ParameterVariant>
   get_parameters(const std::vector<std::string> & names) const;
 
+  RCLCPP_PUBLIC
+  rclcpp::parameter::ParameterVariant
+  get_parameter(const std::string & name) const;
+
+  RCLCPP_PUBLIC
+  bool
+  get_parameter(
+    const std::string & name,
+    rclcpp::parameter::ParameterVariant & parameter) const;
+
+  template<typename ParameterT>
+  bool
+  get_parameter(const std::string & name, ParameterT & parameter) const;
+
   RCLCPP_PUBLIC
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
   describe_parameters(const std::vector<std::string> & names) const;
@@ -236,6 +261,15 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
+  /// Register the callback for parameter changes
+  /**
+   * \param[in] User defined callback function, It is expected to atomically set parameters.
+   * \note Repeated invocations of this function will overwrite previous callbacks
+   */
+  template<typename CallbackT>
+  void
+  register_param_change_callback(CallbackT && callback);
+
   RCLCPP_PUBLIC
   std::map<std::string, std::string>
   get_topic_names_and_types() const;
@@ -248,38 +282,73 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const;
 
+  /// Return a graph event, which will be set anytime a graph change occurs.
+  /* The graph Event object is a loan which must be returned.
+   * The Event object is scoped and therefore to return the load just let it go
+   * out of scope.
+   */
   RCLCPP_PUBLIC
-  const CallbackGroupWeakPtrList &
-  get_callback_groups() const;
+  rclcpp::event::Event::SharedPtr
+  get_graph_event();
+
+  /// Wait for a graph event to occur by waiting on an Event to become set.
+  /* The given Event must be acquire through the get_graph_event() method.
+   *
+   * \throws InvalidEventError if the given event is nullptr
+   * \throws EventNotRegisteredError if the given event was not acquired with
+   *   get_graph_event().
+   */
+  RCLCPP_PUBLIC
+  void
+  wait_for_graph_change(
+    rclcpp::event::Event::SharedPtr event,
+    std::chrono::nanoseconds timeout);
+
+  /// Return the Node's internal NodeBaseInterface implementation.
+  RCLCPP_PUBLIC
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
+  get_node_base_interface();
+
+  /// Return the Node's internal NodeGraphInterface implementation.
+  RCLCPP_PUBLIC
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
+  get_node_graph_interface();
+
+  /// Return the Node's internal NodeTimersInterface implementation.
+  RCLCPP_PUBLIC
+  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
+  get_node_timers_interface();
+
+  /// Return the Node's internal NodeTopicsInterface implementation.
+  RCLCPP_PUBLIC
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
+  get_node_topics_interface();
+
+  /// Return the Node's internal NodeServicesInterface implementation.
+  RCLCPP_PUBLIC
+  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
+  get_node_services_interface();
+
+  /// Return the Node's internal NodeParametersInterface implementation.
+  RCLCPP_PUBLIC
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
+  get_node_parameters_interface();
 
 private:
-  RCLCPP_DISABLE_COPY(Node);
+  RCLCPP_DISABLE_COPY(Node)
 
   RCLCPP_PUBLIC
   bool
   group_in_node(callback_group::CallbackGroup::SharedPtr group);
 
-  std::string name_;
-
-  std::shared_ptr<rmw_node_t> node_handle_;
-
-  rclcpp::context::Context::SharedPtr context_;
-
-  CallbackGroup::SharedPtr default_callback_group_;
-  CallbackGroupWeakPtrList callback_groups_;
-
-  size_t number_of_subscriptions_;
-  size_t number_of_timers_;
-  size_t number_of_services_;
-  size_t number_of_clients_;
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
+  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
+  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
 
   bool use_intra_process_comms_;
-
-  mutable std::mutex mutex_;
-
-  std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
-
-  publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
 };
 
 }  // namespace node

rclcpp/include/rclcpp/node_impl.hpp

@@ -30,11 +30,16 @@
 #include <utility>
 #include <vector>
 
+#include "rcl/publisher.h"
+#include "rcl/subscription.h"
+
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/parameter.hpp"
+#include "rclcpp/create_publisher.hpp"
+#include "rclcpp/create_subscription.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -47,8 +52,8 @@ namespace rclcpp
 namespace node
 {
 
-template<typename MessageT, typename Alloc>
-typename rclcpp::publisher::Publisher<MessageT, Alloc>::SharedPtr
+template<typename MessageT, typename Alloc, typename PublisherT>
+std::shared_ptr<PublisherT>
 Node::create_publisher(
   const std::string & topic_name, size_t qos_history_depth,
   std::shared_ptr<Alloc> allocator)
@@ -58,11 +63,11 @@ Node::create_publisher(
   }
   rmw_qos_profile_t qos = rmw_qos_profile_default;
   qos.depth = qos_history_depth;
-  return this->create_publisher<MessageT, Alloc>(topic_name, qos, allocator);
+  return this->create_publisher<MessageT, Alloc, PublisherT>(topic_name, qos, allocator);
 }
 
-template<typename MessageT, typename Alloc>
-typename publisher::Publisher<MessageT, Alloc>::SharedPtr
+template<typename MessageT, typename Alloc, typename PublisherT>
+std::shared_ptr<PublisherT>
 Node::create_publisher(
   const std::string & topic_name, const rmw_qos_profile_t & qos_profile,
   std::shared_ptr<Alloc> allocator)
@@ -70,75 +75,16 @@ Node::create_publisher(
   if (!allocator) {
     allocator = std::make_shared<Alloc>();
   }
-  using rosidl_generator_cpp::get_message_type_support_handle;
-  auto type_support_handle = get_message_type_support_handle<MessageT>();
-  rmw_publisher_t * publisher_handle = rmw_create_publisher(
-    node_handle_.get(), type_support_handle, topic_name.c_str(), &qos_profile);
-  if (!publisher_handle) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-    throw std::runtime_error(
-      std::string("could not create publisher: ") +
-      rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-
-  auto publisher = publisher::Publisher<MessageT, Alloc>::make_shared(
-    node_handle_, publisher_handle, topic_name, qos_profile.depth, allocator);
-
-  if (use_intra_process_comms_) {
-    rmw_publisher_t * intra_process_publisher_handle = rmw_create_publisher(
-      node_handle_.get(), rclcpp::type_support::get_intra_process_message_msg_type_support(),
-      (topic_name + "__intra").c_str(), &qos_profile);
-    if (!intra_process_publisher_handle) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("could not create intra process publisher: ") +
-        rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-
-    auto intra_process_manager =
-      context_->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
-    uint64_t intra_process_publisher_id =
-      intra_process_manager->add_publisher<MessageT, Alloc>(publisher);
-    rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = intra_process_manager;
-    // *INDENT-OFF*
-    auto shared_publish_callback =
-      [weak_ipm](uint64_t publisher_id, void * msg, const std::type_info & type_info) -> uint64_t
-    {
-      auto ipm = weak_ipm.lock();
-      if (!ipm) {
-        // TODO(wjwwood): should this just return silently? Or maybe return with a logged warning?
-        throw std::runtime_error(
-          "intra process publish called after destruction of intra process manager");
-      }
-      if (!msg) {
-        throw std::runtime_error("cannot publisher msg which is a null pointer");
-      }
-      auto & message_type_info = typeid(MessageT);
-      if (message_type_info != type_info) {
-        throw std::runtime_error(
-          std::string("published type '") + type_info.name() +
-          "' is incompatible from the publisher type '" + message_type_info.name() + "'");
-      }
-      MessageT * typed_message_ptr = static_cast<MessageT *>(msg);
-      using MessageDeleter = typename publisher::Publisher<MessageT, Alloc>::MessageDeleter;
-      std::unique_ptr<MessageT, MessageDeleter> unique_msg(typed_message_ptr);
-      uint64_t message_seq =
-        ipm->store_intra_process_message<MessageT, Alloc>(publisher_id, unique_msg);
-      return message_seq;
-    };
-    // *INDENT-ON*
-    publisher->setup_intra_process(
-      intra_process_publisher_id,
-      shared_publish_callback,
-      intra_process_publisher_handle);
-  }
-  return publisher;
+  return rclcpp::create_publisher<MessageT, Alloc, PublisherT>(
+    this->node_topics_.get(),
+    topic_name,
+    qos_profile,
+    use_intra_process_comms_,
+    allocator);
 }
 
-template<typename MessageT, typename CallbackT, typename Alloc>
-typename rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
+template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
+std::shared_ptr<SubscriptionT>
 Node::create_subscription(
   const std::string & topic_name,
   CallbackT && callback,
@@ -147,107 +93,31 @@ Node::create_subscription(
   bool ignore_local_publications,
   typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
   msg_mem_strat,
-  typename std::shared_ptr<Alloc> allocator)
+  std::shared_ptr<Alloc> allocator)
 {
   if (!allocator) {
     allocator = std::make_shared<Alloc>();
   }
 
-  rclcpp::subscription::AnySubscriptionCallback<MessageT,
-  Alloc> any_subscription_callback(allocator);
-  any_subscription_callback.set(std::forward<CallbackT>(callback));
-
-  using rosidl_generator_cpp::get_message_type_support_handle;
-
   if (!msg_mem_strat) {
-    msg_mem_strat =
-      rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::create_default();
+    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
+    msg_mem_strat = MessageMemoryStrategy<MessageT, Alloc>::create_default();
   }
 
-  auto type_support_handle = get_message_type_support_handle<MessageT>();
-  rmw_subscription_t * subscriber_handle = rmw_create_subscription(
-    node_handle_.get(), type_support_handle,
-    topic_name.c_str(), &qos_profile, ignore_local_publications);
-  if (!subscriber_handle) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-    throw std::runtime_error(
-      std::string("could not create subscription: ") + rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-
-  using rclcpp::subscription::Subscription;
-  using rclcpp::subscription::SubscriptionBase;
-
-  auto sub = Subscription<MessageT, Alloc>::make_shared(
-    node_handle_,
-    subscriber_handle,
+  return rclcpp::create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
+    this->node_topics_.get(),
     topic_name,
+    std::forward<CallbackT>(callback),
+    qos_profile,
+    group,
     ignore_local_publications,
-    any_subscription_callback,
-    msg_mem_strat);
-  auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
-  // Setup intra process.
-  if (use_intra_process_comms_) {
-    rmw_subscription_t * intra_process_subscriber_handle = rmw_create_subscription(
-      node_handle_.get(), rclcpp::type_support::get_intra_process_message_msg_type_support(),
-      (topic_name + "__intra").c_str(), &qos_profile, false);
-    if (!subscriber_handle) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      throw std::runtime_error(
-        std::string("could not create intra process subscription: ") + rmw_get_error_string_safe());
-      // *INDENT-ON*
-    }
-    auto intra_process_manager =
-      context_->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
-    rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = intra_process_manager;
-    uint64_t intra_process_subscription_id =
-      intra_process_manager->add_subscription(sub_base_ptr);
-    // *INDENT-OFF*
-    sub->setup_intra_process(
-      intra_process_subscription_id,
-      intra_process_subscriber_handle,
-      [weak_ipm](
-        uint64_t publisher_id,
-        uint64_t message_sequence,
-        uint64_t subscription_id,
-        typename Subscription<MessageT, Alloc>::MessageUniquePtr & message)
-      {
-        auto ipm = weak_ipm.lock();
-        if (!ipm) {
-          // TODO(wjwwood): should this just return silently? Or maybe return with a logged warning?
-          throw std::runtime_error(
-            "intra process take called after destruction of intra process manager");
-        }
-        ipm->take_intra_process_message<MessageT, Alloc>(
-          publisher_id, message_sequence, subscription_id, message);
-      },
-      [weak_ipm](const rmw_gid_t * sender_gid) -> bool {
-        auto ipm = weak_ipm.lock();
-        if (!ipm) {
-          throw std::runtime_error(
-            "intra process publisher check called after destruction of intra process manager");
-        }
-        return ipm->matches_any_publishers(sender_gid);
-      }
-    );
-    // *INDENT-ON*
-  }
-  // Assign to a group.
-  if (group) {
-    if (!group_in_node(group)) {
-      // TODO(jacquelinekay): use custom exception
-      throw std::runtime_error("Cannot create subscription, group not in node.");
-    }
-    group->add_subscription(sub_base_ptr);
-  } else {
-    default_callback_group_->add_subscription(sub_base_ptr);
-  }
-  number_of_subscriptions_++;
-  return sub;
+    use_intra_process_comms_,
+    msg_mem_strat,
+    allocator);
 }
 
-template<typename MessageT, typename CallbackT, typename Alloc>
-typename rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
+template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
+std::shared_ptr<SubscriptionT>
 Node::create_subscription(
   const std::string & topic_name,
   size_t qos_history_depth,
@@ -260,7 +130,7 @@ Node::create_subscription(
 {
   rmw_qos_profile_t qos = rmw_qos_profile_default;
   qos.depth = qos_history_depth;
-  return this->create_subscription<MessageT, CallbackT, Alloc>(
+  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
     topic_name,
     std::forward<CallbackT>(callback),
     qos,
@@ -270,25 +140,17 @@ Node::create_subscription(
     allocator);
 }
 
-template<typename CallbackType>
-typename rclcpp::timer::WallTimer<CallbackType>::SharedPtr
+template<typename DurationT, typename CallbackT>
+typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
-  std::chrono::nanoseconds period,
-  CallbackType callback,
+  std::chrono::duration<int64_t, DurationT> period,
+  CallbackT callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  auto timer = rclcpp::timer::WallTimer<CallbackType>::make_shared(
-    period, std::move(callback));
-  if (group) {
-    if (!group_in_node(group)) {
-      // TODO(jacquelinekay): use custom exception
-      throw std::runtime_error("Cannot create timer, group not in node.");
-    }
-    group->add_timer(timer);
-  } else {
-    default_callback_group_->add_timer(timer);
-  }
-  number_of_timers_++;
+  auto timer = rclcpp::timer::WallTimer<CallbackT>::make_shared(
+    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
+    std::move(callback));
+  node_timers_->add_timer(timer, group);
   return timer;
 }
 
@@ -299,40 +161,20 @@ Node::create_client(
   const rmw_qos_profile_t & qos_profile,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  using rosidl_generator_cpp::get_service_type_support_handle;
-  auto service_type_support_handle =
-    get_service_type_support_handle<ServiceT>();
-
-  rmw_client_t * client_handle = rmw_create_client(
-    this->node_handle_.get(), service_type_support_handle, service_name.c_str(), &qos_profile);
-  if (!client_handle) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-    throw std::runtime_error(
-      std::string("could not create client: ") +
-      rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
+  rcl_client_options_t options = rcl_client_get_default_options();
+  options.qos = qos_profile;
 
   using rclcpp::client::Client;
   using rclcpp::client::ClientBase;
 
   auto cli = Client<ServiceT>::make_shared(
-    node_handle_,
-    client_handle,
-    service_name);
+    node_base_.get(),
+    node_graph_,
+    service_name,
+    options);
 
   auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
-  if (group) {
-    if (!group_in_node(group)) {
-      // TODO(esteve): use custom exception
-      throw std::runtime_error("Cannot create client, group not in node.");
-    }
-    group->add_client(cli_base_ptr);
-  } else {
-    default_callback_group_->add_client(cli_base_ptr);
-  }
-  number_of_clients_++;
-
+  node_services_->add_client(cli_base_ptr, group);
   return cli;
 }
 
@@ -344,39 +186,38 @@ Node::create_service(
   const rmw_qos_profile_t & qos_profile,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  using rosidl_generator_cpp::get_service_type_support_handle;
-  auto service_type_support_handle =
-    get_service_type_support_handle<ServiceT>();
-
   rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
   any_service_callback.set(std::forward<CallbackT>(callback));
 
-  rmw_service_t * service_handle = rmw_create_service(
-    node_handle_.get(), service_type_support_handle, service_name.c_str(), &qos_profile);
-  if (!service_handle) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-    throw std::runtime_error(
-      std::string("could not create service: ") +
-      rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
+  rcl_service_options_t service_options = rcl_service_get_default_options();
+  service_options.qos = qos_profile;
 
   auto serv = service::Service<ServiceT>::make_shared(
-    node_handle_, service_handle, service_name, any_service_callback);
+    node_base_->get_shared_rcl_node_handle(),
+    service_name, any_service_callback, service_options);
   auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
-  if (group) {
-    if (!group_in_node(group)) {
-      // TODO(jacquelinekay): use custom exception
-      throw std::runtime_error("Cannot create service, group not in node.");
-    }
-    group->add_service(serv_base_ptr);
-  } else {
-    default_callback_group_->add_service(serv_base_ptr);
-  }
-  number_of_services_++;
+  node_services_->add_service(serv_base_ptr, group);
   return serv;
 }
 
+template<typename CallbackT>
+void
+Node::register_param_change_callback(CallbackT && callback)
+{
+  this->node_parameters_->register_param_change_callback(std::forward<CallbackT>(callback));
+}
+
+template<typename ParameterT>
+bool
+Node::get_parameter(const std::string & name, ParameterT & parameter) const
+{
+  rclcpp::parameter::ParameterVariant parameter_variant(name, parameter);
+  bool result = get_parameter(name, parameter_variant);
+  parameter = parameter_variant.get_value<ParameterT>();
+
+  return result;
+}
+
 }  // namespace node
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -0,0 +1,131 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rclcpp/context.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Implementation of the NodeBase part of the Node API.
+class NodeBase : public NodeBaseInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBaseInterface)
+
+  RCLCPP_PUBLIC
+  NodeBase(const std::string & node_name, rclcpp::context::Context::SharedPtr context);
+
+  RCLCPP_PUBLIC
+  virtual
+  ~NodeBase();
+
+  RCLCPP_PUBLIC
+  virtual
+  const char *
+  get_name() const;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::context::Context::SharedPtr
+  get_context();
+
+  RCLCPP_PUBLIC
+  virtual
+  rcl_node_t *
+  get_rcl_node_handle();
+
+  RCLCPP_PUBLIC
+  virtual
+  const rcl_node_t *
+  get_rcl_node_handle() const;
+
+  RCLCPP_PUBLIC
+  virtual
+  std::shared_ptr<rcl_node_t>
+  get_shared_rcl_node_handle();
+
+  RCLCPP_PUBLIC
+  virtual
+  std::shared_ptr<const rcl_node_t>
+  get_shared_rcl_node_handle() const;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::callback_group::CallbackGroup::SharedPtr
+  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::callback_group::CallbackGroup::SharedPtr
+  get_default_callback_group();
+
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group);
+
+  RCLCPP_PUBLIC
+  virtual
+  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  get_callback_groups() const;
+
+  RCLCPP_PUBLIC
+  virtual
+  std::atomic_bool &
+  get_associated_with_executor_atomic();
+
+  RCLCPP_PUBLIC
+  virtual
+  rcl_guard_condition_t *
+  get_notify_guard_condition();
+
+  RCLCPP_PUBLIC
+  virtual
+  std::unique_lock<std::recursive_mutex>
+  acquire_notify_guard_condition_lock() const;
+
+private:
+  RCLCPP_DISABLE_COPY(NodeBase)
+
+  rclcpp::context::Context::SharedPtr context_;
+
+  std::shared_ptr<rcl_node_t> node_handle_;
+
+  rclcpp::callback_group::CallbackGroup::SharedPtr default_callback_group_;
+  std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> callback_groups_;
+
+  std::atomic_bool associated_with_executor_;
+
+  /// Guard condition for notifying the Executor of changes to this node.
+  mutable std::recursive_mutex notify_guard_condition_mutex_;
+  rcl_guard_condition_t notify_guard_condition_ = rcl_get_zero_initialized_guard_condition();
+  bool notify_guard_condition_is_valid_;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -0,0 +1,136 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_
+
+#include <memory>
+#include <mutex>
+#include <string>
+#include <vector>
+
+#include "rcl/node.h"
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/context.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Pure virtual interface class for the NodeBase part of the Node API.
+class NodeBaseInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBaseInterface)
+
+  /// Return the name of the node.
+  // \return The name of the node.
+  RCLCPP_PUBLIC
+  virtual
+  const char *
+  get_name() const = 0;
+
+  /// Return the context of the node.
+  // \return SharedPtr to the node's context.
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::context::Context::SharedPtr
+  get_context() = 0;
+
+  /// Return the rcl_node_t node handle (non-const version).
+  RCLCPP_PUBLIC
+  virtual
+  rcl_node_t *
+  get_rcl_node_handle() = 0;
+
+  /// Return the rcl_node_t node handle (const version).
+  RCLCPP_PUBLIC
+  virtual
+  const rcl_node_t *
+  get_rcl_node_handle() const = 0;
+
+  /// Return the rcl_node_t node handle in a std::shared_ptr.
+  /* This handle remains valid after the Node is destroyed.
+   * The actual rcl node is not finalized until it is out of scope everywhere.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  std::shared_ptr<rcl_node_t>
+  get_shared_rcl_node_handle() = 0;
+
+  /// Return the rcl_node_t node handle in a std::shared_ptr.
+  /* This handle remains valid after the Node is destroyed.
+   * The actual rcl node is not finalized until it is out of scope everywhere.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  std::shared_ptr<const rcl_node_t>
+  get_shared_rcl_node_handle() const = 0;
+
+  /// Create and return a callback group.
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::callback_group::CallbackGroup::SharedPtr
+  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type) = 0;
+
+  /// Return the default callback group.
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::callback_group::CallbackGroup::SharedPtr
+  get_default_callback_group() = 0;
+
+  /// Return true if the given callback group is associated with this node.
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
+
+  /// Return list of callback groups associated with this node.
+  RCLCPP_PUBLIC
+  virtual
+  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  get_callback_groups() const = 0;
+
+  /// Return the atomic bool which is used to ensure only one executor is used.
+  RCLCPP_PUBLIC
+  virtual
+  std::atomic_bool &
+  get_associated_with_executor_atomic() = 0;
+
+  /// Return guard condition that should be notified when the internal node state changes.
+  /* For example, this should be notified when a publisher is added or removed.
+   *
+   * \return the rcl_guard_condition_t if it is valid, else nullptr
+   */
+  RCLCPP_PUBLIC
+  virtual
+  rcl_guard_condition_t *
+  get_notify_guard_condition() = 0;
+
+  /// Acquire and return a scoped lock that protects the notify guard condition.
+  /* This should be used when triggering the notify guard condition. */
+  RCLCPP_PUBLIC
+  virtual
+  std::unique_lock<std::recursive_mutex>
+  acquire_notify_guard_condition_lock() const = 0;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -0,0 +1,129 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_
+
+#include <chrono>
+#include <map>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <vector>
+
+#include "rcl/guard_condition.h"
+
+#include "rclcpp/event.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+namespace graph_listener
+{
+class GraphListener;
+}  // namespace graph_listener
+
+namespace node_interfaces
+{
+
+/// Implementation the NodeGraph part of the Node API.
+class NodeGraph : public NodeGraphInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeGraph)
+
+  RCLCPP_PUBLIC
+  explicit NodeGraph(rclcpp::node_interfaces::NodeBaseInterface * node_base);
+
+  RCLCPP_PUBLIC
+  virtual
+  ~NodeGraph();
+
+  RCLCPP_PUBLIC
+  virtual
+  std::map<std::string, std::string>
+  get_topic_names_and_types() const;
+
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  count_publishers(const std::string & topic_name) const;
+
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  count_subscribers(const std::string & topic_name) const;
+
+  RCLCPP_PUBLIC
+  virtual
+  const rcl_guard_condition_t *
+  get_graph_guard_condition() const;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  notify_graph_change();
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  notify_shutdown();
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::event::Event::SharedPtr
+  get_graph_event();
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  wait_for_graph_change(
+    rclcpp::event::Event::SharedPtr event,
+    std::chrono::nanoseconds timeout);
+
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  count_graph_users();
+
+private:
+  RCLCPP_DISABLE_COPY(NodeGraph)
+
+  /// Handle to the NodeBaseInterface given in the constructor.
+  rclcpp::node_interfaces::NodeBaseInterface * node_base_;
+
+  /// Graph Listener which waits on graph changes for the node and is shared across nodes.
+  std::shared_ptr<rclcpp::graph_listener::GraphListener> graph_listener_;
+  /// Whether or not this node needs to be added to the graph listener.
+  std::atomic_bool should_add_to_graph_listener_;
+
+  /// Mutex to guard the graph event related data structures.
+  mutable std::mutex graph_mutex_;
+  /// For notifying waiting threads (wait_for_graph_change()) on changes (notify_graph_change()).
+  std::condition_variable graph_cv_;
+  /// Weak references to graph events out on loan.
+  std::vector<rclcpp::event::Event::WeakPtr> graph_events_;
+  /// Number of graph events out on loan, used to determine if the graph should be monitored.
+  /* graph_users_count_ is atomic so that it can be accessed without acquiring the graph_mutex_ */
+  std::atomic_size_t graph_users_count_;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_GRAPH_HPP_

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -0,0 +1,122 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_
+
+#include <chrono>
+#include <map>
+#include <string>
+
+#include "rcl/guard_condition.h"
+
+#include "rclcpp/event.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Pure virtual interface class for the NodeGraph part of the Node API.
+class NodeGraphInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeGraphInterface)
+
+  /// Return a map of existing topic names (string) to topic types (string).
+  /* A topic is considered to exist when at least one publisher or subscriber
+   * exists for it, whether they be local or remote to this process.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  std::map<std::string, std::string>
+  get_topic_names_and_types() const = 0;
+
+  /// Return the number of publishers that are advertised on a given topic.
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  count_publishers(const std::string & topic_name) const = 0;
+
+  /// Return the number of subscribers who have created a subscription for a given topic.
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  count_subscribers(const std::string & topic_name) const = 0;
+
+  /// Return the rcl guard condition which is triggered when the ROS graph changes.
+  RCLCPP_PUBLIC
+  virtual
+  const rcl_guard_condition_t *
+  get_graph_guard_condition() const = 0;
+
+  /// Notify threads waiting on graph changes.
+  /* Affects threads waiting on the notify guard condition, see:
+   * get_notify_guard_condition(), as well as the threads waiting on graph
+   * changes using a graph Event, see: wait_for_graph_change().
+   *
+   * This is typically only used by the rclcpp::graph_listener::GraphListener.
+   *
+   * \throws RCLBaseError (a child of that exception) when an rcl error occurs
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  notify_graph_change() = 0;
+
+  /// Notify any and all blocking node actions that shutdown has occurred.
+  RCLCPP_PUBLIC
+  virtual
+  void
+  notify_shutdown() = 0;
+
+  /// Return a graph event, which will be set anytime a graph change occurs.
+  /* The graph Event object is a loan which must be returned.
+   * The Event object is scoped and therefore to return the load just let it go
+   * out of scope.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::event::Event::SharedPtr
+  get_graph_event() = 0;
+
+  /// Wait for a graph event to occur by waiting on an Event to become set.
+  /* The given Event must be acquire through the get_graph_event() method.
+   *
+   * \throws InvalidEventError if the given event is nullptr
+   * \throws EventNotRegisteredError if the given event was not acquired with
+   *   get_graph_event().
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  wait_for_graph_change(
+    rclcpp::event::Event::SharedPtr event,
+    std::chrono::nanoseconds timeout) = 0;
+
+  /// Return the number of on loan graph events, see get_graph_event().
+  /* This is typically only used by the rclcpp::graph_listener::GraphListener.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  count_graph_users() = 0;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -0,0 +1,122 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_HPP_
+
+#include <map>
+#include <string>
+#include <vector>
+
+#include "rcl_interfaces/msg/list_parameters_result.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+#include "rcl_interfaces/msg/parameter_event.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Implementation of the NodeParameters part of the Node API.
+class NodeParameters : public NodeParametersInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeParameters)
+
+  RCLCPP_PUBLIC
+  NodeParameters(
+    rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
+    bool use_intra_process);
+
+  RCLCPP_PUBLIC
+  virtual
+  ~NodeParameters();
+
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  set_parameters(
+    const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+
+  RCLCPP_PUBLIC
+  virtual
+  rcl_interfaces::msg::SetParametersResult
+  set_parameters_atomically(
+    const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rclcpp::parameter::ParameterVariant>
+  get_parameters(const std::vector<std::string> & names) const;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::parameter::ParameterVariant
+  get_parameter(const std::string & name) const;
+
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  get_parameter(
+    const std::string & name,
+    rclcpp::parameter::ParameterVariant & parameter) const;
+
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rcl_interfaces::msg::ParameterDescriptor>
+  describe_parameters(const std::vector<std::string> & names) const;
+
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<uint8_t>
+  get_parameter_types(const std::vector<std::string> & names) const;
+
+  RCLCPP_PUBLIC
+  virtual
+  rcl_interfaces::msg::ListParametersResult
+  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  register_param_change_callback(ParametersCallbackFunction callback);
+
+private:
+  RCLCPP_DISABLE_COPY(NodeParameters)
+
+  rclcpp::node_interfaces::NodeTopicsInterface * node_topics_;
+
+  mutable std::mutex mutex_;
+
+  ParametersCallbackFunction parameters_callback_ = nullptr;
+
+  std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
+
+  publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_HPP_

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -0,0 +1,97 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
+
+#include <string>
+#include <vector>
+
+#include "rcl_interfaces/msg/list_parameters_result.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Pure virtual interface class for the NodeParameters part of the Node API.
+class NodeParametersInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeParametersInterface)
+
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  set_parameters(
+    const std::vector<rclcpp::parameter::ParameterVariant> & parameters) = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rcl_interfaces::msg::SetParametersResult
+  set_parameters_atomically(
+    const std::vector<rclcpp::parameter::ParameterVariant> & parameters) = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rclcpp::parameter::ParameterVariant>
+  get_parameters(const std::vector<std::string> & names) const = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::parameter::ParameterVariant
+  get_parameter(const std::string & name) const = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  get_parameter(
+    const std::string & name,
+    rclcpp::parameter::ParameterVariant & parameter) const = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rcl_interfaces::msg::ParameterDescriptor>
+  describe_parameters(const std::vector<std::string> & names) const = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<uint8_t>
+  get_parameter_types(const std::vector<std::string> & names) const = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rcl_interfaces::msg::ListParametersResult
+  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const = 0;
+
+  using ParametersCallbackFunction =
+      std::function<rcl_interfaces::msg::SetParametersResult(
+        const std::vector<rclcpp::parameter::ParameterVariant> &)>;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  register_param_change_callback(ParametersCallbackFunction callback) = 0;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_services.hpp

@@ -0,0 +1,67 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Implementation of the NodeServices part of the Node API.
+class NodeServices : public NodeServicesInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeServices)
+
+  RCLCPP_PUBLIC
+  explicit NodeServices(rclcpp::node_interfaces::NodeBaseInterface * node_base);
+
+  RCLCPP_PUBLIC
+  virtual
+  ~NodeServices();
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_client(
+    rclcpp::client::ClientBase::SharedPtr client_base_ptr,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group);
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_service(
+    rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group);
+
+private:
+  RCLCPP_DISABLE_COPY(NodeServices)
+
+  rclcpp::node_interfaces::NodeBaseInterface * node_base_;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

@@ -0,0 +1,53 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Pure virtual interface class for the NodeServices part of the Node API.
+class NodeServicesInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeServicesInterface)
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_client(
+    rclcpp::client::ClientBase::SharedPtr client_base_ptr,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_service(
+    rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_timers.hpp

@@ -0,0 +1,60 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_TIMERS_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_TIMERS_HPP_
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Implementation of the NodeTimers part of the Node API.
+class NodeTimers : public NodeTimersInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTimers)
+
+  RCLCPP_PUBLIC
+  explicit NodeTimers(rclcpp::node_interfaces::NodeBaseInterface * node_base);
+
+  RCLCPP_PUBLIC
+  virtual
+  ~NodeTimers();
+
+  /// Add a timer to the node.
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_timer(
+    rclcpp::timer::TimerBase::SharedPtr timer,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group);
+
+private:
+  RCLCPP_DISABLE_COPY(NodeTimers)
+
+  rclcpp::node_interfaces::NodeBaseInterface * node_base_;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_TIMERS_HPP_

rclcpp/include/rclcpp/node_interfaces/node_timers_interface.hpp

@@ -0,0 +1,46 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Pure virtual interface class for the NodeTimers part of the Node API.
+class NodeTimersInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTimersInterface)
+
+  /// Add a timer to the node.
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_timer(
+    rclcpp::timer::TimerBase::SharedPtr timer,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -0,0 +1,88 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_TOPICS_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_TOPICS_HPP_
+
+#include <string>
+
+#include "rcl/publisher.h"
+#include "rcl/subscription.h"
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_factory.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Implementation of the NodeTopics part of the Node API.
+class NodeTopics : public NodeTopicsInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTopicsInterface)
+
+  RCLCPP_PUBLIC
+  explicit NodeTopics(rclcpp::node_interfaces::NodeBaseInterface * node_base);
+
+  RCLCPP_PUBLIC
+  virtual
+  ~NodeTopics();
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::publisher::PublisherBase::SharedPtr
+  create_publisher(
+    const std::string & topic_name,
+    const rclcpp::PublisherFactory & publisher_factory,
+    rcl_publisher_options_t & publisher_options,
+    bool use_intra_process);
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_publisher(
+    rclcpp::publisher::PublisherBase::SharedPtr publisher);
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::subscription::SubscriptionBase::SharedPtr
+  create_subscription(
+    const std::string & topic_name,
+    const rclcpp::SubscriptionFactory & subscription_factory,
+    rcl_subscription_options_t & subscription_options,
+    bool use_intra_process);
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_subscription(
+    rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group);
+
+private:
+  RCLCPP_DISABLE_COPY(NodeTopics)
+
+  NodeBaseInterface * node_base_;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_TOPICS_HPP_

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -0,0 +1,78 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rcl/publisher.h"
+#include "rcl/subscription.h"
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_factory.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_factory.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Pure virtual interface class for the NodeTopics part of the Node API.
+class NodeTopicsInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTopicsInterface)
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::publisher::PublisherBase::SharedPtr
+  create_publisher(
+    const std::string & topic_name,
+    const rclcpp::PublisherFactory & publisher_factory,
+    rcl_publisher_options_t & publisher_options,
+    bool use_intra_process) = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_publisher(
+    rclcpp::publisher::PublisherBase::SharedPtr publisher) = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::subscription::SubscriptionBase::SharedPtr
+  create_subscription(
+    const std::string & topic_name,
+    const rclcpp::SubscriptionFactory & subscription_factory,
+    rcl_subscription_options_t & subscription_options,
+    bool use_intra_process) = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  add_subscription(
+    rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_

rclcpp/include/rclcpp/parameter.hpp

@@ -80,6 +80,8 @@ public:
   rcl_interfaces::msg::ParameterValue
   get_parameter_value() const;
 
+  // The following get_value() variants require the use of ParameterType
+
   template<ParameterType type>
   typename std::enable_if<type == ParameterType::PARAMETER_INTEGER, int64_t>::type
   get_value() const
@@ -125,8 +127,8 @@ public:
   }
 
   template<ParameterType type>
-  typename std::enable_if<type == ParameterType::PARAMETER_BYTES,
-  const std::vector<uint8_t> &>::type
+  typename std::enable_if<
+    type == ParameterType::PARAMETER_BYTES, const std::vector<uint8_t> &>::type
   get_value() const
   {
     if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_BYTES) {
@@ -136,6 +138,46 @@ public:
     return value_.bytes_value;
   }
 
+  // The following get_value() variants allow the use of primitive types
+
+  template<typename type>
+  typename std::enable_if<
+    std::is_integral<type>::value && !std::is_same<type, bool>::value, int64_t>::type
+  get_value() const
+  {
+    return get_value<ParameterType::PARAMETER_INTEGER>();
+  }
+
+  template<typename type>
+  typename std::enable_if<std::is_floating_point<type>::value, double>::type
+  get_value() const
+  {
+    return get_value<ParameterType::PARAMETER_DOUBLE>();
+  }
+
+  template<typename type>
+  typename std::enable_if<std::is_convertible<type, std::string>::value, const std::string &>::type
+  get_value() const
+  {
+    return get_value<ParameterType::PARAMETER_STRING>();
+  }
+
+  template<typename type>
+  typename std::enable_if<std::is_same<type, bool>::value, bool>::type
+  get_value() const
+  {
+    return get_value<ParameterType::PARAMETER_BOOL>();
+  }
+
+  template<typename type>
+  typename std::enable_if<
+    std::is_convertible<
+      type, const std::vector<uint8_t> &>::value, const std::vector<uint8_t> &>::type
+  get_value() const
+  {
+    return get_value<ParameterType::PARAMETER_BYTES>();
+  }
+
   RCLCPP_PUBLIC
   int64_t
   as_int() const;

rclcpp/include/rclcpp/parameter_client.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP__PARAMETER_CLIENT_HPP_
 
 #include <string>
+#include <utility>
 #include <vector>
 
 #include "rcl_interfaces/msg/parameter.hpp"
@@ -43,12 +44,13 @@ namespace parameter_client
 class AsyncParametersClient
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient);
+  RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient)
 
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::node::Node::SharedPtr node,
-    const std::string & remote_node_name = "");
+    const std::string & remote_node_name = "",
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
@@ -116,21 +118,62 @@ private:
 class SyncParametersClient
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient);
+  RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)
 
   RCLCPP_PUBLIC
-  SyncParametersClient(
-    rclcpp::node::Node::SharedPtr node);
+  explicit SyncParametersClient(
+    rclcpp::node::Node::SharedPtr node,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::executor::Executor::SharedPtr executor,
-    rclcpp::node::Node::SharedPtr node);
+    rclcpp::node::Node::SharedPtr node,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   std::vector<rclcpp::parameter::ParameterVariant>
   get_parameters(const std::vector<std::string> & parameter_names);
 
+  RCLCPP_PUBLIC
+  bool
+  has_parameter(const std::string & parameter_name);
+
+  template<typename T>
+  T
+  get_parameter_impl(
+    const std::string & parameter_name, std::function<T()> parameter_not_found_handler)
+  {
+    std::vector<std::string> names;
+    names.push_back(parameter_name);
+    auto vars = get_parameters(names);
+    if ((vars.size() != 1) || (vars[0].get_type() == rclcpp::parameter::PARAMETER_NOT_SET)) {
+      return parameter_not_found_handler();
+    } else {
+      return static_cast<T>(vars[0].get_value<T>());
+    }
+  }
+
+  template<typename T>
+  T
+  get_parameter(const std::string & parameter_name, const T & default_value)
+  {
+    // *INDENT-OFF*
+    return get_parameter_impl(parameter_name,
+      std::function<T()>([&default_value]() -> T {return default_value; }));
+    // *INDENT-ON*
+  }
+
+  template<typename T>
+  T
+  get_parameter(const std::string & parameter_name)
+  {
+    // *INDENT-OFF*
+    return get_parameter_impl(parameter_name,
+      std::function<T()>([]() -> T {throw std::runtime_error("Parameter not set"); }));
+    // *INDENT-ON*
+  }
+
   RCLCPP_PUBLIC
   std::vector<rclcpp::parameter::ParameterType>
   get_parameter_types(const std::vector<std::string> & parameter_names);

rclcpp/include/rclcpp/parameter_service.hpp

@@ -38,10 +38,12 @@ namespace parameter_service
 class ParameterService
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(ParameterService);
+  RCLCPP_SMART_PTR_DEFINITIONS(ParameterService)
 
   RCLCPP_PUBLIC
-  explicit ParameterService(const rclcpp::node::Node::SharedPtr node);
+  explicit ParameterService(
+    const rclcpp::node::Node::SharedPtr node,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
 private:
   const rclcpp::node::Node::SharedPtr node_;

rclcpp/include/rclcpp/publisher.hpp

@@ -24,54 +24,60 @@
 #include <sstream>
 #include <string>
 
+#include "rcl/error_handling.h"
+#include "rcl/publisher.h"
+
 #include "rcl_interfaces/msg/intra_process_message.hpp"
-#include "rmw/impl/cpp/demangle.hpp"
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
 
-// Forward declaration for friend statement
-namespace node
+// Forward declaration is used for friend statement.
+namespace node_interfaces
 {
-class Node;
-}  // namespace node
+class NodeTopicsInterface;
+}
 
 namespace publisher
 {
 
 class PublisherBase
 {
+  friend rclcpp::node_interfaces::NodeTopicsInterface;
+
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase);
+  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase)
+
   /// Default constructor.
   /**
    * Typically, a publisher is not created through this method, but instead is created through a
    * call to `Node::create_publisher`.
-   * \param[in] node_handle The corresponding rmw representation of the owner node.
-   * \param[in] publisher_handle The rmw publisher handle corresponding to this publisher.
+   * \param[in] node_base A pointer to the NodeBaseInterface for the parent node.
    * \param[in] topic The topic that this publisher publishes on.
-   * \param[in] queue_size The maximum number of unpublished messages to queue.
+   * \param[in] type_support The type support structure for the type to be published.
+   * \param[in] publisher_options QoS settings for this publisher.
    */
   RCLCPP_PUBLIC
   PublisherBase(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_publisher_t * publisher_handle,
-    std::string topic,
-    size_t queue_size);
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic,
+    const rosidl_message_type_support_t & type_support,
+    const rcl_publisher_options_t & publisher_options);
 
-  /// Default destructor.
   RCLCPP_PUBLIC
   virtual ~PublisherBase();
 
   /// Get the topic that this publisher publishes on.
   // \return The topic name.
   RCLCPP_PUBLIC
-  const std::string &
+  const char *
   get_topic_name() const;
 
   /// Get the queue size for this publisher.
@@ -112,23 +118,21 @@ public:
   bool
   operator==(const rmw_gid_t * gid) const;
 
-  typedef std::function<uint64_t(uint64_t, void *, const std::type_info &)> StoreMessageCallbackT;
+  using StoreMessageCallbackT = std::function<uint64_t(uint64_t, void *, const std::type_info &)>;
 
-protected:
+  /// Implementation utility function used to setup intra process publishing after creation.
   RCLCPP_PUBLIC
   void
   setup_intra_process(
     uint64_t intra_process_publisher_id,
     StoreMessageCallbackT callback,
-    rmw_publisher_t * intra_process_publisher_handle);
+    const rcl_publisher_options_t & intra_process_options);
 
-  std::shared_ptr<rmw_node_t> node_handle_;
+protected:
+  std::shared_ptr<rcl_node_t> rcl_node_handle_;
 
-  rmw_publisher_t * publisher_handle_;
-  rmw_publisher_t * intra_process_publisher_handle_;
-
-  std::string topic_;
-  size_t queue_size_;
+  rcl_publisher_t publisher_handle_ = rcl_get_zero_initialized_publisher();
+  rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();
 
   uint64_t intra_process_publisher_id_;
   StoreMessageCallbackT store_intra_process_message_;
@@ -141,35 +145,38 @@ protected:
 template<typename MessageT, typename Alloc = std::allocator<void>>
 class Publisher : public PublisherBase
 {
-  friend rclcpp::node::Node;
-
 public:
   using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
   using MessageAlloc = typename MessageAllocTraits::allocator_type;
   using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
 
-  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, Alloc>);
+  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, Alloc>)
 
   Publisher(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_publisher_t * publisher_handle,
-    std::string topic,
-    size_t queue_size,
-    std::shared_ptr<Alloc> allocator)
-  : PublisherBase(node_handle, publisher_handle, topic, queue_size)
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic,
+    const rcl_publisher_options_t & publisher_options,
+    const std::shared_ptr<MessageAlloc> & allocator)
+  : PublisherBase(
+      node_base,
+      topic,
+      *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
+      publisher_options),
+    message_allocator_(allocator)
   {
-    message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
     allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
   }
 
+  virtual ~Publisher()
+  {}
 
   /// Send a message to the topic for this publisher.
   /**
    * This function is templated on the input message type, MessageT.
    * \param[in] msg A shared pointer to the message to send.
    */
-  void
+  virtual void
   publish(std::unique_ptr<MessageT, MessageDeleter> & msg)
   {
     this->do_inter_process_publish(msg.get());
@@ -188,11 +195,11 @@ public:
       rcl_interfaces::msg::IntraProcessMessage ipm;
       ipm.publisher_id = intra_process_publisher_id_;
       ipm.message_sequence = message_seq;
-      auto status = rmw_publish(intra_process_publisher_handle_, &ipm);
-      if (status != RMW_RET_OK) {
-        // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+      auto status = rcl_publish(&intra_process_publisher_handle_, &ipm);
+      if (status != RCL_RET_OK) {
+        // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
         throw std::runtime_error(
-          std::string("failed to publish intra process message: ") + rmw_get_error_string_safe());
+          std::string("failed to publish intra process message: ") + rcl_get_error_string_safe());
         // *INDENT-ON*
       }
     } else {
@@ -201,7 +208,7 @@ public:
     }
   }
 
-  void
+  virtual void
   publish(const std::shared_ptr<MessageT> & msg)
   {
     // Avoid allocating when not using intra process.
@@ -220,7 +227,7 @@ public:
     return this->publish(unique_msg);
   }
 
-  void
+  virtual void
   publish(std::shared_ptr<const MessageT> msg)
   {
     // Avoid allocating when not using intra process.
@@ -239,7 +246,7 @@ public:
     return this->publish(unique_msg);
   }
 
-  void
+  virtual void
   publish(const MessageT & msg)
   {
     // Avoid allocating when not using intra process.
@@ -263,11 +270,11 @@ protected:
   void
   do_inter_process_publish(const MessageT * msg)
   {
-    auto status = rmw_publish(publisher_handle_, msg);
-    if (status != RMW_RET_OK) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    auto status = rcl_publish(&publisher_handle_, msg);
+    if (status != RCL_RET_OK) {
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(
-        std::string("failed to publish message: ") + rmw_get_error_string_safe());
+        std::string("failed to publish message: ") + rcl_get_error_string_safe());
       // *INDENT-ON*
     }
   }
@@ -278,6 +285,7 @@ protected:
 };
 
 }  // namespace publisher
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__PUBLISHER_HPP_

rclcpp/include/rclcpp/publisher_factory.hpp

@@ -0,0 +1,147 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__PUBLISHER_FACTORY_HPP_
+#define RCLCPP__PUBLISHER_FACTORY_HPP_
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rcl/publisher.h"
+
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// Factory with functions used to create a MessageT specific PublisherT.
+/* This factory class is used to encapsulate the template generated functions
+ * which are used during the creation of a Message type specific publisher
+ * within a non-templated class.
+ *
+ * It is created using the create_publisher_factory function, which is usually
+ * 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.
+ */
+struct PublisherFactory
+{
+  // Creates a PublisherT<MessageT, ...> publisher object and returns it as a PublisherBase.
+  using PublisherFactoryFunction = std::function<
+      rclcpp::publisher::PublisherBase::SharedPtr(
+        rclcpp::node_interfaces::NodeBaseInterface * node_base,
+        const std::string & topic_name,
+        rcl_publisher_options_t & publisher_options)>;
+
+  PublisherFactoryFunction create_typed_publisher;
+
+  // Adds the PublisherBase to the intraprocess manager with the correctly
+  // templated call to IntraProcessManager::store_intra_process_message.
+  using AddPublisherToIntraProcessManagerFunction = std::function<
+      uint64_t(
+        rclcpp::intra_process_manager::IntraProcessManager * ipm,
+        rclcpp::publisher::PublisherBase::SharedPtr publisher)>;
+
+  AddPublisherToIntraProcessManagerFunction add_publisher_to_intra_process_manager;
+
+  // Creates the callback function which is called on each
+  // PublisherT::publish() and which handles the intra process transmission of
+  // the message being published.
+  using SharedPublishCallbackFactoryFunction = std::function<
+      rclcpp::publisher::PublisherBase::StoreMessageCallbackT(
+        rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm)>;
+
+  SharedPublishCallbackFactoryFunction create_shared_publish_callback;
+};
+
+/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, Alloc>.
+template<typename MessageT, typename Alloc, typename PublisherT>
+PublisherFactory
+create_publisher_factory(std::shared_ptr<Alloc> allocator)
+{
+  PublisherFactory factory;
+
+  // factory function that creates a MessageT specific PublisherT
+  factory.create_typed_publisher =
+    [allocator](
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic_name,
+    rcl_publisher_options_t & publisher_options) -> std::shared_ptr<PublisherT>
+    {
+      auto message_alloc = std::make_shared<typename PublisherT::MessageAlloc>(*allocator.get());
+      publisher_options.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
+
+      return std::make_shared<PublisherT>(node_base, topic_name, publisher_options, message_alloc);
+    };
+
+  // function to add a publisher to the intra process manager
+  factory.add_publisher_to_intra_process_manager =
+    [](
+    rclcpp::intra_process_manager::IntraProcessManager * ipm,
+    rclcpp::publisher::PublisherBase::SharedPtr publisher) -> uint64_t
+    {
+      return ipm->add_publisher<MessageT, Alloc>(std::dynamic_pointer_cast<PublisherT>(publisher));
+    };
+
+  // function to create a shared publish callback std::function
+  using StoreMessageCallbackT = rclcpp::publisher::PublisherBase::StoreMessageCallbackT;
+  factory.create_shared_publish_callback =
+    [](rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm) -> StoreMessageCallbackT
+    {
+      rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = ipm;
+
+      // this function is called on each call to publish() and handles storing
+      // of the published message in the intra process manager
+      auto shared_publish_callback =
+        [weak_ipm](uint64_t publisher_id, void * msg, const std::type_info & type_info) -> uint64_t
+        {
+          auto ipm = weak_ipm.lock();
+          if (!ipm) {
+            // TODO(wjwwood): should this just return silently? Or maybe return with a warning?
+            throw std::runtime_error(
+                    "intra process publish called after destruction of intra process manager");
+          }
+          if (!msg) {
+            throw std::runtime_error("cannot publisher msg which is a null pointer");
+          }
+          auto & message_type_info = typeid(MessageT);
+          if (message_type_info != type_info) {
+            throw std::runtime_error(
+                    std::string("published type '") + type_info.name() +
+                    "' is incompatible from the publisher type '" + message_type_info.name() + "'");
+          }
+          MessageT * typed_message_ptr = static_cast<MessageT *>(msg);
+          using MessageDeleter = typename publisher::Publisher<MessageT, Alloc>::MessageDeleter;
+          std::unique_ptr<MessageT, MessageDeleter> unique_msg(typed_message_ptr);
+          uint64_t message_seq =
+            ipm->store_intra_process_message<MessageT, Alloc>(publisher_id, unique_msg);
+          return message_seq;
+        };
+
+      return shared_publish_callback;
+    };
+
+  // return the factory now that it is populated
+  return factory;
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__PUBLISHER_FACTORY_HPP_

rclcpp/include/rclcpp/rate.hpp

@@ -31,7 +31,7 @@ namespace rate
 class RateBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(RateBase);
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(RateBase)
 
   virtual bool sleep() = 0;
   virtual bool is_steady() const = 0;
@@ -46,7 +46,7 @@ template<class Clock = std::chrono::high_resolution_clock>
 class GenericRate : public RateBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(GenericRate);
+  RCLCPP_SMART_PTR_DEFINITIONS(GenericRate)
 
   explicit GenericRate(double rate)
   : GenericRate<Clock>(
@@ -106,7 +106,7 @@ public:
   }
 
 private:
-  RCLCPP_DISABLE_COPY(GenericRate);
+  RCLCPP_DISABLE_COPY(GenericRate)
 
   std::chrono::nanoseconds period_;
   using ClockDurationNano = std::chrono::duration<typename Clock::rep, std::nano>;

rclcpp/include/rclcpp/rclcpp.hpp

@@ -27,39 +27,6 @@
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-// NOLINTNEXTLINE(runtime/int)
-inline const std::chrono::seconds operator"" _s(unsigned long long s)
-{
-  return std::chrono::seconds(s);
-}
-inline const std::chrono::nanoseconds operator"" _s(long double s)
-{
-  return std::chrono::duration_cast<std::chrono::nanoseconds>(
-    std::chrono::duration<long double>(s));
-}
-
-// NOLINTNEXTLINE(runtime/int)
-inline const std::chrono::nanoseconds operator"" _ms(unsigned long long ms)
-{
-  return std::chrono::milliseconds(ms);
-}
-inline const std::chrono::nanoseconds operator"" _ms(long double ms)
-{
-  return std::chrono::duration_cast<std::chrono::nanoseconds>(
-    std::chrono::duration<long double, std::milli>(ms));
-}
-
-// NOLINTNEXTLINE(runtime/int)
-inline const std::chrono::nanoseconds operator"" _ns(unsigned long long ns)
-{
-  return std::chrono::nanoseconds(ns);
-}
-inline const std::chrono::nanoseconds operator"" _ns(long double ns)
-{
-  return std::chrono::duration_cast<std::chrono::nanoseconds>(
-    std::chrono::duration<long double, std::nano>(ns));
-}
-
 namespace rclcpp
 {
 

rclcpp/include/rclcpp/service.hpp

@@ -21,8 +21,12 @@
 #include <sstream>
 #include <string>
 
+#include "rcl/error_handling.h"
+#include "rcl/service.h"
+
 #include "rclcpp/any_service_callback.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -35,13 +39,16 @@ namespace service
 class ServiceBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase);
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase)
 
   RCLCPP_PUBLIC
   ServiceBase(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_service_t * service_handle,
-    const std::string service_name);
+    std::shared_ptr<rcl_node_t> node_handle,
+    const std::string & service_name);
+
+  RCLCPP_PUBLIC
+  explicit ServiceBase(
+    std::shared_ptr<rcl_node_t> node_handle);
 
   RCLCPP_PUBLIC
   virtual ~ServiceBase();
@@ -51,22 +58,23 @@ public:
   get_service_name();
 
   RCLCPP_PUBLIC
-  const rmw_service_t *
+  const rcl_service_t *
   get_service_handle();
 
   virtual std::shared_ptr<void> create_request() = 0;
-  virtual std::shared_ptr<void> create_request_header() = 0;
+  virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
   virtual void handle_request(
-    std::shared_ptr<void> request_header,
+    std::shared_ptr<rmw_request_id_t> request_header,
     std::shared_ptr<void> request) = 0;
 
-private:
-  RCLCPP_DISABLE_COPY(ServiceBase);
+protected:
+  RCLCPP_DISABLE_COPY(ServiceBase)
 
-  std::shared_ptr<rmw_node_t> node_handle_;
+  std::shared_ptr<rcl_node_t> node_handle_;
 
-  rmw_service_t * service_handle_;
+  rcl_service_t * service_handle_ = nullptr;
   std::string service_name_;
+  bool owns_rcl_handle_ = true;
 };
 
 using any_service_callback::AnyServiceCallback;
@@ -85,54 +93,105 @@ public:
         const std::shared_ptr<rmw_request_id_t>,
         const std::shared_ptr<typename ServiceT::Request>,
         std::shared_ptr<typename ServiceT::Response>)>;
-  RCLCPP_SMART_PTR_DEFINITIONS(Service);
+  RCLCPP_SMART_PTR_DEFINITIONS(Service)
 
   Service(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_service_t * service_handle,
+    std::shared_ptr<rcl_node_t> node_handle,
     const std::string & service_name,
+    AnyServiceCallback<ServiceT> any_callback,
+    rcl_service_options_t & service_options)
+  : ServiceBase(node_handle, service_name), any_callback_(any_callback)
+  {
+    using rosidl_typesupport_cpp::get_service_type_support_handle;
+    auto service_type_support_handle = get_service_type_support_handle<ServiceT>();
+
+    // rcl does the static memory allocation here
+    service_handle_ = new rcl_service_t;
+    *service_handle_ = rcl_get_zero_initialized_service();
+
+    if (rcl_service_init(
+        service_handle_, node_handle.get(), service_type_support_handle, service_name.c_str(),
+        &service_options) != RCL_RET_OK)
+    {
+      throw std::runtime_error(std::string("could not create service: ") +
+              rcl_get_error_string_safe());
+    }
+  }
+
+  Service(
+    std::shared_ptr<rcl_node_t> node_handle,
+    rcl_service_t * service_handle,
     AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle, service_handle, service_name), any_callback_(any_callback)
-  {}
+  : ServiceBase(node_handle),
+    any_callback_(any_callback)
+  {
+    // check if service handle was initialized
+    // TODO(karsten1987): Take this verification
+    // directly in rcl_*_t
+    // see: https://github.com/ros2/rcl/issues/81
+    if (!service_handle->impl) {
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
+      throw std::runtime_error(
+        std::string("rcl_service_t in constructor argument must be initialized beforehand."));
+      // *INDENT-ON*
+    }
+    service_handle_ = service_handle;
+    service_name_ = std::string(rcl_service_get_service_name(service_handle));
+    owns_rcl_handle_ = false;
+  }
 
   Service() = delete;
 
+  virtual ~Service()
+  {
+    // check if you have ownership of the handle
+    if (owns_rcl_handle_) {
+      if (rcl_service_fini(service_handle_, node_handle_.get()) != RCL_RET_OK) {
+        std::stringstream ss;
+        ss << "Error in destruction of rcl service_handle_ handle: " <<
+          rcl_get_error_string_safe() << '\n';
+        (std::cerr << ss.str()).flush();
+      }
+    }
+  }
+
   std::shared_ptr<void> create_request()
   {
     return std::shared_ptr<void>(new typename ServiceT::Request());
   }
 
-  std::shared_ptr<void> create_request_header()
+  std::shared_ptr<rmw_request_id_t> create_request_header()
   {
     // TODO(wjwwood): This should probably use rmw_request_id's allocator.
     //                (since it is a C type)
-    return std::shared_ptr<void>(new rmw_request_id_t);
+    return std::shared_ptr<rmw_request_id_t>(new rmw_request_id_t);
   }
 
-  void handle_request(std::shared_ptr<void> request_header, std::shared_ptr<void> request)
+  void handle_request(std::shared_ptr<rmw_request_id_t> request_header,
+    std::shared_ptr<void> request)
   {
     auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
-    auto typed_request_header = std::static_pointer_cast<rmw_request_id_t>(request_header);
     auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response);
-    any_callback_.dispatch(typed_request_header, typed_request, response);
-    send_response(typed_request_header, response);
+    any_callback_.dispatch(request_header, typed_request, response);
+    send_response(request_header, response);
   }
 
   void send_response(
     std::shared_ptr<rmw_request_id_t> req_id,
     std::shared_ptr<typename ServiceT::Response> response)
   {
-    rmw_ret_t status = rmw_send_response(get_service_handle(), req_id.get(), response.get());
-    if (status != RMW_RET_OK) {
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    rcl_ret_t status = rcl_send_response(get_service_handle(), req_id.get(), response.get());
+
+    if (status != RCL_RET_OK) {
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(
-        std::string("failed to send response: ") + rmw_get_error_string_safe());
+        std::string("failed to send response: ") + rcl_get_error_string_safe());
       // *INDENT-ON*
     }
   }
 
 private:
-  RCLCPP_DISABLE_COPY(Service);
+  RCLCPP_DISABLE_COPY(Service)
 
   AnyServiceCallback<ServiceT> any_callback_;
 };

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -18,11 +18,15 @@
 #include <memory>
 #include <vector>
 
+#include "rcl/allocator.h"
+
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/visibility_control.hpp"
 
+#include "rmw/types.h"
+
 namespace rclcpp
 {
 namespace memory_strategies
@@ -40,7 +44,7 @@ template<typename Alloc = std::allocator<void>>
 class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(AllocatorMemoryStrategy<Alloc>);
+  RCLCPP_SMART_PTR_DEFINITIONS(AllocatorMemoryStrategy<Alloc>)
 
   using ExecAllocTraits = allocator::AllocRebind<executor::AnyExecutable, Alloc>;
   using ExecAlloc = typename ExecAllocTraits::allocator_type;
@@ -48,8 +52,6 @@ public:
   using VoidAllocTraits = typename allocator::AllocRebind<void *, Alloc>;
   using VoidAlloc = typename VoidAllocTraits::allocator_type;
 
-  using WeakNodeVector = std::vector<std::weak_ptr<node::Node>>;
-
   explicit AllocatorMemoryStrategy(std::shared_ptr<Alloc> allocator)
   {
     executable_allocator_ = std::make_shared<ExecAlloc>(*allocator.get());
@@ -62,57 +64,60 @@ public:
     allocator_ = std::make_shared<VoidAlloc>();
   }
 
-  size_t fill_subscriber_handles(void ** & ptr)
+  void add_guard_condition(const rcl_guard_condition_t * guard_condition)
   {
-    for (auto & subscription : subscriptions_) {
-      subscriber_handles_.push_back(subscription->get_subscription_handle()->data);
-      if (subscription->get_intra_process_subscription_handle()) {
-        subscriber_handles_.push_back(subscription->get_intra_process_subscription_handle()->data);
+    for (const auto & existing_guard_condition : guard_conditions_) {
+      if (existing_guard_condition == guard_condition) {
+        return;
       }
     }
-    ptr = subscriber_handles_.data();
-    return subscriber_handles_.size();
+    guard_conditions_.push_back(guard_condition);
   }
 
-  // return the new number of services
-  size_t fill_service_handles(void ** & ptr)
+  void remove_guard_condition(const rcl_guard_condition_t * guard_condition)
   {
-    for (auto & service : services_) {
-      service_handles_.push_back(service->get_service_handle()->data);
+    for (auto it = guard_conditions_.begin(); it != guard_conditions_.end(); ++it) {
+      if (*it == guard_condition) {
+        guard_conditions_.erase(it);
+        break;
+      }
     }
-    ptr = service_handles_.data();
-    return service_handles_.size();
-  }
-
-  // return the new number of clients
-  size_t fill_client_handles(void ** & ptr)
-  {
-    for (auto & client : clients_) {
-      client_handles_.push_back(client->get_client_handle()->data);
-    }
-    ptr = client_handles_.data();
-    return client_handles_.size();
-  }
-
-  void clear_active_entities()
-  {
-    subscriptions_.clear();
-    services_.clear();
-    clients_.clear();
   }
 
   void clear_handles()
   {
-    subscriber_handles_.clear();
+    subscription_handles_.clear();
     service_handles_.clear();
     client_handles_.clear();
+    timer_handles_.clear();
   }
 
-  void remove_null_handles()
+  virtual void remove_null_handles(rcl_wait_set_t * wait_set)
   {
-    subscriber_handles_.erase(
-      std::remove(subscriber_handles_.begin(), subscriber_handles_.end(), nullptr),
-      subscriber_handles_.end()
+    for (size_t i = 0; i < wait_set->size_of_subscriptions; ++i) {
+      if (!wait_set->subscriptions[i]) {
+        subscription_handles_[i] = nullptr;
+      }
+    }
+    for (size_t i = 0; i < wait_set->size_of_services; ++i) {
+      if (!wait_set->services[i]) {
+        service_handles_[i] = nullptr;
+      }
+    }
+    for (size_t i = 0; i < wait_set->size_of_clients; ++i) {
+      if (!wait_set->clients[i]) {
+        client_handles_[i] = nullptr;
+      }
+    }
+    for (size_t i = 0; i < wait_set->size_of_timers; ++i) {
+      if (!wait_set->timers[i]) {
+        timer_handles_[i] = nullptr;
+      }
+    }
+
+    subscription_handles_.erase(
+      std::remove(subscription_handles_.begin(), subscription_handles_.end(), nullptr),
+      subscription_handles_.end()
     );
 
     service_handles_.erase(
@@ -124,6 +129,11 @@ public:
       std::remove(client_handles_.begin(), client_handles_.end(), nullptr),
       client_handles_.end()
     );
+
+    timer_handles_.erase(
+      std::remove(timer_handles_.begin(), timer_handles_.end(), nullptr),
+      timer_handles_.end()
+    );
   }
 
   bool collect_entities(const WeakNodeVector & weak_nodes)
@@ -132,7 +142,7 @@ public:
     for (auto & weak_node : weak_nodes) {
       auto node = weak_node.lock();
       if (!node) {
-        has_invalid_weak_nodes = false;
+        has_invalid_weak_nodes = true;
         continue;
       }
       for (auto & weak_group : node->get_callback_groups()) {
@@ -143,17 +153,29 @@ public:
         for (auto & weak_subscription : group->get_subscription_ptrs()) {
           auto subscription = weak_subscription.lock();
           if (subscription) {
-            subscriptions_.push_back(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 & service : group->get_service_ptrs()) {
+        for (auto & weak_service : group->get_service_ptrs()) {
+          auto service = weak_service.lock();
           if (service) {
-            services_.push_back(service);
+            service_handles_.push_back(service->get_service_handle());
           }
         }
-        for (auto & client : group->get_client_ptrs()) {
+        for (auto & weak_client : group->get_client_ptrs()) {
+          auto client = weak_client.lock();
           if (client) {
-            clients_.push_back(client);
+            client_handles_.push_back(client->get_client_handle());
+          }
+        }
+        for (auto & weak_timer : group->get_timer_ptrs()) {
+          auto timer = weak_timer.lock();
+          if (timer) {
+            timer_handles_.push_back(timer->get_timer_handle());
           }
         }
       }
@@ -161,6 +183,45 @@ public:
     return has_invalid_weak_nodes;
   }
 
+  bool add_handles_to_waitset(rcl_wait_set_t * wait_set)
+  {
+    for (auto subscription : subscription_handles_) {
+      if (rcl_wait_set_add_subscription(wait_set, subscription) != RCL_RET_OK) {
+        fprintf(stderr, "Couldn't add subscription to waitset: %s\n", rcl_get_error_string_safe());
+        return false;
+      }
+    }
+
+    for (auto client : client_handles_) {
+      if (rcl_wait_set_add_client(wait_set, client) != RCL_RET_OK) {
+        fprintf(stderr, "Couldn't add client to waitset: %s\n", rcl_get_error_string_safe());
+        return false;
+      }
+    }
+
+    for (auto service : service_handles_) {
+      if (rcl_wait_set_add_service(wait_set, service) != RCL_RET_OK) {
+        fprintf(stderr, "Couldn't add service to waitset: %s\n", rcl_get_error_string_safe());
+        return false;
+      }
+    }
+
+    for (auto timer : timer_handles_) {
+      if (rcl_wait_set_add_timer(wait_set, timer) != RCL_RET_OK) {
+        fprintf(stderr, "Couldn't add timer to waitset: %s\n", rcl_get_error_string_safe());
+        return false;
+      }
+    }
+
+    for (auto guard_condition : guard_conditions_) {
+      if (rcl_wait_set_add_guard_condition(wait_set, guard_condition) != RCL_RET_OK) {
+        fprintf(stderr, "Couldn't add guard_condition to waitset: %s\n",
+          rcl_get_error_string_safe());
+        return false;
+      }
+    }
+    return true;
+  }
 
   /// Provide a newly initialized AnyExecutable object.
   // \return Shared pointer to the fresh executable.
@@ -173,21 +234,21 @@ public:
   get_next_subscription(executor::AnyExecutable::SharedPtr any_exec,
     const WeakNodeVector & weak_nodes)
   {
-    auto it = subscriber_handles_.begin();
-    while (it != subscriber_handles_.end()) {
+    auto it = subscription_handles_.begin();
+    while (it != subscription_handles_.end()) {
       auto subscription = get_subscription_by_handle(*it, weak_nodes);
       if (subscription) {
         // Figure out if this is for intra-process or not.
         bool is_intra_process = false;
         if (subscription->get_intra_process_subscription_handle()) {
-          is_intra_process = subscription->get_intra_process_subscription_handle()->data == *it;
+          is_intra_process = subscription->get_intra_process_subscription_handle() == *it;
         }
         // Find the group for this handle and see if it can be serviced
         auto group = get_group_by_subscription(subscription, weak_nodes);
         if (!group) {
           // Group was not found, meaning the subscription is not valid...
           // Remove it from the ready list and continue looking
-          subscriber_handles_.erase(it);
+          subscription_handles_.erase(it);
           continue;
         }
         if (!group->can_be_taken_from().load()) {
@@ -203,12 +264,12 @@ public:
           any_exec->subscription = subscription;
         }
         any_exec->callback_group = group;
-        any_exec->node = get_node_by_group(group, weak_nodes);
-        subscriber_handles_.erase(it);
+        any_exec->node_base = get_node_by_group(group, weak_nodes);
+        subscription_handles_.erase(it);
         return;
       }
       // Else, the subscription is no longer valid, remove it and continue
-      subscriber_handles_.erase(it);
+      subscription_handles_.erase(it);
     }
   }
 
@@ -237,7 +298,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec->service = service;
         any_exec->callback_group = group;
-        any_exec->node = get_node_by_group(group, weak_nodes);
+        any_exec->node_base = get_node_by_group(group, weak_nodes);
         service_handles_.erase(it);
         return;
       }
@@ -270,7 +331,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec->client = client;
         any_exec->callback_group = group;
-        any_exec->node = get_node_by_group(group, weak_nodes);
+        any_exec->node_base = get_node_by_group(group, weak_nodes);
         client_handles_.erase(it);
         return;
       }
@@ -279,18 +340,47 @@ public:
     }
   }
 
+  virtual rcl_allocator_t get_allocator()
+  {
+    return rclcpp::allocator::get_rcl_allocator<void *, VoidAlloc>(*allocator_.get());
+  }
+
+  size_t number_of_ready_subscriptions() const
+  {
+    return subscription_handles_.size();
+  }
+
+  size_t number_of_ready_services() const
+  {
+    return service_handles_.size();
+  }
+
+  size_t number_of_ready_clients() const
+  {
+    return client_handles_.size();
+  }
+
+  size_t number_of_guard_conditions() const
+  {
+    return guard_conditions_.size();
+  }
+
+  size_t number_of_ready_timers() const
+  {
+    return timer_handles_.size();
+  }
+
 private:
   template<typename T>
   using VectorRebind =
       std::vector<T, typename std::allocator_traits<Alloc>::template rebind_alloc<T>>;
 
-  VectorRebind<rclcpp::subscription::SubscriptionBase::SharedPtr> subscriptions_;
-  VectorRebind<rclcpp::service::ServiceBase::SharedPtr> services_;
-  VectorRebind<rclcpp::client::ClientBase::SharedPtr> clients_;
+  VectorRebind<const rcl_guard_condition_t *> guard_conditions_;
 
-  VectorRebind<void *> subscriber_handles_;
-  VectorRebind<void *> service_handles_;
-  VectorRebind<void *> client_handles_;
+  VectorRebind<const rcl_subscription_t *> subscription_handles_;
+  VectorRebind<const rcl_service_t *> service_handles_;
+  VectorRebind<const rcl_client_t *> client_handles_;
+  VectorRebind<const rcl_timer_t *> timer_handles_;
 
   std::shared_ptr<ExecAlloc> executable_allocator_;
   std::shared_ptr<VoidAlloc> allocator_;

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

@@ -15,6 +15,8 @@
 #ifndef RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 #define RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 
+#include <memory>
+
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -44,7 +46,7 @@ class MessagePoolMemoryStrategy
   : public message_memory_strategy::MessageMemoryStrategy<MessageT>
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(MessagePoolMemoryStrategy);
+  RCLCPP_SMART_PTR_DEFINITIONS(MessagePoolMemoryStrategy)
 
   /// Default constructor
   MessagePoolMemoryStrategy()

rclcpp/include/rclcpp/subscription.hpp

@@ -24,20 +24,24 @@
 #include <sstream>
 #include <string>
 
+#include "rcl/error_handling.h"
+#include "rcl/subscription.h"
+
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
 
-namespace node
+namespace node_interfaces
 {
-class Node;
-}  // namespace node
+class NodeTopicsInterface;
+}  // namespace node_interfaces
 
 namespace subscription
 {
@@ -47,20 +51,21 @@ namespace subscription
 class SubscriptionBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase);
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
 
   /// Default constructor.
   /**
-   * \param[in] node_handle The rmw representation of the node that owns this subscription.
+   * \param[in] node_handle The rcl representation of the node that owns this subscription.
+   * \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] ignore_local_publications True to ignore local publications (unused).
+   * \param[in] subscription_options options for the subscription.
    */
   RCLCPP_PUBLIC
   SubscriptionBase(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_subscription_t * subscription_handle,
+    std::shared_ptr<rcl_node_t> node_handle,
+    const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
-    bool ignore_local_publications);
+    const rcl_subscription_options_t & subscription_options);
 
   /// Default destructor.
   RCLCPP_PUBLIC
@@ -68,15 +73,15 @@ public:
 
   /// Get the topic that this subscription is subscribed on.
   RCLCPP_PUBLIC
-  const std::string &
+  const char *
   get_topic_name() const;
 
   RCLCPP_PUBLIC
-  const rmw_subscription_t *
+  const rcl_subscription_t *
   get_subscription_handle() const;
 
   RCLCPP_PUBLIC
-  const rmw_subscription_t *
+  virtual const rcl_subscription_t *
   get_intra_process_subscription_handle() const;
 
   /// Borrow a new message.
@@ -101,17 +106,12 @@ public:
     const rmw_message_info_t & message_info) = 0;
 
 protected:
-  rmw_subscription_t * intra_process_subscription_handle_;
+  rcl_subscription_t intra_process_subscription_handle_ = rcl_get_zero_initialized_subscription();
+  rcl_subscription_t subscription_handle_ = rcl_get_zero_initialized_subscription();
+  std::shared_ptr<rcl_node_t> node_handle_;
 
 private:
-  RCLCPP_DISABLE_COPY(SubscriptionBase);
-
-  std::shared_ptr<rmw_node_t> node_handle_;
-
-  rmw_subscription_t * subscription_handle_;
-
-  std::string topic_name_;
-  bool ignore_local_publications_;
+  RCLCPP_DISABLE_COPY(SubscriptionBase)
 };
 
 using any_subscription_callback::AnySubscriptionCallback;
@@ -120,7 +120,7 @@ using any_subscription_callback::AnySubscriptionCallback;
 template<typename MessageT, typename Alloc = std::allocator<void>>
 class Subscription : public SubscriptionBase
 {
-  friend class rclcpp::node::Node;
+  friend class rclcpp::node_interfaces::NodeTopicsInterface;
 
 public:
   using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
@@ -128,34 +128,36 @@ public:
   using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
 
-  RCLCPP_SMART_PTR_DEFINITIONS(Subscription);
+  RCLCPP_SMART_PTR_DEFINITIONS(Subscription)
 
   /// 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 rmw representation of the node that owns this subscription.
+   * \param[in] node_handle rcl representation of the node that owns this subscription.
    * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] ignore_local_publications True to ignore local publications (unused).
-   * \param[in] callback User-defined callback to call when a message is received.
+   * \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.
    */
   Subscription(
-    std::shared_ptr<rmw_node_t> node_handle,
-    rmw_subscription_t * subscription_handle,
+    std::shared_ptr<rcl_node_t> node_handle,
     const std::string & topic_name,
-    bool ignore_local_publications,
+    const rcl_subscription_options_t & subscription_options,
     AnySubscriptionCallback<MessageT, Alloc> callback,
     typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
     memory_strategy = message_memory_strategy::MessageMemoryStrategy<MessageT,
     Alloc>::create_default())
-  : SubscriptionBase(node_handle, subscription_handle, topic_name, ignore_local_publications),
+  : SubscriptionBase(
+      node_handle,
+      *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
+      topic_name,
+      subscription_options),
     any_callback_(callback),
     message_memory_strategy_(memory_strategy),
     get_intra_process_message_callback_(nullptr),
     matches_any_intra_process_publishers_(nullptr)
-  {
-  }
+  {}
 
   /// Support dynamically setting the message memory strategy.
   /**
@@ -222,26 +224,46 @@ public:
     any_callback_.dispatch_intra_process(msg, message_info);
   }
 
-private:
-  typedef
-    std::function<
-      void (uint64_t, uint64_t, uint64_t, MessageUniquePtr &)
-    > GetMessageCallbackType;
-  typedef std::function<bool (const rmw_gid_t *)> MatchesAnyPublishersCallbackType;
+  using GetMessageCallbackType =
+      std::function<void(uint64_t, uint64_t, uint64_t, MessageUniquePtr &)>;
+  using MatchesAnyPublishersCallbackType = std::function<bool(const rmw_gid_t *)>;
 
+  /// Implemenation detail.
   void setup_intra_process(
     uint64_t intra_process_subscription_id,
-    rmw_subscription_t * intra_process_subscription,
     GetMessageCallbackType get_message_callback,
-    MatchesAnyPublishersCallbackType matches_any_publisher_callback)
+    MatchesAnyPublishersCallbackType matches_any_publisher_callback,
+    const rcl_subscription_options_t & intra_process_options)
   {
+    if (rcl_subscription_init(
+        &intra_process_subscription_handle_, node_handle_.get(),
+        rclcpp::type_support::get_intra_process_message_msg_type_support(),
+        (std::string(get_topic_name()) + "__intra").c_str(),
+        &intra_process_options) != RCL_RET_OK)
+    {
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
+      throw std::runtime_error(
+        std::string("could not create intra process subscription: ") + rcl_get_error_string_safe());
+      // *INDENT-ON*
+    }
+
     intra_process_subscription_id_ = intra_process_subscription_id;
-    intra_process_subscription_handle_ = intra_process_subscription;
     get_intra_process_message_callback_ = get_message_callback;
     matches_any_intra_process_publishers_ = matches_any_publisher_callback;
   }
 
-  RCLCPP_DISABLE_COPY(Subscription);
+  /// Implemenation detail.
+  const rcl_subscription_t *
+  get_intra_process_subscription_handle() const
+  {
+    if (!get_intra_process_message_callback_) {
+      return nullptr;
+    }
+    return &intra_process_subscription_handle_;
+  }
+
+private:
+  RCLCPP_DISABLE_COPY(Subscription)
 
   AnySubscriptionCallback<MessageT, Alloc> any_callback_;
   typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -0,0 +1,170 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__SUBSCRIPTION_FACTORY_HPP_
+#define RCLCPP__SUBSCRIPTION_FACTORY_HPP_
+
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rcl/subscription.h"
+
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// Factory with functions used to create a Subscription<MessageT>.
+/* This factory class is used to encapsulate the template generated functions
+ * which are used during the creation of a Message type specific subscription
+ * within a non-templated class.
+ *
+ * It is created using the create_subscription_factory function, which is
+ * 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.
+ */
+struct SubscriptionFactory
+{
+  // Creates a Subscription<MessageT> object and returns it as a SubscriptionBase.
+  using SubscriptionFactoryFunction = std::function<
+      rclcpp::subscription::SubscriptionBase::SharedPtr(
+        rclcpp::node_interfaces::NodeBaseInterface * node_base,
+        const std::string & topic_name,
+        rcl_subscription_options_t & subscription_options)>;
+
+  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::subscription::SubscriptionBase::SharedPtr subscription,
+        const rcl_subscription_options_t & subscription_options)>;
+
+  SetupIntraProcessFunction setup_intra_process;
+};
+
+/// Return a SubscriptionFactory with functions for creating a SubscriptionT<MessageT, Alloc>.
+template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
+SubscriptionFactory
+create_subscription_factory(
+  CallbackT && callback,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
+  msg_mem_strat,
+  std::shared_ptr<Alloc> allocator)
+{
+  SubscriptionFactory factory;
+
+  using rclcpp::subscription::AnySubscriptionCallback;
+  AnySubscriptionCallback<MessageT, Alloc> any_subscription_callback(allocator);
+  any_subscription_callback.set(std::forward<CallbackT>(callback));
+
+  auto message_alloc =
+    std::make_shared<typename subscription::Subscription<MessageT, Alloc>::MessageAlloc>();
+
+  // factory function that creates a MessageT specific SubscriptionT
+  factory.create_typed_subscription =
+    [allocator, msg_mem_strat, any_subscription_callback, message_alloc](
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic_name,
+    rcl_subscription_options_t & subscription_options
+    ) -> rclcpp::subscription::SubscriptionBase::SharedPtr
+    {
+      subscription_options.allocator =
+        rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
+
+      using rclcpp::subscription::Subscription;
+      using rclcpp::subscription::SubscriptionBase;
+
+      auto sub = Subscription<MessageT, Alloc>::make_shared(
+        node_base->get_shared_rcl_node_handle(),
+        topic_name,
+        subscription_options,
+        any_subscription_callback,
+        msg_mem_strat);
+      auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
+      return sub_base_ptr;
+    };
+
+  // function that will setup intra process communications for the subscription
+  factory.setup_intra_process =
+    [message_alloc](
+    rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
+    rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+    const rcl_subscription_options_t & subscription_options)
+    {
+      rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = ipm;
+      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription);
+
+      auto intra_process_options = rcl_subscription_get_default_options();
+      intra_process_options.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(
+        *message_alloc.get());
+      intra_process_options.qos = subscription_options.qos;
+      intra_process_options.ignore_local_publications = false;
+
+      // function that will be called to take a MessageT from the intra process manager
+      auto take_intra_process_message_func =
+        [weak_ipm](
+        uint64_t publisher_id,
+        uint64_t message_sequence,
+        uint64_t subscription_id,
+        typename rclcpp::subscription::Subscription<MessageT, Alloc>::MessageUniquePtr & message)
+        {
+          auto ipm = weak_ipm.lock();
+          if (!ipm) {
+            // TODO(wjwwood): should this just return silently? Or return with a logged warning?
+            throw std::runtime_error(
+                    "intra process take called after destruction of intra process manager");
+          }
+          ipm->take_intra_process_message<MessageT, Alloc>(
+            publisher_id, message_sequence, subscription_id, message);
+        };
+
+      // function that is called to see if the publisher id matches any local publishers
+      auto matches_any_publisher_func =
+        [weak_ipm](const rmw_gid_t * sender_gid) -> bool
+        {
+          auto ipm = weak_ipm.lock();
+          if (!ipm) {
+            throw std::runtime_error(
+                    "intra process publisher check called "
+                    "after destruction of intra process manager");
+          }
+          return ipm->matches_any_publishers(sender_gid);
+        };
+
+      auto typed_sub_ptr = std::dynamic_pointer_cast<SubscriptionT>(subscription);
+      typed_sub_ptr->setup_intra_process(
+        intra_process_subscription_id,
+        take_intra_process_message_func,
+        matches_any_publisher_func,
+        intra_process_options
+      );
+    };
+  // end definition of factory function to setup intra process
+
+  // return the factory now that it is populated
+  return factory;
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__SUBSCRIPTION_FACTORY_HPP_

rclcpp/include/rclcpp/timer.hpp

@@ -21,12 +21,17 @@
 #include <sstream>
 #include <thread>
 #include <type_traits>
+#include <utility>
 
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/rate.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+
+#include "rcl/error_handling.h"
+#include "rcl/timer.h"
+
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
@@ -38,13 +43,13 @@ namespace timer
 class TimerBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimerBase);
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimerBase)
 
   RCLCPP_PUBLIC
   explicit TimerBase(std::chrono::nanoseconds period);
 
   RCLCPP_PUBLIC
-  virtual ~TimerBase();
+  ~TimerBase();
 
   RCLCPP_PUBLIC
   void
@@ -54,27 +59,31 @@ public:
   virtual void
   execute_callback() = 0;
 
+  RCLCPP_PUBLIC
+  const rcl_timer_t *
+  get_timer_handle();
+
   /// Check how long the timer has until its next scheduled callback.
   // \return A std::chrono::duration representing the relative time until the next callback.
-  virtual std::chrono::nanoseconds
-  time_until_trigger() = 0;
+  RCLCPP_PUBLIC
+  std::chrono::nanoseconds
+  time_until_trigger();
 
   /// Is the clock steady (i.e. is the time between ticks constant?)
   // \return True if the clock used by this timer is steady.
   virtual bool is_steady() = 0;
 
-  /// Check if the timer needs to trigger the callback.
+  /// Check if the timer is ready to trigger the callback.
   /**
    * This function expects its caller to immediately trigger the callback after this function,
    * since it maintains the last time the callback was triggered.
    * \return True if the timer needs to trigger.
    */
-  virtual bool check_and_trigger() = 0;
+  RCLCPP_PUBLIC
+  bool is_ready();
 
 protected:
-  std::chrono::nanoseconds period_;
-
-  bool canceled_;
+  rcl_timer_t timer_handle_ = rcl_get_zero_initialized_timer();
 };
 
 
@@ -84,16 +93,17 @@ using TimerCallbackType = std::function<void(TimerBase &)>;
 /// Generic timer templated on the clock type. Periodically executes a user-specified callback.
 template<
   typename FunctorT,
-  class Clock = std::chrono::high_resolution_clock,
+  class Clock,
   typename std::enable_if<
-    rclcpp::function_traits::same_arguments<FunctorT, VoidCallbackType>::value ||
-    rclcpp::function_traits::same_arguments<FunctorT, TimerCallbackType>::value
+    (rclcpp::function_traits::same_arguments<FunctorT, VoidCallbackType>::value ||
+    rclcpp::function_traits::same_arguments<FunctorT, TimerCallbackType>::value) &&
+    Clock::is_steady
   >::type * = nullptr
 >
 class GenericTimer : public TimerBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(GenericTimer);
+  RCLCPP_SMART_PTR_DEFINITIONS(GenericTimer)
 
   /// Default constructor.
   /**
@@ -101,10 +111,8 @@ public:
    * \param[in] callback User-specified callback function.
    */
   GenericTimer(std::chrono::nanoseconds period, FunctorT && callback)
-  : TimerBase(period), callback_(std::forward<FunctorT>(callback)), loop_rate_(period)
+  : TimerBase(period), callback_(std::forward<FunctorT>(callback))
   {
-    /* Set last_triggered_time_ so that the timer fires at least one period after being created. */
-    last_triggered_time_ = Clock::now();
   }
 
   /// Default destructor.
@@ -112,11 +120,21 @@ public:
   {
     // Stop the timer from running.
     cancel();
+    if (rcl_timer_fini(&timer_handle_) != RCL_RET_OK) {
+      fprintf(stderr, "Failed to clean up rcl timer handle: %s\n", rcl_get_error_string_safe());
+    }
   }
 
   void
   execute_callback()
   {
+    rcl_ret_t ret = rcl_timer_call(&timer_handle_);
+    if (ret == RCL_RET_TIMER_CANCELED) {
+      return;
+    }
+    if (ret != RCL_RET_OK) {
+      throw std::runtime_error("Failed to notify timer that callback occurred");
+    }
     execute_callback_delegate<>();
   }
 
@@ -145,39 +163,6 @@ public:
     callback_(*this);
   }
 
-  bool
-  check_and_trigger()
-  {
-    if (canceled_) {
-      return false;
-    }
-    if (Clock::now() < last_triggered_time_) {
-      return false;
-    }
-    if (std::chrono::duration_cast<std::chrono::nanoseconds>(Clock::now() - last_triggered_time_) >=
-      loop_rate_.period())
-    {
-      last_triggered_time_ = Clock::now();
-      return true;
-    }
-    return false;
-  }
-
-  std::chrono::nanoseconds
-  time_until_trigger()
-  {
-    std::chrono::nanoseconds time_until_trigger;
-    // Calculate the time between the next trigger and the current time
-    if (last_triggered_time_ + loop_rate_.period() < Clock::now()) {
-      // time is overdue, need to trigger immediately
-      time_until_trigger = std::chrono::nanoseconds::zero();
-    } else {
-      time_until_trigger = std::chrono::duration_cast<std::chrono::nanoseconds>(
-        last_triggered_time_ - Clock::now()) + loop_rate_.period();
-    }
-    return time_until_trigger;
-  }
-
   virtual bool
   is_steady()
   {
@@ -185,11 +170,9 @@ public:
   }
 
 protected:
-  RCLCPP_DISABLE_COPY(GenericTimer);
+  RCLCPP_DISABLE_COPY(GenericTimer)
 
   FunctorT callback_;
-  rclcpp::rate::GenericRate<Clock> loop_rate_;
-  std::chrono::time_point<Clock> last_triggered_time_;
 };
 
 template<typename CallbackType>

rclcpp/include/rclcpp/type_support_decl.hpp

@@ -18,8 +18,8 @@
 #include "rosidl_generator_cpp/message_type_support_decl.hpp"
 #include "rosidl_generator_cpp/service_type_support_decl.hpp"
 
-#include "rosidl_generator_cpp/message_type_support.hpp"
-#include "rosidl_generator_cpp/service_type_support.hpp"
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rosidl_typesupport_cpp/service_type_support.hpp"
 
 #include "rclcpp/visibility_control.hpp"
 

rclcpp/include/rclcpp/utilities.hpp

@@ -16,11 +16,32 @@
 #define RCLCPP__UTILITIES_HPP_
 
 #include <chrono>
+#include <functional>
 
 #include "rclcpp/visibility_control.hpp"
+
+#include "rcl/guard_condition.h"
+#include "rcl/wait.h"
+
 #include "rmw/macros.h"
 #include "rmw/rmw.h"
 
+#ifdef ANDROID
+#include <string>
+#include <sstream>
+
+namespace std
+{
+template<typename T>
+std::string to_string(T value)
+{
+  std::ostringstream os;
+  os << value;
+  return os.str();
+}
+}
+#endif
+
 namespace rclcpp
 {
 namespace utilities
@@ -46,10 +67,40 @@ RCLCPP_PUBLIC
 void
 shutdown();
 
-/// Get a handle to the rmw guard condition that manages the signal handler.
+/// Register a function to be called when shutdown is called.
+/* Calling the callbacks is the last thing shutdown() does. */
 RCLCPP_PUBLIC
-rmw_guard_condition_t *
-get_global_sigint_guard_condition();
+void
+on_shutdown(std::function<void(void)> callback);
+
+/// Get a handle to the rmw guard condition that manages the signal handler.
+/**
+ * The first time that this function is called for a given waitset a new guard
+ * condition will be created and returned; thereafter the same guard condition
+ * will be returned for the same waitset. This mechanism is designed to ensure
+ * that the same guard condition is not reused across waitsets (e.g., when
+ * using multiple executors in the same process). Will throw an exception if
+ * initialization of the guard condition fails.
+ * \param[waitset] waitset Pointer to the rcl_wait_set_t that will be using the
+ * resulting guard condition.
+ * \return Pointer to the guard condition.
+ */
+RCLCPP_PUBLIC
+rcl_guard_condition_t *
+get_sigint_guard_condition(rcl_wait_set_t * waitset);
+
+/// Release the previously allocated guard condition that manages the signal handler.
+/**
+ * If you previously called get_sigint_guard_condition() for a given waitset
+ * to get a sigint guard condition, then you should call release_sigint_guard_condition()
+ * when you're done, to free that condition.  Will throw an exception if
+ * get_sigint_guard_condition() wasn't previously called for the given waitset.
+ * \param[waitset] waitset Pointer to the rcl_wait_set_t that was using the
+ * resulting guard condition.
+ */
+RCLCPP_PUBLIC
+void
+release_sigint_guard_condition(rcl_wait_set_t * waitset);
 
 /// Use the global condition variable to block for the specified amount of time.
 /**

rclcpp/include/rclcpp/visibility_control.hpp

@@ -22,8 +22,6 @@
 #ifndef RCLCPP__VISIBILITY_CONTROL_HPP_
 #define RCLCPP__VISIBILITY_CONTROL_HPP_
 
-#include "rmw/rmw.h"
-
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
 

rclcpp/package.xml

@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
+<?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>0.0.0</version>
@@ -13,11 +14,16 @@
   <build_depend>rcl_interfaces</build_depend>
   <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>rosidl_generator_cpp</build_depend>
+  <build_depend>rosidl_typesupport_cpp</build_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rosidl_generator_cpp</build_export_depend>
+  <build_export_depend>rosidl_typesupport_cpp</build_export_depend>
 
+  <depend>rcl</depend>
   <depend>rmw_implementation</depend>
 
+  <exec_depend>ament_cmake</exec_depend>
+
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

rclcpp/rclcpp-extras.cmake

@@ -14,16 +14,17 @@
 
 # copied from rclcpp/rclcpp-extras.cmake
 
-include("${rclcpp_DIR}/get_rclcpp_information.cmake")
+# register ament_package() hook for node plugins once
+macro(_rclcpp_register_package_hook)
+  if(NOT DEFINED _RCLCPP_PACKAGE_HOOK_REGISTERED)
+    set(_RCLCPP_PACKAGE_HOOK_REGISTERED TRUE)
 
-set(rclcpp_node_main_SRC "${rclcpp_DIR}/../../../src/rclcpp/node_main.cpp")
-
-function(rclcpp_create_node_main node_library_target)
-  if(NOT TARGET ${node_library_target})
-    message(FATAL_ERROR "rclcpp_create_node_main() the first argument must be a valid target name")
+    find_package(ament_cmake_core QUIET REQUIRED)
+    ament_register_extension("ament_package" "rclcpp"
+      "rclcpp_package_hook.cmake")
   endif()
-  set(executable_name_ ${node_library_target}_node)
-  add_executable(${executable_name_} ${rclcpp_node_main_SRC})
-  target_link_libraries(${executable_name_} ${node_library_target})
-  install(TARGETS ${executable_name_} DESTINATION bin)
-endfunction()
+endmacro()
+
+include("${rclcpp_DIR}/get_rclcpp_information.cmake")
+include("${rclcpp_DIR}/rclcpp_create_node_main.cmake")
+include("${rclcpp_DIR}/rclcpp_register_node_plugins.cmake")

rclcpp/src/rclcpp/any_executable.cpp

@@ -23,7 +23,7 @@ AnyExecutable::AnyExecutable()
   service(nullptr),
   client(nullptr),
   callback_group(nullptr),
-  node(nullptr)
+  node_base(nullptr)
 {}
 
 AnyExecutable::~AnyExecutable()

rclcpp/src/rclcpp/callback_group.cpp

@@ -26,24 +26,28 @@ CallbackGroup::CallbackGroup(CallbackGroupType group_type)
 const std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> &
 CallbackGroup::get_subscription_ptrs() const
 {
+  std::lock_guard<std::mutex> lock(mutex_);
   return subscription_ptrs_;
 }
 
 const std::vector<rclcpp::timer::TimerBase::WeakPtr> &
 CallbackGroup::get_timer_ptrs() const
 {
+  std::lock_guard<std::mutex> lock(mutex_);
   return timer_ptrs_;
 }
 
-const std::vector<rclcpp::service::ServiceBase::SharedPtr> &
+const std::vector<rclcpp::service::ServiceBase::WeakPtr> &
 CallbackGroup::get_service_ptrs() const
 {
+  std::lock_guard<std::mutex> lock(mutex_);
   return service_ptrs_;
 }
 
-const std::vector<rclcpp::client::ClientBase::SharedPtr> &
+const std::vector<rclcpp::client::ClientBase::WeakPtr> &
 CallbackGroup::get_client_ptrs() const
 {
+  std::lock_guard<std::mutex> lock(mutex_);
   return client_ptrs_;
 }
 
@@ -63,23 +67,27 @@ void
 CallbackGroup::add_subscription(
   const rclcpp::subscription::SubscriptionBase::SharedPtr subscription_ptr)
 {
+  std::lock_guard<std::mutex> lock(mutex_);
   subscription_ptrs_.push_back(subscription_ptr);
 }
 
 void
 CallbackGroup::add_timer(const rclcpp::timer::TimerBase::SharedPtr timer_ptr)
 {
+  std::lock_guard<std::mutex> lock(mutex_);
   timer_ptrs_.push_back(timer_ptr);
 }
 
 void
 CallbackGroup::add_service(const rclcpp::service::ServiceBase::SharedPtr service_ptr)
 {
+  std::lock_guard<std::mutex> lock(mutex_);
   service_ptrs_.push_back(service_ptr);
 }
 
 void
 CallbackGroup::add_client(const rclcpp::client::ClientBase::SharedPtr client_ptr)
 {
+  std::lock_guard<std::mutex> lock(mutex_);
   client_ptrs_.push_back(client_ptr);
 }

rclcpp/src/rclcpp/client.cpp

@@ -14,29 +14,33 @@
 
 #include "rclcpp/client.hpp"
 
+#include <chrono>
 #include <cstdio>
+#include <memory>
 #include <string>
 
-#include "rmw/rmw.h"
+#include "rcl/graph.h"
+#include "rcl/node.h"
+#include "rcl/wait.h"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/utilities.hpp"
 
 using rclcpp::client::ClientBase;
+using rclcpp::exceptions::InvalidNodeError;
+using rclcpp::exceptions::throw_from_rcl_error;
 
 ClientBase::ClientBase(
-  std::shared_ptr<rmw_node_t> node_handle,
-  rmw_client_t * client_handle,
+  rclcpp::node_interfaces::NodeBaseInterface * node_base,
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
   const std::string & service_name)
-: node_handle_(node_handle), client_handle_(client_handle), service_name_(service_name)
+: node_graph_(node_graph),
+  node_handle_(node_base->get_shared_rcl_node_handle()),
+  service_name_(service_name)
 {}
 
-ClientBase::~ClientBase()
-{
-  if (client_handle_) {
-    if (rmw_destroy_client(client_handle_) != RMW_RET_OK) {
-      fprintf(stderr,
-        "Error in destruction of rmw client handle: %s\n", rmw_get_error_string_safe());
-    }
-  }
-}
+ClientBase::~ClientBase() {}
 
 const std::string &
 ClientBase::get_service_name() const
@@ -44,8 +48,74 @@ ClientBase::get_service_name() const
   return this->service_name_;
 }
 
-const rmw_client_t *
+const rcl_client_t *
 ClientBase::get_client_handle() const
 {
-  return this->client_handle_;
+  return &client_handle_;
+}
+
+bool
+ClientBase::service_is_ready() const
+{
+  bool is_ready;
+  rcl_ret_t ret =
+    rcl_service_server_is_available(this->get_rcl_node_handle(), &client_handle_, &is_ready);
+  if (ret != RCL_RET_OK) {
+    throw_from_rcl_error(ret, "rcl_service_server_is_available failed");
+  }
+  return is_ready;
+}
+
+bool
+ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
+{
+  auto start = std::chrono::steady_clock::now();
+  // check to see if the server is ready immediately
+  if (this->service_is_ready()) {
+    return true;
+  }
+  if (timeout == std::chrono::nanoseconds(0)) {
+    // check was non-blocking, return immediately
+    return false;
+  }
+  // make an event to reuse, rather than create a new one each time
+  auto node_ptr = node_graph_.lock();
+  if (!node_ptr) {
+    throw InvalidNodeError();
+  }
+  auto event = node_ptr->get_graph_event();
+  // update the time even on the first loop to account for time spent in the first call
+  // to this->server_is_ready()
+  std::chrono::nanoseconds time_to_wait = timeout - (std::chrono::steady_clock::now() - start);
+  if (timeout > std::chrono::nanoseconds(0) && time_to_wait < std::chrono::nanoseconds(0)) {
+    // Do not allow the time_to_wait to become negative when timeout was originally positive.
+    // Setting time_to_wait to 0 will allow one non-blocking wait because of the do-while.
+    time_to_wait = std::chrono::nanoseconds(0);
+  }
+  // continue forever if timeout is negative, otherwise continue until out of time_to_wait
+  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
+  do {
+    if (!rclcpp::utilities::ok()) {
+      return false;
+    }
+    node_ptr->wait_for_graph_change(event, time_to_wait);
+    event->check_and_clear();  // reset the event
+
+    // always check if the service is ready, even if the graph event wasn't triggered
+    // this is needed to avoid a race condition that is specific to the Connext RMW implementation
+    // (see https://github.com/ros2/rmw_connext/issues/201)
+    if (this->service_is_ready()) {
+      return true;
+    }
+    // server is not ready, loop if there is time left
+    time_to_wait = timeout - (std::chrono::steady_clock::now() - start);
+  } while (timeout < std::chrono::nanoseconds(0) || time_to_wait > std::chrono::nanoseconds(0));
+  // *INDENT-ON*
+  return false;  // timeout exceeded while waiting for the server to be ready
+}
+
+rcl_node_t *
+ClientBase::get_rcl_node_handle() const
+{
+  return node_handle_.get();
 }

rclcpp/src/rclcpp/event.cpp

@@ -0,0 +1,44 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/event.hpp"
+
+namespace rclcpp
+{
+namespace event
+{
+
+Event::Event()
+: state_(false) {}
+
+bool
+Event::set()
+{
+  return state_.exchange(true);
+}
+
+bool
+Event::check()
+{
+  return state_.load();
+}
+
+bool
+Event::check_and_clear()
+{
+  return state_.exchange(false);
+}
+
+}  // namespace event
+}  // namespace rclcpp

rclcpp/src/rclcpp/exceptions.cpp

@@ -0,0 +1,94 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/exceptions.hpp"
+
+#include <cstdio>
+#include <functional>
+#include <string>
+
+namespace rclcpp
+{
+namespace exceptions
+{
+
+void
+throw_from_rcl_error(rcl_ret_t ret, const std::string & prefix, bool reset_error)
+{
+  if (RCL_RET_OK == ret) {
+    throw std::invalid_argument("ret is RCL_RET_OK");
+  }
+  const rcl_error_state_t * error_state = rcl_get_error_state();
+  if (!error_state) {
+    throw std::runtime_error("rcl error state is not set");
+  }
+  std::string formated_prefix = prefix;
+  if (!prefix.empty()) {
+    formated_prefix += ": ";
+  }
+  RCLErrorBase base_exc(ret, error_state);
+  if (reset_error) {
+    rcl_reset_error();
+  }
+  switch (ret) {
+    case RCL_RET_BAD_ALLOC:
+      throw RCLBadAlloc(base_exc);
+    case RCL_RET_INVALID_ARGUMENT:
+      throw RCLInvalidArgument(base_exc, formated_prefix);
+    default:
+      throw RCLError(base_exc, formated_prefix);
+  }
+}
+
+RCLErrorBase::RCLErrorBase(rcl_ret_t ret, const rcl_error_state_t * error_state)
+: ret(ret), message(error_state->message), file(error_state->file), line(error_state->line_number),
+  formatted_message(rcl_get_error_string_safe())
+{}
+
+RCLError::RCLError(
+  rcl_ret_t ret,
+  const rcl_error_state_t * error_state,
+  const std::string & prefix)
+: RCLError(RCLErrorBase(ret, error_state), prefix)
+{}
+
+RCLError::RCLError(
+  const RCLErrorBase & base_exc,
+  const std::string & prefix)
+: RCLErrorBase(base_exc), std::runtime_error(prefix + base_exc.formatted_message)
+{}
+
+RCLBadAlloc::RCLBadAlloc(rcl_ret_t ret, const rcl_error_state_t * error_state)
+: RCLBadAlloc(RCLErrorBase(ret, error_state))
+{}
+
+RCLBadAlloc::RCLBadAlloc(const RCLErrorBase & base_exc)
+: RCLErrorBase(base_exc), std::bad_alloc()
+{}
+
+RCLInvalidArgument::RCLInvalidArgument(
+  rcl_ret_t ret,
+  const rcl_error_state_t * error_state,
+  const std::string & prefix)
+: RCLInvalidArgument(RCLErrorBase(ret, error_state), prefix)
+{}
+
+RCLInvalidArgument::RCLInvalidArgument(
+  const RCLErrorBase & base_exc,
+  const std::string & prefix)
+: RCLErrorBase(base_exc), std::invalid_argument(prefix + base_exc.formatted_message)
+{}
+
+}  // namespace exceptions
+}  // namespace rclcpp

rclcpp/src/rclcpp/executor.cpp

@@ -12,35 +12,88 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <algorithm>
+#include <memory>
+#include <string>
+#include <type_traits>
+
+#include "rcl/allocator.h"
+#include "rcl/error_handling.h"
+
 #include "rclcpp/executor.hpp"
+#include "rclcpp/node.hpp"
 #include "rclcpp/scope_exit.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
 using rclcpp::executor::AnyExecutable;
 using rclcpp::executor::Executor;
+using rclcpp::executor::ExecutorArgs;
+using rclcpp::executor::FutureReturnCode;
 
-Executor::Executor(rclcpp::memory_strategy::MemoryStrategy::SharedPtr ms)
-: spinning(false), interrupt_guard_condition_(rmw_create_guard_condition()),
-  memory_strategy_(ms)
+Executor::Executor(const ExecutorArgs & args)
+: spinning(false),
+  memory_strategy_(args.memory_strategy)
 {
+  rcl_guard_condition_options_t guard_condition_options = rcl_guard_condition_get_default_options();
+  if (rcl_guard_condition_init(
+      &interrupt_guard_condition_, guard_condition_options) != RCL_RET_OK)
+  {
+    throw std::runtime_error(
+            std::string("Failed to create interrupt guard condition in Executor constructor: ") +
+            rcl_get_error_string_safe());
+  }
+
+  // The number of guard conditions is always at least 2: 1 for the ctrl-c guard cond,
+  // and one for the executor's guard cond (interrupt_guard_condition_)
+
+  // Put the global ctrl-c guard condition in
+  memory_strategy_->add_guard_condition(rclcpp::utilities::get_sigint_guard_condition(&waitset_));
+
+  // Put the executor's guard condition in
+  memory_strategy_->add_guard_condition(&interrupt_guard_condition_);
+  rcl_allocator_t allocator = memory_strategy_->get_allocator();
+
+  if (rcl_wait_set_init(
+      &waitset_, 0, 2, 0, 0, 0, allocator) != RCL_RET_OK)
+  {
+    fprintf(stderr,
+      "[rclcpp::error] failed to create waitset: %s\n", rcl_get_error_string_safe());
+    if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) {
+      fprintf(stderr,
+        "[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe());
+    }
+    throw std::runtime_error("Failed to create waitset in Executor constructor");
+  }
 }
 
 Executor::~Executor()
 {
-  // Try to deallocate the interrupt guard condition.
-  if (interrupt_guard_condition_ != nullptr) {
-    rmw_ret_t status = rmw_destroy_guard_condition(interrupt_guard_condition_);
-    if (status != RMW_RET_OK) {
-      fprintf(stderr,
-        "[rclcpp::error] failed to destroy guard condition: %s\n", rmw_get_error_string_safe());
-    }
+  // Finalize the waitset.
+  if (rcl_wait_set_fini(&waitset_) != RCL_RET_OK) {
+    fprintf(stderr,
+      "[rclcpp::error] failed to destroy waitset: %s\n", rcl_get_error_string_safe());
   }
+  // Finalize the interrupt guard condition.
+  if (rcl_guard_condition_fini(&interrupt_guard_condition_) != RCL_RET_OK) {
+    fprintf(stderr,
+      "[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe());
+  }
+  // Remove and release the sigint guard condition
+  memory_strategy_->remove_guard_condition(
+    rclcpp::utilities::get_sigint_guard_condition(&waitset_));
+  rclcpp::utilities::release_sigint_guard_condition(&waitset_);
 }
 
 void
-Executor::add_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify)
+Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
+  // If the node already has an executor
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  if (has_executor.exchange(true)) {
+    throw std::runtime_error("Node has already been added to an executor.");
+  }
   // Check to ensure node not already added
   for (auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();
@@ -52,22 +105,29 @@ Executor::add_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify)
   weak_nodes_.push_back(node_ptr);
   if (notify) {
     // Interrupt waiting to handle new node
-    rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
-    if (status != RMW_RET_OK) {
-      throw std::runtime_error(rmw_get_error_string_safe());
+    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+      throw std::runtime_error(rcl_get_error_string_safe());
     }
   }
+  // Add the node's notify condition to the guard condition handles
+  memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
 void
-Executor::remove_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify)
+Executor::add_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify)
+{
+  this->add_node(node_ptr->get_node_base_interface(), notify);
+}
+
+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(),
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-      [&](std::weak_ptr<rclcpp::node::Node> & i)
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
+      [&](rclcpp::node_interfaces::NodeBaseInterface::WeakPtr & i)
       {
         bool matched = (i.lock() == node_ptr);
         node_removed |= matched;
@@ -76,20 +136,28 @@ Executor::remove_node(rclcpp::node::Node::SharedPtr node_ptr, bool notify)
       // *INDENT-ON*
     )
   );
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  has_executor.store(false);
   if (notify) {
     // If the node was matched and removed, interrupt waiting
     if (node_removed) {
-      rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
-      if (status != RMW_RET_OK) {
-        throw std::runtime_error(rmw_get_error_string_safe());
+      if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+        throw std::runtime_error(rcl_get_error_string_safe());
       }
     }
   }
+  memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
+}
+
+void
+Executor::remove_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify)
+{
+  this->remove_node(node_ptr->get_node_base_interface(), notify);
 }
 
 void
 Executor::spin_node_once_nanoseconds(
-  rclcpp::node::Node::SharedPtr node,
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
   std::chrono::nanoseconds timeout)
 {
   this->add_node(node, false);
@@ -99,13 +167,19 @@ Executor::spin_node_once_nanoseconds(
 }
 
 void
-Executor::spin_node_some(rclcpp::node::Node::SharedPtr node)
+Executor::spin_node_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node)
 {
   this->add_node(node, false);
   spin_some();
   this->remove_node(node, false);
 }
 
+void
+Executor::spin_node_some(std::shared_ptr<rclcpp::node::Node> node)
+{
+  this->spin_node_some(node->get_node_base_interface());
+}
+
 void
 Executor::spin_some()
 {
@@ -136,9 +210,8 @@ void
 Executor::cancel()
 {
   spinning.store(false);
-  rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
-  if (status != RMW_RET_OK) {
-    throw std::runtime_error(rmw_get_error_string_safe());
+  if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+    throw std::runtime_error(rcl_get_error_string_safe());
   }
 }
 
@@ -176,9 +249,8 @@ Executor::execute_any_executable(AnyExecutable::SharedPtr any_exec)
   any_exec->callback_group->can_be_taken_from().store(true);
   // Wake the wait, because it may need to be recalculated or work that
   // was previously blocked is now available.
-  rmw_ret_t status = rmw_trigger_guard_condition(interrupt_guard_condition_);
-  if (status != RMW_RET_OK) {
-    throw std::runtime_error(rmw_get_error_string_safe());
+  if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+    throw std::runtime_error(rcl_get_error_string_safe());
   }
 }
 
@@ -187,20 +259,17 @@ Executor::execute_subscription(
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
 {
   std::shared_ptr<void> message = subscription->create_message();
-  bool taken = false;
   rmw_message_info_t message_info;
-  auto ret =
-    rmw_take_with_info(subscription->get_subscription_handle(),
-      message.get(), &taken, &message_info);
-  if (ret == RMW_RET_OK) {
-    if (taken) {
-      message_info.from_intra_process = false;
-      subscription->handle_message(message, message_info);
-    }
-  } else {
+
+  auto ret = rcl_take(subscription->get_subscription_handle(),
+      message.get(), &message_info);
+  if (ret == RCL_RET_OK) {
+    message_info.from_intra_process = false;
+    subscription->handle_message(message, message_info);
+  } else if (ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
     fprintf(stderr,
       "[rclcpp::error] take failed for subscription on topic '%s': %s\n",
-      subscription->get_topic_name().c_str(), rmw_get_error_string_safe());
+      subscription->get_topic_name(), rcl_get_error_string_safe());
   }
   subscription->return_message(message);
 }
@@ -210,22 +279,19 @@ Executor::execute_intra_process_subscription(
   rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
 {
   rcl_interfaces::msg::IntraProcessMessage ipm;
-  bool taken = false;
   rmw_message_info_t message_info;
-  rmw_ret_t status = rmw_take_with_info(
+  rcl_ret_t status = rcl_take(
     subscription->get_intra_process_subscription_handle(),
     &ipm,
-    &taken,
     &message_info);
-  if (status == RMW_RET_OK) {
-    if (taken) {
-      message_info.from_intra_process = true;
-      subscription->handle_intra_process_message(ipm, message_info);
-    }
-  } else {
+
+  if (status == RCL_RET_OK) {
+    message_info.from_intra_process = true;
+    subscription->handle_intra_process_message(ipm, message_info);
+  } else if (status != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
     fprintf(stderr,
       "[rclcpp::error] take failed for intra process subscription on topic '%s': %s\n",
-      subscription->get_topic_name().c_str(), rmw_get_error_string_safe());
+      subscription->get_topic_name(), rcl_get_error_string_safe());
   }
 }
 
@@ -240,22 +306,18 @@ void
 Executor::execute_service(
   rclcpp::service::ServiceBase::SharedPtr service)
 {
-  std::shared_ptr<void> request_header = service->create_request_header();
+  auto request_header = service->create_request_header();
   std::shared_ptr<void> request = service->create_request();
-  bool taken = false;
-  rmw_ret_t status = rmw_take_request(
+  rcl_ret_t status = rcl_take_request(
     service->get_service_handle(),
     request_header.get(),
-    request.get(),
-    &taken);
-  if (status == RMW_RET_OK) {
-    if (taken) {
-      service->handle_request(request_header, request);
-    }
-  } else {
+    request.get());
+  if (status == RCL_RET_OK) {
+    service->handle_request(request_header, request);
+  } else if (status != RCL_RET_SERVICE_TAKE_FAILED) {
     fprintf(stderr,
       "[rclcpp::error] take request failed for server of service '%s': %s\n",
-      service->get_service_name().c_str(), rmw_get_error_string_safe());
+      service->get_service_name().c_str(), rcl_get_error_string_safe());
   }
 }
 
@@ -263,31 +325,26 @@ void
 Executor::execute_client(
   rclcpp::client::ClientBase::SharedPtr client)
 {
-  std::shared_ptr<void> request_header = client->create_request_header();
+  auto request_header = client->create_request_header();
   std::shared_ptr<void> response = client->create_response();
-  bool taken = false;
-  rmw_ret_t status = rmw_take_response(
+  rcl_ret_t status = rcl_take_response(
     client->get_client_handle(),
     request_header.get(),
-    response.get(),
-    &taken);
-  if (status == RMW_RET_OK) {
-    if (taken) {
-      client->handle_response(request_header, response);
-    }
-  } else {
+    response.get());
+  if (status == RCL_RET_OK) {
+    client->handle_response(request_header, response);
+  } else if (status != RCL_RET_SERVICE_TAKE_FAILED) {
     fprintf(stderr,
       "[rclcpp::error] take response failed for client of service '%s': %s\n",
-      client->get_service_name().c_str(), rmw_get_error_string_safe());
+      client->get_service_name().c_str(), rcl_get_error_string_safe());
   }
 }
 
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
-  memory_strategy_->clear_active_entities();
-
   // 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
@@ -295,8 +352,8 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
     weak_nodes_.erase(
       remove_if(
         weak_nodes_.begin(), weak_nodes_.end(),
-        // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
-        [](std::weak_ptr<rclcpp::node::Node> i)
+        // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
+        [](rclcpp::node_interfaces::NodeBaseInterface::WeakPtr i)
         {
           return i.expired();
         }
@@ -305,87 +362,82 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
     );
   }
 
-  // Use the number of subscriptions to allocate memory in the handles
-  rmw_subscriptions_t subscriber_handles;
-  subscriber_handles.subscriber_count =
-    memory_strategy_->fill_subscriber_handles(subscriber_handles.subscribers);
-
-  rmw_services_t service_handles;
-  service_handles.service_count =
-    memory_strategy_->fill_service_handles(service_handles.services);
-
-  rmw_clients_t client_handles;
-  client_handles.client_count =
-    memory_strategy_->fill_client_handles(client_handles.clients);
-
-  // The number of guard conditions is fixed at 2: 1 for the ctrl-c guard cond,
-  // and one for the executor's guard cond (interrupt_guard_condition_)
-  size_t number_of_guard_conds = 2;
-  rmw_guard_conditions_t guard_condition_handles;
-  guard_condition_handles.guard_condition_count = number_of_guard_conds;
-  guard_condition_handles.guard_conditions = static_cast<void **>(guard_cond_handles_.data());
-  if (guard_condition_handles.guard_conditions == NULL &&
-    number_of_guard_conds > 0)
+  if (rcl_wait_set_resize_subscriptions(
+      &waitset_, memory_strategy_->number_of_ready_subscriptions()) != RCL_RET_OK)
   {
-    // TODO(wjwwood): Use a different error here? maybe std::bad_alloc?
-    throw std::runtime_error("Could not malloc for guard condition pointers.");
+    throw std::runtime_error(
+            std::string("Couldn't resize the number of subscriptions in waitset : ") +
+            rcl_get_error_string_safe());
   }
-  // Put the global ctrl-c guard condition in
-  assert(guard_condition_handles.guard_condition_count > 1);
-  guard_condition_handles.guard_conditions[0] = \
-    rclcpp::utilities::get_global_sigint_guard_condition()->data;
-  // Put the executor's guard condition in
-  guard_condition_handles.guard_conditions[1] = \
-    interrupt_guard_condition_->data;
 
-  rmw_time_t * wait_timeout = NULL;
-  rmw_time_t rmw_timeout;
-
-  auto next_timer_duration = get_earliest_timer();
-  // If the next timer timeout must preempt the requested timeout
-  // or if the requested timeout blocks forever, and there exists a valid timer,
-  // replace the requested timeout with the next timeout.
-  bool has_valid_timer = next_timer_duration >= std::chrono::nanoseconds::zero();
-  if ((next_timer_duration < timeout ||
-    timeout < std::chrono::nanoseconds::zero()) && has_valid_timer)
+  if (rcl_wait_set_resize_services(
+      &waitset_, memory_strategy_->number_of_ready_services()) != RCL_RET_OK)
   {
-    rmw_timeout.sec =
-      std::chrono::duration_cast<std::chrono::seconds>(next_timer_duration).count();
-    rmw_timeout.nsec = next_timer_duration.count() % (1000 * 1000 * 1000);
-    wait_timeout = &rmw_timeout;
-  } else if (timeout >= std::chrono::nanoseconds::zero()) {
-    // Convert timeout representation to rmw_time
-    rmw_timeout.sec = std::chrono::duration_cast<std::chrono::seconds>(timeout).count();
-    rmw_timeout.nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count() %
-      (1000 * 1000 * 1000);
-    wait_timeout = &rmw_timeout;
+    throw std::runtime_error(
+            std::string("Couldn't resize the number of services in waitset : ") +
+            rcl_get_error_string_safe());
   }
 
-  // Now wait on the waitable subscriptions and timers
-  rmw_ret_t status = rmw_wait(
-    &subscriber_handles,
-    &guard_condition_handles,
-    &service_handles,
-    &client_handles,
-    wait_timeout);
-  if (status != RMW_RET_OK && status != RMW_RET_TIMEOUT) {
-    throw std::runtime_error(rmw_get_error_string_safe());
-  }
-  // If ctrl-c guard condition, return directly
-  if (guard_condition_handles.guard_conditions[0] != 0) {
-    // Make sure to free or clean memory
-    memory_strategy_->clear_handles();
-    return;
+  if (rcl_wait_set_resize_clients(
+      &waitset_, memory_strategy_->number_of_ready_clients()) != RCL_RET_OK)
+  {
+    throw std::runtime_error(
+            std::string("Couldn't resize the number of clients in waitset : ") +
+            rcl_get_error_string_safe());
   }
 
-  memory_strategy_->remove_null_handles();
+  if (rcl_wait_set_resize_guard_conditions(
+      &waitset_, memory_strategy_->number_of_guard_conditions()) != RCL_RET_OK)
+  {
+    throw std::runtime_error(
+            std::string("Couldn't resize the number of guard_conditions in waitset : ") +
+            rcl_get_error_string_safe());
+  }
+
+  if (rcl_wait_set_resize_timers(
+      &waitset_, memory_strategy_->number_of_ready_timers()) != RCL_RET_OK)
+  {
+    throw std::runtime_error(
+            std::string("Couldn't resize the number of timers in waitset : ") +
+            rcl_get_error_string_safe());
+  }
+
+  if (!memory_strategy_->add_handles_to_waitset(&waitset_)) {
+    throw std::runtime_error("Couldn't fill waitset");
+  }
+  rcl_ret_t status =
+    rcl_wait(&waitset_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());
+  if (status == RCL_RET_WAIT_SET_EMPTY) {
+    fprintf(stderr, "Warning: empty waitset received in rcl_wait(). This should never happen.\n");
+  } else if (status != RCL_RET_OK && status != RCL_RET_TIMEOUT) {
+    throw std::runtime_error(std::string("rcl_wait() failed: ") + rcl_get_error_string_safe());
+  }
+
+  // check the null handles in the waitset and remove them from the handles in memory strategy
+  // for callback-based entities
+  memory_strategy_->remove_null_handles(&waitset_);
+  if (rcl_wait_set_clear_subscriptions(&waitset_) != RCL_RET_OK) {
+    throw std::runtime_error("Couldn't clear subscriptions from waitset");
+  }
+  if (rcl_wait_set_clear_services(&waitset_) != RCL_RET_OK) {
+    throw std::runtime_error("Couldn't clear servicess from waitset");
+  }
+  if (rcl_wait_set_clear_clients(&waitset_) != RCL_RET_OK) {
+    throw std::runtime_error("Couldn't clear clients from waitset");
+  }
+  if (rcl_wait_set_clear_guard_conditions(&waitset_) != RCL_RET_OK) {
+    throw std::runtime_error("Couldn't clear guard conditions from waitset");
+  }
+  if (rcl_wait_set_clear_timers(&waitset_) != RCL_RET_OK) {
+    throw std::runtime_error("Couldn't clear timers from waitset");
+  }
 }
 
-rclcpp::node::Node::SharedPtr
+rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 Executor::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
   if (!group) {
-    return rclcpp::node::Node::SharedPtr();
+    return nullptr;
   }
   for (auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();
@@ -399,7 +451,7 @@ Executor::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr gro
       }
     }
   }
-  return rclcpp::node::Node::SharedPtr();
+  return nullptr;
 }
 
 rclcpp::callback_group::CallbackGroup::SharedPtr
@@ -441,7 +493,7 @@ Executor::get_next_timer(AnyExecutable::SharedPtr any_exec)
       }
       for (auto & timer_ref : group->get_timer_ptrs()) {
         auto timer = timer_ref.lock();
-        if (timer && timer->check_and_trigger()) {
+        if (timer && timer->is_ready()) {
           any_exec->timer = timer;
           any_exec->callback_group = group;
           node = get_node_by_group(group);
@@ -452,37 +504,6 @@ Executor::get_next_timer(AnyExecutable::SharedPtr any_exec)
   }
 }
 
-std::chrono::nanoseconds
-Executor::get_earliest_timer()
-{
-  std::chrono::nanoseconds latest = std::chrono::nanoseconds::max();
-  bool timers_empty = true;
-  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()) {
-        timers_empty = false;
-        // Check the expected trigger time
-        auto timer = timer_ref.lock();
-        if (timer && timer->time_until_trigger() < latest) {
-          latest = timer->time_until_trigger();
-        }
-      }
-    }
-  }
-  if (timers_empty) {
-    return std::chrono::nanoseconds(-1);
-  }
-  return latest;
-}
-
 AnyExecutable::SharedPtr
 Executor::get_next_ready_executable()
 {
@@ -545,3 +566,29 @@ Executor::get_next_executable(std::chrono::nanoseconds timeout)
   }
   return any_exec;
 }
+
+std::ostream &
+rclcpp::executor::operator<<(std::ostream & os, const FutureReturnCode & future_return_code)
+{
+  return os << to_string(future_return_code);
+}
+
+std::string
+rclcpp::executor::to_string(const FutureReturnCode & future_return_code)
+{
+  using enum_type = std::underlying_type<FutureReturnCode>::type;
+  std::string prefix = "Unknown enum value (";
+  std::string ret_as_string = std::to_string(static_cast<enum_type>(future_return_code));
+  switch (future_return_code) {
+    case FutureReturnCode::SUCCESS:
+      prefix = "SUCCESS (";
+      break;
+    case FutureReturnCode::INTERRUPTED:
+      prefix = "INTERRUPTED (";
+      break;
+    case FutureReturnCode::TIMEOUT:
+      prefix = "TIMEOUT (";
+      break;
+  }
+  return prefix + ret_as_string + ")";
+}

rclcpp/src/rclcpp/executors.cpp

@@ -15,16 +15,29 @@
 #include "rclcpp/executors.hpp"
 
 void
-rclcpp::spin_some(node::Node::SharedPtr node_ptr)
+rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
   rclcpp::executors::SingleThreadedExecutor exec;
   exec.spin_node_some(node_ptr);
 }
 
 void
-rclcpp::spin(node::Node::SharedPtr node_ptr)
+rclcpp::spin_some(rclcpp::node::Node::SharedPtr node_ptr)
+{
+  rclcpp::spin_some(node_ptr->get_node_base_interface());
+}
+
+void
+rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
   rclcpp::executors::SingleThreadedExecutor exec;
   exec.add_node(node_ptr);
   exec.spin();
+  exec.remove_node(node_ptr);
+}
+
+void
+rclcpp::spin(rclcpp::node::Node::SharedPtr node_ptr)
+{
+  rclcpp::spin(node_ptr->get_node_base_interface());
 }

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -23,8 +23,8 @@
 
 using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
 
-MultiThreadedExecutor::MultiThreadedExecutor(rclcpp::memory_strategy::MemoryStrategy::SharedPtr ms)
-: executor::Executor(ms)
+MultiThreadedExecutor::MultiThreadedExecutor(const rclcpp::executor::ExecutorArgs & args)
+: executor::Executor(args)
 {
   number_of_threads_ = std::thread::hardware_concurrency();
   if (number_of_threads_ == 0) {

rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

@@ -17,10 +17,8 @@
 
 using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
 
-SingleThreadedExecutor::SingleThreadedExecutor(
-  rclcpp::memory_strategy::MemoryStrategy::SharedPtr ms)
-: executor::Executor(ms) {}
-
+SingleThreadedExecutor::SingleThreadedExecutor(const rclcpp::executor::ExecutorArgs & args)
+: executor::Executor(args) {}
 
 SingleThreadedExecutor::~SingleThreadedExecutor() {}
 

rclcpp/src/rclcpp/graph_listener.cpp

@@ -0,0 +1,356 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/graph_listener.hpp"
+
+#include <cstdio>
+#include <exception>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rcl/error_handling.h"
+#include "rcl/types.h"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/node.hpp"
+#include "rmw/impl/cpp/demangle.hpp"
+
+using rclcpp::exceptions::throw_from_rcl_error;
+
+namespace rclcpp
+{
+namespace graph_listener
+{
+
+GraphListener::GraphListener()
+: is_started_(false), is_shutdown_(false), shutdown_guard_condition_(nullptr)
+{
+  rcl_ret_t ret = rcl_guard_condition_init(
+    &interrupt_guard_condition_,
+    rcl_guard_condition_get_default_options());
+  if (RCL_RET_OK != ret) {
+    throw_from_rcl_error(ret, "failed to create interrupt guard condition");
+  }
+
+  shutdown_guard_condition_ = rclcpp::utilities::get_sigint_guard_condition(&wait_set_);
+}
+
+GraphListener::~GraphListener()
+{
+  this->shutdown();
+}
+
+void
+GraphListener::start_if_not_started()
+{
+  std::lock_guard<std::mutex> shutdown_lock(shutdown_mutex_);
+  if (is_shutdown_.load()) {
+    throw GraphListenerShutdownError();
+  }
+  if (!is_started_) {
+    // Initialize the wait set before starting.
+    rcl_ret_t ret = rcl_wait_set_init(
+      &wait_set_,
+      0,  // number_of_subscriptions
+      2,  // number_of_guard_conditions
+      0,  // number_of_timers
+      0,  // number_of_clients
+      0,  // number_of_services
+      rcl_get_default_allocator());
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to initialize wait set");
+    }
+    // Register an on_shutdown hook to shtudown the graph listener.
+    // This is important to ensure that the wait set is finalized before
+    // destruction of static objects occurs.
+    std::weak_ptr<GraphListener> weak_this = shared_from_this();
+    rclcpp::utilities::on_shutdown([weak_this]() {
+          auto shared_this = weak_this.lock();
+          if (shared_this) {
+            shared_this->shutdown();
+          }
+        });
+    // Start the listener thread.
+    listener_thread_ = std::thread(&GraphListener::run, this);
+    is_started_ = true;
+  }
+}
+
+void
+GraphListener::run()
+{
+  try {
+    run_loop();
+  } catch (const std::exception & exc) {
+    fprintf(stderr,
+      "[rclcpp] caught %s exception in GraphListener thread: %s\n",
+      rmw::impl::cpp::demangle(exc).c_str(),
+      exc.what());
+    std::rethrow_exception(std::current_exception());
+  } catch (...) {
+    fprintf(stderr, "[rclcpp] unknown error in GraphListener thread\n");
+    std::rethrow_exception(std::current_exception());
+  }
+}
+
+void
+GraphListener::run_loop()
+{
+  while (true) {
+    // If shutdown() was called, exit.
+    if (is_shutdown_.load()) {
+      return;
+    }
+    rcl_ret_t ret;
+    {
+      // This "barrier" lock ensures that other functions can acquire the
+      // node_graph_interfaces_mutex_ after waking up rcl_wait.
+      std::lock_guard<std::mutex> nodes_barrier_lock(node_graph_interfaces_barrier_mutex_);
+      // This is ownership is passed to nodes_lock in the next line.
+      node_graph_interfaces_mutex_.lock();
+    }
+    // This lock is released when the loop continues or exits.
+    std::lock_guard<std::mutex> nodes_lock(node_graph_interfaces_mutex_, std::adopt_lock);
+
+    // Resize the wait set if necessary.
+    if (wait_set_.size_of_guard_conditions < (node_graph_interfaces_.size() + 2)) {
+      ret = rcl_wait_set_resize_guard_conditions(&wait_set_, node_graph_interfaces_.size() + 2);
+      if (RCL_RET_OK != ret) {
+        throw_from_rcl_error(ret, "failed to resize wait set");
+      }
+    }
+    // Clear the wait set's guard conditions.
+    ret = rcl_wait_set_clear_guard_conditions(&wait_set_);
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to clear wait set");
+    }
+    // Put the interrupt guard condition in the wait set.
+    ret = rcl_wait_set_add_guard_condition(&wait_set_, &interrupt_guard_condition_);
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to add interrupt guard condition to wait set");
+    }
+    // Put the shutdown guard condition in the wait set.
+    ret = rcl_wait_set_add_guard_condition(&wait_set_, shutdown_guard_condition_);
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to add shutdown guard condition to wait set");
+    }
+    // Put graph guard conditions for each node into the wait set.
+    for (const auto node_ptr : node_graph_interfaces_) {
+      // Only wait on graph changes if some user of the node is watching.
+      if (node_ptr->count_graph_users() == 0) {
+        continue;
+      }
+      // Add the graph guard condition for the node to the wait set.
+      auto graph_gc = node_ptr->get_graph_guard_condition();
+      if (!graph_gc) {
+        throw_from_rcl_error(RCL_RET_ERROR, "failed to get graph guard condition");
+      }
+      ret = rcl_wait_set_add_guard_condition(&wait_set_, graph_gc);
+      if (RCL_RET_OK != ret) {
+        throw_from_rcl_error(ret, "failed to add graph guard condition to wait set");
+      }
+    }
+
+    // Wait for: graph changes, interrupt, or shutdown/SIGINT
+    ret = rcl_wait(&wait_set_, -1);  // block for ever until a guard condition is triggered
+    if (RCL_RET_TIMEOUT == ret) {
+      throw std::runtime_error("rcl_wait unexpectedly timed out");
+    }
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to wait on wait set");
+    }
+
+    bool shutdown_guard_condition_triggered = false;
+    // Check to see if the shutdown guard condition has been triggered.
+    for (size_t i = 0; i < wait_set_.size_of_guard_conditions; ++i) {
+      if (shutdown_guard_condition_ == wait_set_.guard_conditions[i]) {
+        shutdown_guard_condition_triggered = true;
+      }
+    }
+    // Notify nodes who's guard conditions are set (triggered).
+    for (const auto node_ptr : node_graph_interfaces_) {
+      auto graph_gc = node_ptr->get_graph_guard_condition();
+      if (!graph_gc) {
+        throw_from_rcl_error(RCL_RET_ERROR, "failed to get graph guard condition");
+      }
+      for (size_t i = 0; i < wait_set_.size_of_guard_conditions; ++i) {
+        if (graph_gc == wait_set_.guard_conditions[i]) {
+          node_ptr->notify_graph_change();
+        }
+      }
+      if (shutdown_guard_condition_triggered) {
+        // If shutdown, then notify the node of this as well.
+        node_ptr->notify_shutdown();
+      }
+    }
+  }  // while (true)
+}
+
+static void
+interrupt_(rcl_guard_condition_t * interrupt_guard_condition)
+{
+  rcl_ret_t ret = rcl_trigger_guard_condition(interrupt_guard_condition);
+  if (RCL_RET_OK != ret) {
+    throw_from_rcl_error(ret, "failed to trigger the interrupt guard condition");
+  }
+}
+
+static void
+acquire_nodes_lock_(
+  std::mutex * node_graph_interfaces_barrier_mutex,
+  std::mutex * node_graph_interfaces_mutex,
+  rcl_guard_condition_t * interrupt_guard_condition)
+{
+  {
+    // Acquire this lock to prevent the run loop from re-locking the
+    // nodes_mutext_ after being woken up.
+    std::lock_guard<std::mutex> nodes_barrier_lock(*node_graph_interfaces_barrier_mutex);
+    // Trigger the interrupt guard condition to wake up rcl_wait.
+    interrupt_(interrupt_guard_condition);
+    node_graph_interfaces_mutex->lock();
+  }
+}
+
+static bool
+has_node_(
+  std::vector<rclcpp::node_interfaces::NodeGraphInterface *> * node_graph_interfaces,
+  rclcpp::node_interfaces::NodeGraphInterface * node_graph)
+{
+  for (const auto node_ptr : (*node_graph_interfaces)) {
+    if (node_graph == node_ptr) {
+      return true;
+    }
+  }
+  return false;
+}
+
+bool
+GraphListener::has_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph)
+{
+  if (!node_graph) {
+    return false;
+  }
+  // Acquire the nodes mutex using the barrier to prevent the run loop from
+  // re-locking the nodes mutex after being interrupted.
+  acquire_nodes_lock_(
+    &node_graph_interfaces_barrier_mutex_,
+    &node_graph_interfaces_mutex_,
+    &interrupt_guard_condition_);
+  // Store the now acquired node_graph_interfaces_mutex_ in the scoped lock using adopt_lock.
+  std::lock_guard<std::mutex> nodes_lock(node_graph_interfaces_mutex_, std::adopt_lock);
+  return has_node_(&node_graph_interfaces_, node_graph);
+}
+
+void
+GraphListener::add_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph)
+{
+  if (!node_graph) {
+    throw std::invalid_argument("node is nullptr");
+  }
+  std::lock_guard<std::mutex> shutdown_lock(shutdown_mutex_);
+  if (is_shutdown_.load()) {
+    throw GraphListenerShutdownError();
+  }
+
+  // Acquire the nodes mutex using the barrier to prevent the run loop from
+  // re-locking the nodes mutex after being interrupted.
+  acquire_nodes_lock_(
+    &node_graph_interfaces_barrier_mutex_,
+    &node_graph_interfaces_mutex_,
+    &interrupt_guard_condition_);
+  // Store the now acquired node_graph_interfaces_mutex_ in the scoped lock using adopt_lock.
+  std::lock_guard<std::mutex> nodes_lock(node_graph_interfaces_mutex_, std::adopt_lock);
+  if (has_node_(&node_graph_interfaces_, node_graph)) {
+    throw NodeAlreadyAddedError();
+  }
+  node_graph_interfaces_.push_back(node_graph);
+  // The run loop has already been interrupted by acquire_nodes_lock_() and
+  // will evaluate the new node when nodes_lock releases the node_graph_interfaces_mutex_.
+}
+
+static void
+remove_node_(
+  std::vector<rclcpp::node_interfaces::NodeGraphInterface *> * node_graph_interfaces,
+  rclcpp::node_interfaces::NodeGraphInterface * node_graph)
+{
+  // Remove the node if it is found.
+  for (auto it = node_graph_interfaces->begin(); it != node_graph_interfaces->end(); ++it) {
+    if (node_graph == *it) {
+      // Found the node, remove it.
+      node_graph_interfaces->erase(it);
+      // Now trigger the interrupt guard condition to make sure
+      return;
+    }
+  }
+  // Not found in the loop.
+  throw NodeNotFoundError();
+}
+
+void
+GraphListener::remove_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph)
+{
+  if (!node_graph) {
+    throw std::invalid_argument("node is nullptr");
+  }
+  std::lock_guard<std::mutex> shutdown_lock(shutdown_mutex_);
+  if (is_shutdown()) {
+    // If shutdown, then the run loop has been joined, so we can remove them directly.
+    return remove_node_(&node_graph_interfaces_, node_graph);
+  }
+  // Otherwise, first interrupt and lock against the run loop to safely remove the node.
+  // Acquire the nodes mutex using the barrier to prevent the run loop from
+  // re-locking the nodes mutex after being interrupted.
+  acquire_nodes_lock_(
+    &node_graph_interfaces_barrier_mutex_,
+    &node_graph_interfaces_mutex_,
+    &interrupt_guard_condition_);
+  // Store the now acquired node_graph_interfaces_mutex_ in the scoped lock using adopt_lock.
+  std::lock_guard<std::mutex> nodes_lock(node_graph_interfaces_mutex_, std::adopt_lock);
+  remove_node_(&node_graph_interfaces_, node_graph);
+}
+
+void
+GraphListener::shutdown()
+{
+  std::lock_guard<std::mutex> shutdown_lock(shutdown_mutex_);
+  if (!is_shutdown_.exchange(true)) {
+    if (is_started_) {
+      interrupt_(&interrupt_guard_condition_);
+      listener_thread_.join();
+    }
+    rcl_ret_t ret = rcl_guard_condition_fini(&interrupt_guard_condition_);
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to finalize interrupt guard condition");
+    }
+    if (shutdown_guard_condition_) {
+      rclcpp::utilities::release_sigint_guard_condition(&wait_set_);
+      shutdown_guard_condition_ = nullptr;
+    }
+    if (is_started_) {
+      ret = rcl_wait_set_fini(&wait_set_);
+      if (RCL_RET_OK != ret) {
+        throw_from_rcl_error(ret, "failed to finalize wait set");
+      }
+    }
+  }
+}
+
+bool
+GraphListener::is_shutdown()
+{
+  return is_shutdown_.load();
+}
+
+}  // namespace graph_listener
+}  // namespace rclcpp

rclcpp/src/rclcpp/intra_process_manager.cpp

@@ -69,7 +69,7 @@ IntraProcessManager::get_next_unique_id()
     // So around 585 million years. Even at 1 GHz, it would take 585 years.
     // I think it's safe to avoid trying to handle overflow.
     // If we roll over then it's most likely a bug.
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
     throw std::overflow_error(
       "exhausted the unique id's for publishers and subscribers in this process "
       "(congratulations your computer is either extremely fast or extremely old)");

rclcpp/src/rclcpp/memory_strategies.cpp

@@ -14,6 +14,8 @@
 
 #include "rclcpp/memory_strategies.hpp"
 
+#include <memory>
+
 #include "rclcpp/strategies/allocator_memory_strategy.hpp"
 
 using rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy;

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -18,7 +18,7 @@ using rclcpp::memory_strategy::MemoryStrategy;
 
 rclcpp::subscription::SubscriptionBase::SharedPtr
 MemoryStrategy::get_subscription_by_handle(
-  void * subscriber_handle, const WeakNodeVector & weak_nodes)
+  const rcl_subscription_t * subscriber_handle, const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -33,12 +33,10 @@ MemoryStrategy::get_subscription_by_handle(
       for (auto & weak_subscription : group->get_subscription_ptrs()) {
         auto subscription = weak_subscription.lock();
         if (subscription) {
-          if (subscription->get_subscription_handle()->data == subscriber_handle) {
+          if (subscription->get_subscription_handle() == subscriber_handle) {
             return subscription;
           }
-          if (subscription->get_intra_process_subscription_handle() &&
-            subscription->get_intra_process_subscription_handle()->data == subscriber_handle)
-          {
+          if (subscription->get_intra_process_subscription_handle() == subscriber_handle) {
             return subscription;
           }
         }
@@ -49,7 +47,8 @@ MemoryStrategy::get_subscription_by_handle(
 }
 
 rclcpp::service::ServiceBase::SharedPtr
-MemoryStrategy::get_service_by_handle(void * service_handle, const WeakNodeVector & weak_nodes)
+MemoryStrategy::get_service_by_handle(const rcl_service_t * service_handle,
+  const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -61,8 +60,9 @@ MemoryStrategy::get_service_by_handle(void * service_handle, const WeakNodeVecto
       if (!group) {
         continue;
       }
-      for (auto & service : group->get_service_ptrs()) {
-        if (service->get_service_handle()->data == service_handle) {
+      for (auto & weak_service : group->get_service_ptrs()) {
+        auto service = weak_service.lock();
+        if (service && service->get_service_handle() == service_handle) {
           return service;
         }
       }
@@ -72,7 +72,8 @@ MemoryStrategy::get_service_by_handle(void * service_handle, const WeakNodeVecto
 }
 
 rclcpp::client::ClientBase::SharedPtr
-MemoryStrategy::get_client_by_handle(void * client_handle, const WeakNodeVector & weak_nodes)
+MemoryStrategy::get_client_by_handle(const rcl_client_t * client_handle,
+  const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
     auto node = weak_node.lock();
@@ -84,8 +85,9 @@ MemoryStrategy::get_client_by_handle(void * client_handle, const WeakNodeVector
       if (!group) {
         continue;
       }
-      for (auto & client : group->get_client_ptrs()) {
-        if (client->get_client_handle()->data == client_handle) {
+      for (auto & weak_client : group->get_client_ptrs()) {
+        auto client = weak_client.lock();
+        if (client && client->get_client_handle() == client_handle) {
           return client;
         }
       }
@@ -94,7 +96,7 @@ MemoryStrategy::get_client_by_handle(void * client_handle, const WeakNodeVector
   return nullptr;
 }
 
-rclcpp::node::Node::SharedPtr
+rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 MemoryStrategy::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group,
   const WeakNodeVector & weak_nodes)
 {
@@ -157,8 +159,9 @@ MemoryStrategy::get_group_by_service(
       if (!group) {
         continue;
       }
-      for (auto & serv : group->get_service_ptrs()) {
-        if (serv == service) {
+      for (auto & weak_serv : group->get_service_ptrs()) {
+        auto serv = weak_serv.lock();
+        if (serv && serv == service) {
           return group;
         }
       }
@@ -182,8 +185,9 @@ MemoryStrategy::get_group_by_client(
       if (!group) {
         continue;
       }
-      for (auto & cli : group->get_client_ptrs()) {
-        if (cli == client) {
+      for (auto & weak_client : group->get_client_ptrs()) {
+        auto cli = weak_client.lock();
+        if (cli && cli == client) {
           return group;
         }
       }

rclcpp/src/rclcpp/node.cpp

@@ -15,13 +15,23 @@
 #include <algorithm>
 #include <limits>
 #include <map>
+#include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/graph_listener.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
+#include "rclcpp/node_interfaces/node_graph.hpp"
+#include "rclcpp/node_interfaces/node_parameters.hpp"
+#include "rclcpp/node_interfaces/node_services.hpp"
+#include "rclcpp/node_interfaces/node_timers.hpp"
+#include "rclcpp/node_interfaces/node_topics.hpp"
 
 using rclcpp::node::Node;
+using rclcpp::exceptions::throw_from_rcl_error;
 
 Node::Node(const std::string & node_name, bool use_intra_process_comms)
 : Node(
@@ -34,302 +44,165 @@ Node::Node(
   const std::string & node_name,
   rclcpp::context::Context::SharedPtr context,
   bool use_intra_process_comms)
-: name_(node_name), context_(context),
-  number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0),
+: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, context)),
+  node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
+  node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
+  node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),
+  node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
+  node_parameters_(new rclcpp::node_interfaces::NodeParameters(
+      node_topics_.get(),
+      use_intra_process_comms
+    )),
   use_intra_process_comms_(use_intra_process_comms)
 {
-  size_t domain_id = 0;
-  char * ros_domain_id = nullptr;
-  const char * env_var = "ROS_DOMAIN_ID";
-#ifndef _WIN32
-  ros_domain_id = getenv(env_var);
-#else
-  size_t ros_domain_id_size;
-  _dupenv_s(&ros_domain_id, &ros_domain_id_size, env_var);
-#endif
-  if (ros_domain_id) {
-    uint32_t number = strtoul(ros_domain_id, NULL, 0);
-    if (number == (std::numeric_limits<uint32_t>::max)()) {
-      throw std::runtime_error("failed to interpret ROS_DOMAIN_ID as integral number");
-    }
-    domain_id = static_cast<size_t>(number);
-#ifdef _WIN32
-    free(ros_domain_id);
-#endif
-  }
-
-  auto node = rmw_create_node(name_.c_str(), domain_id);
-  if (!node) {
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      std::string("could not create node: ") +
-      rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-  // Initialize node handle shared_ptr with custom deleter.
-  // *INDENT-OFF*
-  node_handle_.reset(node, [](rmw_node_t * node) {
-    auto ret = rmw_destroy_node(node);
-    if (ret != RMW_RET_OK) {
-      fprintf(
-        stderr, "Error in destruction of rmw node handle: %s\n", rmw_get_error_string_safe());
-    }
-  });
-  // *INDENT-ON*
-
-  using rclcpp::callback_group::CallbackGroupType;
-  default_callback_group_ = create_callback_group(
-    CallbackGroupType::MutuallyExclusive);
-  events_publisher_ = create_publisher<rcl_interfaces::msg::ParameterEvent>(
-    "parameter_events", rmw_qos_profile_parameter_events);
 }
 
-const std::string &
+Node::~Node()
+{}
+
+const char *
 Node::get_name() const
 {
-  return name_;
+  return node_base_->get_name();
 }
 
 rclcpp::callback_group::CallbackGroup::SharedPtr
 Node::create_callback_group(
   rclcpp::callback_group::CallbackGroupType group_type)
 {
-  using rclcpp::callback_group::CallbackGroup;
-  using rclcpp::callback_group::CallbackGroupType;
-  auto group = CallbackGroup::SharedPtr(new CallbackGroup(group_type));
-  callback_groups_.push_back(group);
-  return group;
+  return node_base_->create_callback_group(group_type);
 }
 
 bool
 Node::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  bool group_belongs_to_this_node = false;
-  for (auto & weak_group : this->callback_groups_) {
-    auto cur_group = weak_group.lock();
-    if (cur_group && (cur_group == group)) {
-      group_belongs_to_this_node = true;
-    }
-  }
-  return group_belongs_to_this_node;
+  return node_base_->callback_group_in_node(group);
 }
 
-// TODO(wjwwood): reenable this once I figure out why the demo doesn't build with it.
-// rclcpp::timer::WallTimer::SharedPtr
-// Node::create_wall_timer(
-//   std::chrono::duration<long double, std::nano> period,
-//   rclcpp::timer::CallbackType callback,
-//   rclcpp::callback_group::CallbackGroup::SharedPtr group)
-// {
-//   return create_wall_timer(
-//     std::chrono::duration_cast<std::chrono::nanoseconds>(period),
-//     callback,
-//     group);
-// }
-
 std::vector<rcl_interfaces::msg::SetParametersResult>
 Node::set_parameters(
   const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
 {
-  std::vector<rcl_interfaces::msg::SetParametersResult> results;
-  for (auto p : parameters) {
-    auto result = set_parameters_atomically({{p}});
-    results.push_back(result);
-  }
-  return results;
+  return node_parameters_->set_parameters(parameters);
 }
 
 rcl_interfaces::msg::SetParametersResult
 Node::set_parameters_atomically(
   const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
 {
-  std::lock_guard<std::mutex> lock(mutex_);
-  std::map<std::string, rclcpp::parameter::ParameterVariant> tmp_map;
-  auto parameter_event = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
-
-  for (auto p : parameters) {
-    if (parameters_.find(p.get_name()) == parameters_.end()) {
-      if (p.get_type() != rclcpp::parameter::ParameterType::PARAMETER_NOT_SET) {
-        parameter_event->new_parameters.push_back(p.to_parameter());
-      }
-    } else if (p.get_type() != rclcpp::parameter::ParameterType::PARAMETER_NOT_SET) {
-      parameter_event->changed_parameters.push_back(p.to_parameter());
-    } else {
-      parameter_event->deleted_parameters.push_back(p.to_parameter());
-    }
-    tmp_map[p.get_name()] = p;
-  }
-  // std::map::insert will not overwrite elements, so we'll keep the new
-  // ones and add only those that already exist in the Node's internal map
-  tmp_map.insert(parameters_.begin(), parameters_.end());
-  std::swap(tmp_map, parameters_);
-
-  // TODO(jacquelinekay): handle parameter constraints
-  rcl_interfaces::msg::SetParametersResult result;
-  result.successful = true;
-
-  events_publisher_->publish(parameter_event);
-
-  return result;
+  return node_parameters_->set_parameters_atomically(parameters);
 }
 
 std::vector<rclcpp::parameter::ParameterVariant>
 Node::get_parameters(
   const std::vector<std::string> & names) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
-  std::vector<rclcpp::parameter::ParameterVariant> results;
+  return node_parameters_->get_parameters(names);
+}
 
-  for (auto & name : names) {
-    if (std::any_of(parameters_.cbegin(), parameters_.cend(),
-      [&name](const std::pair<std::string, rclcpp::parameter::ParameterVariant> & kv) {
-      return name == kv.first;
-    }))
-    {
-      results.push_back(parameters_.at(name));
-    }
-  }
-  return results;
+rclcpp::parameter::ParameterVariant
+Node::get_parameter(const std::string & name) const
+{
+  return node_parameters_->get_parameter(name);
+}
+
+bool Node::get_parameter(const std::string & name,
+  rclcpp::parameter::ParameterVariant & parameter) const
+{
+  return node_parameters_->get_parameter(name, parameter);
 }
 
 std::vector<rcl_interfaces::msg::ParameterDescriptor>
 Node::describe_parameters(
   const std::vector<std::string> & names) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
-  std::vector<rcl_interfaces::msg::ParameterDescriptor> results;
-  for (auto & kv : parameters_) {
-    if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) {
-      return name == kv.first;
-    }))
-    {
-      rcl_interfaces::msg::ParameterDescriptor parameter_descriptor;
-      parameter_descriptor.name = kv.first;
-      parameter_descriptor.type = kv.second.get_type();
-      results.push_back(parameter_descriptor);
-    }
-  }
-  return results;
+  return node_parameters_->describe_parameters(names);
 }
 
 std::vector<uint8_t>
 Node::get_parameter_types(
   const std::vector<std::string> & names) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
-  std::vector<uint8_t> results;
-  for (auto & kv : parameters_) {
-    if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) {
-      return name == kv.first;
-    }))
-    {
-      results.push_back(kv.second.get_type());
-    } else {
-      results.push_back(rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
-    }
-  }
-  return results;
+  return node_parameters_->get_parameter_types(names);
 }
 
 rcl_interfaces::msg::ListParametersResult
 Node::list_parameters(
   const std::vector<std::string> & prefixes, uint64_t depth) const
 {
-  std::lock_guard<std::mutex> lock(mutex_);
-  rcl_interfaces::msg::ListParametersResult result;
-
-  // TODO(esteve): define parameter separator, use "." for now
-  for (auto & kv : parameters_) {
-    if (std::any_of(prefixes.cbegin(), prefixes.cend(), [&kv, &depth](const std::string & prefix) {
-      if (kv.first == prefix) {
-        return true;
-      } else if (kv.first.find(prefix + ".") == 0) {
-        size_t length = prefix.length();
-        std::string substr = kv.first.substr(length);
-        // Cast as unsigned integer to avoid warning
-        return static_cast<uint64_t>(std::count(substr.begin(), substr.end(), '.')) < depth;
-      }
-      return false;
-    }))
-    {
-      result.names.push_back(kv.first);
-      size_t last_separator = kv.first.find_last_of('.');
-      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) ==
-          result.prefixes.cend())
-        {
-          result.prefixes.push_back(prefix);
-        }
-      }
-    }
-  }
-  return result;
+  return node_parameters_->list_parameters(prefixes, depth);
 }
 
 std::map<std::string, std::string>
 Node::get_topic_names_and_types() const
 {
-  rmw_topic_names_and_types_t topic_names_and_types;
-  topic_names_and_types.topic_count = 0;
-  topic_names_and_types.topic_names = nullptr;
-  topic_names_and_types.type_names = nullptr;
-
-  auto ret = rmw_get_topic_names_and_types(node_handle_.get(), &topic_names_and_types);
-  if (ret != RMW_RET_OK) {
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      std::string("could not get topic names and types: ") + rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-
-  std::map<std::string, std::string> topics;
-  for (size_t i = 0; i < topic_names_and_types.topic_count; ++i) {
-    topics[topic_names_and_types.topic_names[i]] = topic_names_and_types.type_names[i];
-  }
-
-  ret = rmw_destroy_topic_names_and_types(&topic_names_and_types);
-  if (ret != RMW_RET_OK) {
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      std::string("could not destroy topic names and types: ") + rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-
-  return topics;
+  return node_graph_->get_topic_names_and_types();
 }
 
 size_t
 Node::count_publishers(const std::string & topic_name) const
 {
-  size_t count;
-  auto ret = rmw_count_publishers(node_handle_.get(), topic_name.c_str(), &count);
-  if (ret != RMW_RET_OK) {
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      std::string("could not count publishers: ") + rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-  return count;
+  return node_graph_->count_publishers(topic_name);
 }
 
 size_t
 Node::count_subscribers(const std::string & topic_name) const
 {
-  size_t count;
-  auto ret = rmw_count_subscribers(node_handle_.get(), topic_name.c_str(), &count);
-  if (ret != RMW_RET_OK) {
-    // *INDENT-OFF*
-    throw std::runtime_error(
-      std::string("could not count subscribers: ") + rmw_get_error_string_safe());
-    // *INDENT-ON*
-  }
-  return count;
+  return node_graph_->count_subscribers(topic_name);
 }
 
-
-const Node::CallbackGroupWeakPtrList &
+const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
 Node::get_callback_groups() const
 {
-  return callback_groups_;
+  return node_base_->get_callback_groups();
+}
+
+rclcpp::event::Event::SharedPtr
+Node::get_graph_event()
+{
+  return node_graph_->get_graph_event();
+}
+
+void
+Node::wait_for_graph_change(
+  rclcpp::event::Event::SharedPtr event,
+  std::chrono::nanoseconds timeout)
+{
+  node_graph_->wait_for_graph_change(event, timeout);
+}
+
+rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
+Node::get_node_base_interface()
+{
+  return node_base_;
+}
+
+rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
+Node::get_node_graph_interface()
+{
+  return node_graph_;
+}
+
+rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
+Node::get_node_timers_interface()
+{
+  return node_timers_;
+}
+
+rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
+Node::get_node_topics_interface()
+{
+  return node_topics_;
+}
+
+rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
+Node::get_node_services_interface()
+{
+  return node_services_;
+}
+
+rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
+Node::get_node_parameters_interface()
+{
+  return node_parameters_;
 }

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -0,0 +1,215 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <limits>
+#include <memory>
+#include <vector>
+
+#include "rclcpp/node_interfaces/node_base.hpp"
+
+#include "rclcpp/exceptions.hpp"
+
+using rclcpp::exceptions::throw_from_rcl_error;
+
+using rclcpp::node_interfaces::NodeBase;
+
+NodeBase::NodeBase(
+  const std::string & node_name,
+  rclcpp::context::Context::SharedPtr context)
+: context_(context),
+  node_handle_(nullptr),
+  default_callback_group_(nullptr),
+  associated_with_executor_(false),
+  notify_guard_condition_is_valid_(false)
+{
+  // Setup the guard condition that is notified when changes occur in the graph.
+  rcl_guard_condition_options_t guard_condition_options = rcl_guard_condition_get_default_options();
+  rcl_ret_t ret = rcl_guard_condition_init(&notify_guard_condition_, guard_condition_options);
+  if (ret != RCL_RET_OK) {
+    throw_from_rcl_error(ret, "failed to create interrupt guard condition");
+  }
+
+  // Setup a safe exit lamda to clean up the guard condition in case of an error here.
+  auto finalize_notify_guard_condition = [this]() {
+      // Finalize the interrupt guard condition.
+      if (rcl_guard_condition_fini(&notify_guard_condition_) != RCL_RET_OK) {
+        fprintf(stderr,
+          "[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe());
+      }
+    };
+
+  // Determine the domain id based on the options and the ROS_DOMAIN_ID env variable.
+  size_t domain_id = 0;
+  char * ros_domain_id = nullptr;
+  const char * env_var = "ROS_DOMAIN_ID";
+#ifndef _WIN32
+  ros_domain_id = getenv(env_var);
+#else
+  size_t ros_domain_id_size;
+  _dupenv_s(&ros_domain_id, &ros_domain_id_size, env_var);
+#endif
+  if (ros_domain_id) {
+    uint32_t number = strtoul(ros_domain_id, NULL, 0);
+    if (number == (std::numeric_limits<uint32_t>::max)()) {
+      // Finalize the interrupt guard condition.
+      finalize_notify_guard_condition();
+#ifdef _WIN32
+      // free the ros_domain_id before throwing, if getenv was used on Windows
+      free(ros_domain_id);
+#endif
+
+      throw std::runtime_error("failed to interpret ROS_DOMAIN_ID as integral number");
+    }
+    domain_id = static_cast<size_t>(number);
+#ifdef _WIN32
+    free(ros_domain_id);
+#endif
+  }
+
+  // Create the rcl node and store it in a shared_ptr with a custom destructor.
+  rcl_node_t * rcl_node = new rcl_node_t(rcl_get_zero_initialized_node());
+
+  rcl_node_options_t options = rcl_node_get_default_options();
+  // TODO(wjwwood): pass the Allocator to the options
+  options.domain_id = domain_id;
+  ret = rcl_node_init(rcl_node, node_name.c_str(), &options);
+  if (ret != RCL_RET_OK) {
+    // Finalize the interrupt guard condition.
+    finalize_notify_guard_condition();
+
+    throw_from_rcl_error(ret, "failed to initialize rcl node");
+  }
+
+  node_handle_.reset(rcl_node, [](rcl_node_t * node) -> void {
+    if (rcl_node_fini(node) != RCL_RET_OK) {
+      fprintf(
+        stderr, "Error in destruction of rcl node handle: %s\n", rcl_get_error_string_safe());
+    }
+    delete node;
+  });
+
+  // Create the default callback group.
+  using rclcpp::callback_group::CallbackGroupType;
+  default_callback_group_ = create_callback_group(CallbackGroupType::MutuallyExclusive);
+
+  // Indicate the notify_guard_condition is now valid.
+  notify_guard_condition_is_valid_ = true;
+}
+
+NodeBase::~NodeBase()
+{
+  // Finalize the interrupt guard condition after removing self from graph listener.
+  {
+    std::lock_guard<std::recursive_mutex> notify_condition_lock(notify_guard_condition_mutex_);
+    notify_guard_condition_is_valid_ = false;
+    if (rcl_guard_condition_fini(&notify_guard_condition_) != RCL_RET_OK) {
+      fprintf(stderr,
+        "[rclcpp::error] failed to destroy guard condition: %s\n", rcl_get_error_string_safe());
+    }
+  }
+}
+
+const char *
+NodeBase::get_name() const
+{
+  return rcl_node_get_name(node_handle_.get());
+}
+
+rclcpp::context::Context::SharedPtr
+NodeBase::get_context()
+{
+  return context_;
+}
+
+rcl_node_t *
+NodeBase::get_rcl_node_handle()
+{
+  return node_handle_.get();
+}
+
+const rcl_node_t *
+NodeBase::get_rcl_node_handle() const
+{
+  return node_handle_.get();
+}
+
+std::shared_ptr<rcl_node_t>
+NodeBase::get_shared_rcl_node_handle()
+{
+  return node_handle_;
+}
+
+std::shared_ptr<const rcl_node_t>
+NodeBase::get_shared_rcl_node_handle() const
+{
+  return node_handle_;
+}
+
+rclcpp::callback_group::CallbackGroup::SharedPtr
+NodeBase::create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)
+{
+  using rclcpp::callback_group::CallbackGroup;
+  using rclcpp::callback_group::CallbackGroupType;
+  auto group = CallbackGroup::SharedPtr(new CallbackGroup(group_type));
+  callback_groups_.push_back(group);
+  return group;
+}
+
+rclcpp::callback_group::CallbackGroup::SharedPtr
+NodeBase::get_default_callback_group()
+{
+  return default_callback_group_;
+}
+
+bool
+NodeBase::callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  bool group_belongs_to_this_node = false;
+  for (auto & weak_group : this->callback_groups_) {
+    auto cur_group = weak_group.lock();
+    if (cur_group && (cur_group == group)) {
+      group_belongs_to_this_node = true;
+    }
+  }
+  return group_belongs_to_this_node;
+}
+
+const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+NodeBase::get_callback_groups() const
+{
+  return callback_groups_;
+}
+
+std::atomic_bool &
+NodeBase::get_associated_with_executor_atomic()
+{
+  return associated_with_executor_;
+}
+
+rcl_guard_condition_t *
+NodeBase::get_notify_guard_condition()
+{
+  std::lock_guard<std::recursive_mutex> notify_condition_lock(notify_guard_condition_mutex_);
+  if (!notify_guard_condition_is_valid_) {
+    return nullptr;
+  }
+  return &notify_guard_condition_;
+}
+
+std::unique_lock<std::recursive_mutex>
+NodeBase::acquire_notify_guard_condition_lock() const
+{
+  return std::unique_lock<std::recursive_mutex>(notify_guard_condition_mutex_);
+}

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -0,0 +1,209 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/node_interfaces/node_graph.hpp"
+
+#include <map>
+#include <string>
+
+#include "rcl/graph.h"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/event.hpp"
+#include "rclcpp/graph_listener.hpp"
+
+using rclcpp::node_interfaces::NodeGraph;
+using rclcpp::exceptions::throw_from_rcl_error;
+using rclcpp::graph_listener::GraphListener;
+
+NodeGraph::NodeGraph(rclcpp::node_interfaces::NodeBaseInterface * node_base)
+: node_base_(node_base),
+  graph_listener_(node_base->get_context()->get_sub_context<GraphListener>()),
+  should_add_to_graph_listener_(true),
+  graph_users_count_(0)
+{}
+
+NodeGraph::~NodeGraph()
+{
+  // Remove self from graph listener.
+  // Exchange with false to prevent others from trying to add this node to the
+  // graph listener after checking that it was not here.
+  if (!should_add_to_graph_listener_.exchange(false)) {
+    // If it was already false, then it needs to now be removed.
+    graph_listener_->remove_node(this);
+  }
+}
+
+std::map<std::string, std::string>
+NodeGraph::get_topic_names_and_types() const
+{
+  rcl_topic_names_and_types_t topic_names_and_types =
+    rcl_get_zero_initialized_topic_names_and_types();
+
+  auto ret = rcl_get_topic_names_and_types(node_base_->get_rcl_node_handle(),
+      &topic_names_and_types);
+  if (ret != RMW_RET_OK) {
+    // *INDENT-OFF*
+    throw std::runtime_error(
+      std::string("could not get topic names and types: ") + rmw_get_error_string_safe());
+    // *INDENT-ON*
+  }
+
+  std::map<std::string, std::string> topics;
+  for (size_t i = 0; i < topic_names_and_types.topic_count; ++i) {
+    topics[topic_names_and_types.topic_names[i]] = topic_names_and_types.type_names[i];
+  }
+
+  ret = rmw_destroy_topic_names_and_types(&topic_names_and_types);
+  if (ret != RMW_RET_OK) {
+    // *INDENT-OFF*
+    throw std::runtime_error(
+      std::string("could not destroy topic names and types: ") + rmw_get_error_string_safe());
+    // *INDENT-ON*
+  }
+
+  return topics;
+}
+
+size_t
+NodeGraph::count_publishers(const std::string & topic_name) const
+{
+  size_t count;
+  // TODO(wjwwood): use the rcl equivalent methods
+  auto ret = rmw_count_publishers(rcl_node_get_rmw_handle(node_base_->get_rcl_node_handle()),
+      topic_name.c_str(), &count);
+  if (ret != RMW_RET_OK) {
+    // *INDENT-OFF*
+    throw std::runtime_error(
+      std::string("could not count publishers: ") + rmw_get_error_string_safe());
+    // *INDENT-ON*
+  }
+  return count;
+}
+
+size_t
+NodeGraph::count_subscribers(const std::string & topic_name) const
+{
+  size_t count;
+  // TODO(wjwwood): use the rcl equivalent methods
+  auto ret = rmw_count_subscribers(rcl_node_get_rmw_handle(node_base_->get_rcl_node_handle()),
+      topic_name.c_str(), &count);
+  if (ret != RMW_RET_OK) {
+    // *INDENT-OFF*
+    throw std::runtime_error(
+      std::string("could not count subscribers: ") + rmw_get_error_string_safe());
+    // *INDENT-ON*
+  }
+  return count;
+}
+
+const rcl_guard_condition_t *
+NodeGraph::get_graph_guard_condition() const
+{
+  return rcl_node_get_graph_guard_condition(node_base_->get_rcl_node_handle());
+}
+
+void
+NodeGraph::notify_graph_change()
+{
+  {
+    std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
+    bool bad_ptr_encountered = false;
+    for (auto & event_wptr : graph_events_) {
+      auto event_ptr = event_wptr.lock();
+      if (event_ptr) {
+        event_ptr->set();
+      } else {
+        bad_ptr_encountered = true;
+      }
+    }
+    if (bad_ptr_encountered) {
+      // remove invalid pointers with the erase-remove idiom
+      graph_events_.erase(
+        std::remove_if(
+          graph_events_.begin(),
+          graph_events_.end(),
+          [](const rclcpp::event::Event::WeakPtr & wptr) {
+        return wptr.expired();
+      }),
+        graph_events_.end());
+      // update graph_users_count_
+      graph_users_count_.store(graph_events_.size());
+    }
+  }
+  graph_cv_.notify_all();
+  {
+    auto notify_condition_lock = node_base_->acquire_notify_guard_condition_lock();
+    rcl_ret_t ret = rcl_trigger_guard_condition(node_base_->get_notify_guard_condition());
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to trigger notify guard condition");
+    }
+  }
+}
+
+void
+NodeGraph::notify_shutdown()
+{
+  // notify here anything that will not be woken up by ctrl-c or rclcpp::shutdown().
+  graph_cv_.notify_all();
+}
+
+rclcpp::event::Event::SharedPtr
+NodeGraph::get_graph_event()
+{
+  auto event = rclcpp::event::Event::make_shared();
+  std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
+  // on first call, add node to graph_listener_
+  if (should_add_to_graph_listener_.exchange(false)) {
+    graph_listener_->add_node(this);
+    graph_listener_->start_if_not_started();
+  }
+  graph_events_.push_back(event);
+  graph_users_count_++;
+  return event;
+}
+
+void
+NodeGraph::wait_for_graph_change(
+  rclcpp::event::Event::SharedPtr event,
+  std::chrono::nanoseconds timeout)
+{
+  using rclcpp::exceptions::InvalidEventError;
+  using rclcpp::exceptions::EventNotRegisteredError;
+  if (!event) {
+    throw InvalidEventError();
+  }
+  {
+    std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
+    bool event_in_graph_events = false;
+    for (const auto & event_wptr : graph_events_) {
+      if (event == event_wptr.lock()) {
+        event_in_graph_events = true;
+        break;
+      }
+    }
+    if (!event_in_graph_events) {
+      throw EventNotRegisteredError();
+    }
+  }
+  std::unique_lock<std::mutex> graph_lock(graph_mutex_);
+  graph_cv_.wait_for(graph_lock, timeout, [&event]() {
+    return event->check() || !rclcpp::utilities::ok();
+  });
+}
+
+size_t
+NodeGraph::count_graph_users()
+{
+  return graph_users_count_.load();
+}

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -0,0 +1,230 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/node_interfaces/node_parameters.hpp"
+
+#include <map>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "rcl_interfaces/srv/list_parameters.hpp"
+#include "rclcpp/create_publisher.hpp"
+#include "rmw/qos_profiles.h"
+
+using rclcpp::node_interfaces::NodeParameters;
+
+NodeParameters::NodeParameters(
+  rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
+  bool use_intra_process)
+: node_topics_(node_topics)
+{
+  using MessageT = rcl_interfaces::msg::ParameterEvent;
+  using PublisherT = rclcpp::publisher::Publisher<MessageT>;
+  using AllocatorT = std::allocator<void>;
+  // TODO(wjwwood): expose this allocator through the Parameter interface.
+  auto allocator = std::make_shared<AllocatorT>();
+
+  events_publisher_ = rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
+    node_topics_,
+    "parameter_events",
+    rmw_qos_profile_parameter_events,
+    use_intra_process,
+    allocator);
+}
+
+NodeParameters::~NodeParameters()
+{}
+
+std::vector<rcl_interfaces::msg::SetParametersResult>
+NodeParameters::set_parameters(
+  const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+{
+  std::vector<rcl_interfaces::msg::SetParametersResult> results;
+  for (auto p : parameters) {
+    auto result = set_parameters_atomically({{p}});
+    results.push_back(result);
+  }
+  return results;
+}
+
+rcl_interfaces::msg::SetParametersResult
+NodeParameters::set_parameters_atomically(
+  const std::vector<rclcpp::parameter::ParameterVariant> & parameters)
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  std::map<std::string, rclcpp::parameter::ParameterVariant> tmp_map;
+  auto parameter_event = std::make_shared<rcl_interfaces::msg::ParameterEvent>();
+
+  // TODO(jacquelinekay): handle parameter constraints
+  rcl_interfaces::msg::SetParametersResult result;
+  if (parameters_callback_) {
+    result = parameters_callback_(parameters);
+  } else {
+    result.successful = true;
+  }
+
+  if (!result.successful) {
+    return result;
+  }
+
+  for (auto p : parameters) {
+    if (parameters_.find(p.get_name()) == parameters_.end()) {
+      if (p.get_type() != rclcpp::parameter::ParameterType::PARAMETER_NOT_SET) {
+        parameter_event->new_parameters.push_back(p.to_parameter());
+      }
+    } else if (p.get_type() != rclcpp::parameter::ParameterType::PARAMETER_NOT_SET) {
+      parameter_event->changed_parameters.push_back(p.to_parameter());
+    } else {
+      parameter_event->deleted_parameters.push_back(p.to_parameter());
+    }
+    tmp_map[p.get_name()] = p;
+  }
+  // std::map::insert will not overwrite elements, so we'll keep the new
+  // ones and add only those that already exist in the Node's internal map
+  tmp_map.insert(parameters_.begin(), parameters_.end());
+  std::swap(tmp_map, parameters_);
+
+  events_publisher_->publish(parameter_event);
+
+  return result;
+}
+
+std::vector<rclcpp::parameter::ParameterVariant>
+NodeParameters::get_parameters(const std::vector<std::string> & names) const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  std::vector<rclcpp::parameter::ParameterVariant> results;
+
+  for (auto & name : names) {
+    if (std::any_of(parameters_.cbegin(), parameters_.cend(),
+      [&name](const std::pair<std::string, rclcpp::parameter::ParameterVariant> & kv) {
+      return name == kv.first;
+    }))
+    {
+      results.push_back(parameters_.at(name));
+    }
+  }
+  return results;
+}
+
+rclcpp::parameter::ParameterVariant
+NodeParameters::get_parameter(const std::string & name) const
+{
+  rclcpp::parameter::ParameterVariant parameter;
+
+  if (get_parameter(name, parameter)) {
+    return parameter;
+  } else {
+    throw std::out_of_range("Parameter '" + name + "' not set");
+  }
+}
+
+bool
+NodeParameters::get_parameter(
+  const std::string & name,
+  rclcpp::parameter::ParameterVariant & parameter) const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+
+  if (parameters_.count(name)) {
+    parameter = parameters_.at(name);
+    return true;
+  } else {
+    return false;
+  }
+}
+
+std::vector<rcl_interfaces::msg::ParameterDescriptor>
+NodeParameters::describe_parameters(const std::vector<std::string> & names) const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  std::vector<rcl_interfaces::msg::ParameterDescriptor> results;
+  for (auto & kv : parameters_) {
+    if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) {
+      return name == kv.first;
+    }))
+    {
+      rcl_interfaces::msg::ParameterDescriptor parameter_descriptor;
+      parameter_descriptor.name = kv.first;
+      parameter_descriptor.type = kv.second.get_type();
+      results.push_back(parameter_descriptor);
+    }
+  }
+  return results;
+}
+
+std::vector<uint8_t>
+NodeParameters::get_parameter_types(const std::vector<std::string> & names) const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  std::vector<uint8_t> results;
+  for (auto & kv : parameters_) {
+    if (std::any_of(names.cbegin(), names.cend(), [&kv](const std::string & name) {
+      return name == kv.first;
+    }))
+    {
+      results.push_back(kv.second.get_type());
+    } else {
+      results.push_back(rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET);
+    }
+  }
+  return results;
+}
+
+rcl_interfaces::msg::ListParametersResult
+NodeParameters::list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const
+{
+  std::lock_guard<std::mutex> lock(mutex_);
+  rcl_interfaces::msg::ListParametersResult result;
+
+  // TODO(esteve): define parameter separator, use "." for now
+  for (auto & kv : parameters_) {
+    if (((prefixes.size() == 0) &&
+      ((depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) ||
+      (static_cast<uint64_t>(std::count(kv.first.begin(), kv.first.end(), '.')) < depth))) ||
+      (std::any_of(prefixes.cbegin(), prefixes.cend(), [&kv, &depth](const std::string & prefix) {
+      if (kv.first == prefix) {
+        return true;
+      } else if (kv.first.find(prefix + ".") == 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(), '.')) < depth);
+      }
+      return false;
+    })))
+    {
+      result.names.push_back(kv.first);
+      size_t last_separator = kv.first.find_last_of('.');
+      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) ==
+          result.prefixes.cend())
+        {
+          result.prefixes.push_back(prefix);
+        }
+      }
+    }
+  }
+  return result;
+}
+
+void
+NodeParameters::register_param_change_callback(ParametersCallbackFunction callback)
+{
+  parameters_callback_ = callback;
+}

rclcpp/src/rclcpp/node_interfaces/node_services.cpp

@@ -0,0 +1,78 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/node_interfaces/node_services.hpp"
+
+#include <string>
+
+using rclcpp::node_interfaces::NodeServices;
+
+NodeServices::NodeServices(rclcpp::node_interfaces::NodeBaseInterface * node_base)
+: node_base_(node_base)
+{}
+
+NodeServices::~NodeServices()
+{}
+
+void
+NodeServices::add_service(
+  rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  if (group) {
+    if (!node_base_->callback_group_in_node(group)) {
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create service, group not in node.");
+    }
+    group->add_service(service_base_ptr);
+  } else {
+    node_base_->get_default_callback_group()->add_service(service_base_ptr);
+  }
+
+  // Notify the executor that a new service was created using the parent Node.
+  {
+    auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
+    if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
+      throw std::runtime_error(
+              std::string("Failed to notify waitset on service creation: ") + rmw_get_error_string()
+      );
+    }
+  }
+}
+
+void
+NodeServices::add_client(
+  rclcpp::client::ClientBase::SharedPtr client_base_ptr,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  if (group) {
+    if (!node_base_->callback_group_in_node(group)) {
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create client, group not in node.");
+    }
+    group->add_client(client_base_ptr);
+  } else {
+    node_base_->get_default_callback_group()->add_client(client_base_ptr);
+  }
+
+  // Notify the executor that a new client was created using the parent Node.
+  {
+    auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
+    if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
+      throw std::runtime_error(
+              std::string("Failed to notify waitset on client creation: ") + rmw_get_error_string()
+      );
+    }
+  }
+}

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -0,0 +1,47 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/node_interfaces/node_timers.hpp"
+
+#include <string>
+
+using rclcpp::node_interfaces::NodeTimers;
+
+NodeTimers::NodeTimers(rclcpp::node_interfaces::NodeBaseInterface * node_base)
+: node_base_(node_base)
+{}
+
+NodeTimers::~NodeTimers()
+{}
+
+void
+NodeTimers::add_timer(
+  rclcpp::timer::TimerBase::SharedPtr timer,
+  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
+{
+  if (callback_group) {
+    if (!node_base_->callback_group_in_node(callback_group)) {
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create timer, group not in node.");
+    }
+    callback_group->add_timer(timer);
+  } else {
+    node_base_->get_default_callback_group()->add_timer(timer);
+  }
+  if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
+    throw std::runtime_error(
+            std::string(
+              "Failed to notify waitset on timer creation: ") + rmw_get_error_string());
+  }
+}

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -0,0 +1,131 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/node_interfaces/node_topics.hpp"
+
+#include <string>
+
+#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/exceptions.hpp"
+
+using rclcpp::exceptions::throw_from_rcl_error;
+
+using rclcpp::node_interfaces::NodeTopics;
+
+NodeTopics::NodeTopics(rclcpp::node_interfaces::NodeBaseInterface * node_base)
+: node_base_(node_base)
+{}
+
+NodeTopics::~NodeTopics()
+{}
+
+rclcpp::publisher::PublisherBase::SharedPtr
+NodeTopics::create_publisher(
+  const std::string & topic_name,
+  const rclcpp::PublisherFactory & publisher_factory,
+  rcl_publisher_options_t & publisher_options,
+  bool use_intra_process)
+{
+  // 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 =
+      publisher_factory.add_publisher_to_intra_process_manager(ipm.get(), publisher);
+    // Create a function to be called when publisher to do the intra process publish.
+    auto shared_publish_callback = publisher_factory.create_shared_publish_callback(ipm);
+    publisher->setup_intra_process(
+      intra_process_publisher_id,
+      shared_publish_callback,
+      publisher_options);
+  }
+
+  // Return the completed publisher.
+  return publisher;
+}
+
+void
+NodeTopics::add_publisher(
+  rclcpp::publisher::PublisherBase::SharedPtr publisher)
+{
+  // The publisher is not added to a callback group or anthing like that for now.
+  // It may be stored within the NodeTopics class or the NodeBase class in the future.
+  (void)publisher;
+  // Notify the executor that a new publisher was created using the parent Node.
+  {
+    auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
+    if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
+      throw std::runtime_error(
+              std::string(
+                "Failed to notify waitset on publisher creation: ") + rmw_get_error_string());
+    }
+  }
+}
+
+rclcpp::subscription::SubscriptionBase::SharedPtr
+NodeTopics::create_subscription(
+  const std::string & topic_name,
+  const rclcpp::SubscriptionFactory & subscription_factory,
+  rcl_subscription_options_t & subscription_options,
+  bool use_intra_process)
+{
+  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 intra_process_manager =
+      context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
+    subscription_factory.setup_intra_process(
+      intra_process_manager, subscription, subscription_options);
+  }
+
+  // Return the completed subscription.
+  return subscription;
+}
+
+void
+NodeTopics::add_subscription(
+  rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
+{
+  // Assign to a group.
+  if (callback_group) {
+    if (!node_base_->callback_group_in_node(callback_group)) {
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create subscription, callback group not in node.");
+    }
+    callback_group->add_subscription(subscription);
+  } else {
+    node_base_->get_default_callback_group()->add_subscription(subscription);
+  }
+
+  // Notify the executor that a new subscription was created using the parent Node.
+  {
+    auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
+    if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
+      throw std::runtime_error(
+              std::string(
+                "Failed to notify waitset on subscription creation: ") + rmw_get_error_string()
+      );
+    }
+  }
+}

rclcpp/src/rclcpp/parameter.cpp

@@ -12,13 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp/parameter.hpp"
-
 #include <ostream>
 #include <sstream>
 #include <string>
 #include <vector>
 
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/utilities.hpp"
+
 using rclcpp::parameter::ParameterType;
 using rclcpp::parameter::ParameterVariant;
 
@@ -105,7 +106,7 @@ ParameterVariant::get_type_name() const
     case rclcpp::parameter::ParameterType::PARAMETER_NOT_SET:
       return "not set";
     default:
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(
         "Unexpected type from ParameterVariant: " + std::to_string(get_type()));
       // *INDENT-ON*
@@ -172,7 +173,7 @@ ParameterVariant::from_parameter(const rcl_interfaces::msg::Parameter & paramete
       throw std::runtime_error("Type from ParameterValue is not set");
     default:
       // TODO(wjwwood): use custom exception
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(
         "Unexpected type from ParameterVariant: " + std::to_string(parameter.value.type));
       // *INDENT-ON*
@@ -218,7 +219,7 @@ ParameterVariant::value_to_string() const
     case rclcpp::parameter::ParameterType::PARAMETER_NOT_SET:
       return "not set";
     default:
-      // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
       throw std::runtime_error(
         "Unexpected type from ParameterVariant: " + std::to_string(get_type()));
       // *INDENT-ON*

rclcpp/src/rclcpp/parameter_client.cpp

@@ -15,6 +15,7 @@
 #include "rclcpp/parameter_client.hpp"
 
 #include <algorithm>
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -23,7 +24,8 @@ using rclcpp::parameter_client::SyncParametersClient;
 
 AsyncParametersClient::AsyncParametersClient(
   const rclcpp::node::Node::SharedPtr node,
-  const std::string & remote_node_name)
+  const std::string & remote_node_name,
+  const rmw_qos_profile_t & qos_profile)
 : node_(node)
 {
   if (remote_node_name != "") {
@@ -32,15 +34,15 @@ AsyncParametersClient::AsyncParametersClient(
     remote_node_name_ = node_->get_name();
   }
   get_parameters_client_ = node_->create_client<rcl_interfaces::srv::GetParameters>(
-    remote_node_name_ + "__get_parameters");
+    remote_node_name_ + "__get_parameters", qos_profile);
   get_parameter_types_client_ = node_->create_client<rcl_interfaces::srv::GetParameterTypes>(
-    remote_node_name_ + "__get_parameter_types");
+    remote_node_name_ + "__get_parameter_types", qos_profile);
   set_parameters_client_ = node_->create_client<rcl_interfaces::srv::SetParameters>(
-    remote_node_name_ + "__set_parameters");
+    remote_node_name_ + "__set_parameters", qos_profile);
   list_parameters_client_ = node_->create_client<rcl_interfaces::srv::ListParameters>(
-    remote_node_name_ + "__list_parameters");
+    remote_node_name_ + "__list_parameters", qos_profile);
   describe_parameters_client_ = node_->create_client<rcl_interfaces::srv::DescribeParameters>(
-    remote_node_name_ + "__describe_parameters");
+    remote_node_name_ + "__describe_parameters", qos_profile);
 }
 
 std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>
@@ -57,7 +59,7 @@ AsyncParametersClient::get_parameters(
   auto request = std::make_shared<rcl_interfaces::srv::GetParameters::Request>();
   request->names = names;
 
-  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   get_parameters_client_->async_send_request(
     request,
     [request, promise_result, future_result, &callback](
@@ -100,7 +102,7 @@ AsyncParametersClient::get_parameter_types(
   auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>();
   request->names = names;
 
-  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   get_parameter_types_client_->async_send_request(
     request,
     [promise_result, future_result, &callback](
@@ -135,7 +137,7 @@ AsyncParametersClient::set_parameters(
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
 
-  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
     [](rclcpp::parameter::ParameterVariant p) {
       return p.to_parameter();
@@ -171,7 +173,7 @@ AsyncParametersClient::set_parameters_atomically(
 
   auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();
 
-  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   std::transform(parameters.begin(), parameters.end(), std::back_inserter(request->parameters),
     [](rclcpp::parameter::ParameterVariant p) {
       return p.to_parameter();
@@ -210,7 +212,7 @@ AsyncParametersClient::list_parameters(
   request->prefixes = prefixes;
   request->depth = depth;
 
-  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   list_parameters_client_->async_send_request(
     request,
     [promise_result, future_result, &callback](
@@ -228,26 +230,29 @@ AsyncParametersClient::list_parameters(
 }
 
 SyncParametersClient::SyncParametersClient(
-  rclcpp::node::Node::SharedPtr node)
+  rclcpp::node::Node::SharedPtr node,
+  const rmw_qos_profile_t & qos_profile)
 : node_(node)
 {
   executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-  async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
+  async_parameters_client_ = std::make_shared<AsyncParametersClient>(node, "", qos_profile);
 }
 
 SyncParametersClient::SyncParametersClient(
   rclcpp::executor::Executor::SharedPtr executor,
-  rclcpp::node::Node::SharedPtr node)
+  rclcpp::node::Node::SharedPtr node,
+  const rmw_qos_profile_t & qos_profile)
 : executor_(executor), node_(node)
 {
-  async_parameters_client_ = std::make_shared<AsyncParametersClient>(node);
+  async_parameters_client_ = std::make_shared<AsyncParametersClient>(node, "", qos_profile);
 }
 
 std::vector<rclcpp::parameter::ParameterVariant>
 SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_names)
 {
   auto f = async_parameters_client_->get_parameters(parameter_names);
-  if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
+  using rclcpp::executors::spin_node_until_future_complete;
+  if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) ==
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
@@ -256,12 +261,22 @@ SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_
   return std::vector<rclcpp::parameter::ParameterVariant>();
 }
 
+bool
+SyncParametersClient::has_parameter(const std::string & parameter_name)
+{
+  std::vector<std::string> names;
+  names.push_back(parameter_name);
+  auto vars = list_parameters(names, 1);
+  return vars.names.size() > 0;
+}
+
 std::vector<rclcpp::parameter::ParameterType>
 SyncParametersClient::get_parameter_types(const std::vector<std::string> & parameter_names)
 {
   auto f = async_parameters_client_->get_parameter_types(parameter_names);
 
-  if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
+  using rclcpp::executors::spin_node_until_future_complete;
+  if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) ==
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
@@ -275,7 +290,8 @@ SyncParametersClient::set_parameters(
 {
   auto f = async_parameters_client_->set_parameters(parameters);
 
-  if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
+  using rclcpp::executors::spin_node_until_future_complete;
+  if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) ==
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
@@ -289,7 +305,8 @@ SyncParametersClient::set_parameters_atomically(
 {
   auto f = async_parameters_client_->set_parameters_atomically(parameters);
 
-  if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
+  using rclcpp::executors::spin_node_until_future_complete;
+  if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) ==
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();
@@ -305,7 +322,8 @@ SyncParametersClient::list_parameters(
 {
   auto f = async_parameters_client_->list_parameters(parameter_prefixes, depth);
 
-  if (rclcpp::executors::spin_node_until_future_complete(*executor_, node_, f) ==
+  using rclcpp::executors::spin_node_until_future_complete;
+  if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) ==
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return f.get();

rclcpp/src/rclcpp/parameter_service.cpp

@@ -15,17 +15,21 @@
 #include "rclcpp/parameter_service.hpp"
 
 #include <algorithm>
+#include <memory>
+#include <string>
 #include <vector>
 
 using rclcpp::parameter_service::ParameterService;
 
-ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
+ParameterService::ParameterService(
+  const rclcpp::node::Node::SharedPtr node,
+  const rmw_qos_profile_t & qos_profile)
 : node_(node)
 {
   std::weak_ptr<rclcpp::node::Node> captured_node = node_;
-  // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+  // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
   get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
-    node_->get_name() + "__get_parameters",
+    std::string(node_->get_name()) + "__get_parameters",
     [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::GetParameters::Request> request,
@@ -39,11 +43,12 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
       for (auto & pvariant : values) {
         response->values.push_back(pvariant.get_parameter_value());
       }
-    }
+    },
+    qos_profile
   );
 
   get_parameter_types_service_ = node_->create_service<rcl_interfaces::srv::GetParameterTypes>(
-    node_->get_name() + "__get_parameter_types",
+    std::string(node_->get_name()) + "__get_parameter_types",
     [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
@@ -58,11 +63,12 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
       std::back_inserter(response->types), [](const uint8_t & type) {
         return static_cast<rclcpp::parameter::ParameterType>(type);
       });
-    }
+    },
+    qos_profile
   );
 
   set_parameters_service_ = node_->create_service<rcl_interfaces::srv::SetParameters>(
-    node_->get_name() + "__set_parameters",
+    std::string(node_->get_name()) + "__set_parameters",
     [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
@@ -78,12 +84,13 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
       }
       auto results = node->set_parameters(pvariants);
       response->results = results;
-    }
+    },
+    qos_profile
   );
 
   set_parameters_atomically_service_ =
     node_->create_service<rcl_interfaces::srv::SetParametersAtomically>(
-    node_->get_name() + "__set_parameters_atomically",
+    std::string(node_->get_name()) + "__set_parameters_atomically",
     [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Request> request,
@@ -102,11 +109,12 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
       });
       auto result = node->set_parameters_atomically(pvariants);
       response->result = result;
-    }
+    },
+    qos_profile
   );
 
   describe_parameters_service_ = node_->create_service<rcl_interfaces::srv::DescribeParameters>(
-    node_->get_name() + "__describe_parameters",
+    std::string(node_->get_name()) + "__describe_parameters",
     [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
@@ -118,11 +126,12 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
       }
       auto descriptors = node->describe_parameters(request->names);
       response->descriptors = descriptors;
-    }
+    },
+    qos_profile
   );
 
   list_parameters_service_ = node_->create_service<rcl_interfaces::srv::ListParameters>(
-    node_->get_name() + "__list_parameters",
+    std::string(node_->get_name()) + "__list_parameters",
     [captured_node](
       const std::shared_ptr<rmw_request_id_t>,
       const std::shared_ptr<rcl_interfaces::srv::ListParameters::Request> request,
@@ -134,7 +143,8 @@ ParameterService::ParameterService(const rclcpp::node::Node::SharedPtr node)
       }
       auto result = node->list_parameters(request->prefixes, request->depth);
       response->result = result;
-    }
+    },
+    qos_profile
   );
   // *INDENT-ON*
 }

rclcpp/src/rclcpp/publisher.cpp

@@ -29,22 +29,34 @@
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/node.hpp"
 
 using rclcpp::publisher::PublisherBase;
 
 PublisherBase::PublisherBase(
-  std::shared_ptr<rmw_node_t> node_handle,
-  rmw_publisher_t * publisher_handle,
-  std::string topic,
-  size_t queue_size)
-: node_handle_(node_handle), publisher_handle_(publisher_handle),
-  intra_process_publisher_handle_(nullptr),
-  topic_(topic), queue_size_(queue_size),
+  rclcpp::node_interfaces::NodeBaseInterface * node_base,
+  const std::string & topic,
+  const rosidl_message_type_support_t & type_support,
+  const rcl_publisher_options_t & publisher_options)
+: rcl_node_handle_(node_base->get_shared_rcl_node_handle()),
   intra_process_publisher_id_(0), store_intra_process_message_(nullptr)
 {
+  if (rcl_publisher_init(
+      &publisher_handle_, rcl_node_handle_.get(), &type_support,
+      topic.c_str(), &publisher_options) != RCL_RET_OK)
+  {
+    throw std::runtime_error(
+            std::string("could not create publisher: ") +
+            rcl_get_error_string_safe());
+  }
   // Life time of this object is tied to the publisher handle.
-  if (rmw_get_gid_for_publisher(publisher_handle_, &rmw_gid_) != RMW_RET_OK) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+  rmw_publisher_t * publisher_rmw_handle = rcl_publisher_get_rmw_handle(&publisher_handle_);
+  if (!publisher_rmw_handle) {
+    throw std::runtime_error(
+            std::string("failed to get rmw handle: ") + rcl_get_error_string_safe());
+  }
+  if (rmw_get_gid_for_publisher(publisher_rmw_handle, &rmw_gid_) != RMW_RET_OK) {
+    // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
     throw std::runtime_error(
       std::string("failed to get publisher gid: ") + rmw_get_error_string_safe());
     // *INDENT-ON*
@@ -53,34 +65,36 @@ PublisherBase::PublisherBase(
 
 PublisherBase::~PublisherBase()
 {
-  if (intra_process_publisher_handle_) {
-    if (rmw_destroy_publisher(node_handle_.get(), intra_process_publisher_handle_)) {
-      fprintf(
-        stderr,
-        "Error in destruction of intra process rmw publisher handle: %s\n",
-        rmw_get_error_string_safe());
-    }
+  if (rcl_publisher_fini(&intra_process_publisher_handle_, rcl_node_handle_.get()) != RCL_RET_OK) {
+    fprintf(
+      stderr,
+      "Error in destruction of intra process rcl publisher handle: %s\n",
+      rcl_get_error_string_safe());
   }
-  if (publisher_handle_) {
-    if (rmw_destroy_publisher(node_handle_.get(), publisher_handle_) != RMW_RET_OK) {
-      fprintf(
-        stderr,
-        "Error in destruction of rmw publisher handle: %s\n",
-        rmw_get_error_string_safe());
-    }
+
+  if (rcl_publisher_fini(&publisher_handle_, rcl_node_handle_.get()) != RCL_RET_OK) {
+    fprintf(
+      stderr,
+      "Error in destruction of rcl publisher handle: %s\n",
+      rcl_get_error_string_safe());
   }
 }
 
-const std::string &
+const char *
 PublisherBase::get_topic_name() const
 {
-  return topic_;
+  return rcl_publisher_get_topic_name(&publisher_handle_);
 }
 
 size_t
 PublisherBase::get_queue_size() const
 {
-  return queue_size_;
+  const rcl_publisher_options_t * publisher_options = rcl_publisher_get_options(&publisher_handle_);
+  if (!publisher_options) {
+    throw std::runtime_error(
+            std::string("failed to get publisher options: ") + rcl_get_error_string_safe());
+  }
+  return publisher_options->qos.depth;
 }
 
 const rmw_gid_t &
@@ -124,15 +138,32 @@ void
 PublisherBase::setup_intra_process(
   uint64_t intra_process_publisher_id,
   StoreMessageCallbackT callback,
-  rmw_publisher_t * intra_process_publisher_handle)
+  const rcl_publisher_options_t & intra_process_options)
 {
+  auto intra_process_topic_name = std::string(this->get_topic_name()) + "__intra";
+  if (rcl_publisher_init(
+      &intra_process_publisher_handle_, rcl_node_handle_.get(),
+      rclcpp::type_support::get_intra_process_message_msg_type_support(),
+      intra_process_topic_name.c_str(), &intra_process_options) != RCL_RET_OK)
+  {
+    throw std::runtime_error(
+            std::string("could not create intra process publisher: ") +
+            rcl_get_error_string_safe());
+  }
+
   intra_process_publisher_id_ = intra_process_publisher_id;
   store_intra_process_message_ = callback;
-  intra_process_publisher_handle_ = intra_process_publisher_handle;
   // Life time of this object is tied to the publisher handle.
-  auto ret = rmw_get_gid_for_publisher(intra_process_publisher_handle_, &intra_process_rmw_gid_);
+  rmw_publisher_t * publisher_rmw_handle = rcl_publisher_get_rmw_handle(
+    &intra_process_publisher_handle_);
+  if (publisher_rmw_handle == nullptr) {
+    throw std::runtime_error(std::string(
+              "Failed to get rmw publisher handle") + rcl_get_error_string_safe());
+  }
+  auto ret = rmw_get_gid_for_publisher(
+    publisher_rmw_handle, &intra_process_rmw_gid_);
   if (ret != RMW_RET_OK) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+    // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
     throw std::runtime_error(
       std::string("failed to create intra process publisher gid: ") +
       rmw_get_error_string_safe());

rclcpp/src/rclcpp/service.cpp

@@ -28,23 +28,17 @@
 using rclcpp::service::ServiceBase;
 
 ServiceBase::ServiceBase(
-  std::shared_ptr<rmw_node_t> node_handle,
-  rmw_service_t * service_handle,
-  const std::string service_name)
-: node_handle_(node_handle), service_handle_(service_handle), service_name_(service_name)
+  std::shared_ptr<rcl_node_t> node_handle,
+  const std::string & service_name)
+: node_handle_(node_handle), service_name_(service_name)
+{}
+
+ServiceBase::ServiceBase(std::shared_ptr<rcl_node_t> node_handle)
+: node_handle_(node_handle)
 {}
 
 ServiceBase::~ServiceBase()
-{
-  if (service_handle_) {
-    if (rmw_destroy_service(service_handle_) != RMW_RET_OK) {
-      std::stringstream ss;
-      ss << "Error in destruction of rmw service_handle_ handle: " <<
-        rmw_get_error_string_safe() << '\n';
-      (std::cerr << ss.str()).flush();
-    }
-  }
-}
+{}
 
 std::string
 ServiceBase::get_service_name()
@@ -52,8 +46,8 @@ ServiceBase::get_service_name()
   return this->service_name_;
 }
 
-const rmw_service_t *
+const rcl_service_t *
 ServiceBase::get_service_handle()
 {
-  return this->service_handle_;
+  return service_handle_;
 }

rclcpp/src/rclcpp/subscription.cpp

@@ -15,6 +15,7 @@
 #include "rclcpp/subscription.hpp"
 
 #include <cstdio>
+#include <memory>
 #include <string>
 
 #include "rmw/error_handling.h"
@@ -24,55 +25,56 @@
 using rclcpp::subscription::SubscriptionBase;
 
 SubscriptionBase::SubscriptionBase(
-  std::shared_ptr<rmw_node_t> node_handle,
-  rmw_subscription_t * subscription_handle,
+  std::shared_ptr<rcl_node_t> node_handle,
+  const rosidl_message_type_support_t & type_support_handle,
   const std::string & topic_name,
-  bool ignore_local_publications)
-: intra_process_subscription_handle_(nullptr),
-  node_handle_(node_handle),
-  subscription_handle_(subscription_handle),
-  topic_name_(topic_name),
-  ignore_local_publications_(ignore_local_publications)
+  const rcl_subscription_options_t & subscription_options)
+: node_handle_(node_handle)
 {
-  // To avoid unused private member warnings.
-  (void)ignore_local_publications_;
+  rcl_ret_t ret = rcl_subscription_init(
+    &subscription_handle_,
+    node_handle_.get(),
+    &type_support_handle,
+    topic_name.c_str(),
+    &subscription_options);
+  if (ret != RCL_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not create subscription: ") + rcl_get_error_string_safe());
+  }
 }
 
 SubscriptionBase::~SubscriptionBase()
 {
-  if (subscription_handle_) {
-    if (rmw_destroy_subscription(node_handle_.get(), subscription_handle_) != RMW_RET_OK) {
-      std::stringstream ss;
-      ss << "Error in destruction of rmw subscription handle: " <<
-        rmw_get_error_string_safe() << '\n';
-      (std::cerr << ss.str()).flush();
-    }
+  if (rcl_subscription_fini(&subscription_handle_, node_handle_.get()) != RCL_RET_OK) {
+    std::stringstream ss;
+    ss << "Error in destruction of rcl subscription handle: " <<
+      rcl_get_error_string_safe() << '\n';
+    (std::cerr << ss.str()).flush();
   }
-  if (intra_process_subscription_handle_) {
-    auto ret = rmw_destroy_subscription(node_handle_.get(), intra_process_subscription_handle_);
-    if (ret != RMW_RET_OK) {
-      std::stringstream ss;
-      ss << "Error in destruction of rmw intra process subscription handle: " <<
-        rmw_get_error_string_safe() << '\n';
-      (std::cerr << ss.str()).flush();
-    }
+  if (rcl_subscription_fini(
+      &intra_process_subscription_handle_, node_handle_.get()) != RCL_RET_OK)
+  {
+    std::stringstream ss;
+    ss << "Error in destruction of rmw intra process subscription handle: " <<
+      rcl_get_error_string_safe() << '\n';
+    (std::cerr << ss.str()).flush();
   }
 }
 
-const std::string &
+const char *
 SubscriptionBase::get_topic_name() const
 {
-  return this->topic_name_;
+  return rcl_subscription_get_topic_name(&subscription_handle_);
 }
 
-const rmw_subscription_t *
+const rcl_subscription_t *
 SubscriptionBase::get_subscription_handle() const
 {
-  return subscription_handle_;
+  return &subscription_handle_;
 }
 
-const rmw_subscription_t *
+const rcl_subscription_t *
 SubscriptionBase::get_intra_process_subscription_handle() const
 {
-  return intra_process_subscription_handle_;
+  return &intra_process_subscription_handle_;
 }

rclcpp/src/rclcpp/timer.cpp

@@ -15,13 +15,19 @@
 #include "rclcpp/timer.hpp"
 
 #include <chrono>
+#include <string>
 
 using rclcpp::timer::TimerBase;
 
 TimerBase::TimerBase(std::chrono::nanoseconds period)
-: period_(period),
-  canceled_(false)
-{}
+{
+  if (rcl_timer_init(
+      &timer_handle_, period.count(), nullptr,
+      rcl_get_default_allocator()) != RCL_RET_OK)
+  {
+    fprintf(stderr, "Couldn't initialize rcl timer handle: %s\n", rcl_get_error_string_safe());
+  }
+}
 
 TimerBase::~TimerBase()
 {}
@@ -29,5 +35,35 @@ TimerBase::~TimerBase()
 void
 TimerBase::cancel()
 {
-  this->canceled_ = true;
+  if (rcl_timer_cancel(&timer_handle_) != RCL_RET_OK) {
+    throw std::runtime_error(std::string("Couldn't cancel timer: ") + rcl_get_error_string_safe());
+  }
+}
+
+bool
+TimerBase::is_ready()
+{
+  bool ready = false;
+  if (rcl_timer_is_ready(&timer_handle_, &ready) != RCL_RET_OK) {
+    throw std::runtime_error(std::string("Failed to check timer: ") + rcl_get_error_string_safe());
+  }
+  return ready;
+}
+
+std::chrono::nanoseconds
+TimerBase::time_until_trigger()
+{
+  int64_t time_until_next_call = 0;
+  if (rcl_timer_get_time_until_next_call(&timer_handle_, &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_safe());
+  }
+  return std::chrono::nanoseconds(time_until_next_call);
+}
+
+const rcl_timer_t *
+TimerBase::get_timer_handle()
+{
+  return &timer_handle_;
 }

rclcpp/src/rclcpp/type_support.cpp

@@ -30,7 +30,7 @@
 const rosidl_message_type_support_t *
 rclcpp::type_support::get_intra_process_message_msg_type_support()
 {
-  return rosidl_generator_cpp::get_message_type_support_handle<
+  return rosidl_typesupport_cpp::get_message_type_support_handle<
     rcl_interfaces::msg::IntraProcessMessage
   >();
 }
@@ -38,7 +38,7 @@ rclcpp::type_support::get_intra_process_message_msg_type_support()
 const rosidl_message_type_support_t *
 rclcpp::type_support::get_parameter_event_msg_type_support()
 {
-  return rosidl_generator_cpp::get_message_type_support_handle<
+  return rosidl_typesupport_cpp::get_message_type_support_handle<
     rcl_interfaces::msg::ParameterEvent
   >();
 }
@@ -46,7 +46,7 @@ rclcpp::type_support::get_parameter_event_msg_type_support()
 const rosidl_message_type_support_t *
 rclcpp::type_support::get_set_parameters_result_msg_type_support()
 {
-  return rosidl_generator_cpp::get_message_type_support_handle<
+  return rosidl_typesupport_cpp::get_message_type_support_handle<
     rcl_interfaces::msg::SetParametersResult
   >();
 }
@@ -54,7 +54,7 @@ rclcpp::type_support::get_set_parameters_result_msg_type_support()
 const rosidl_message_type_support_t *
 rclcpp::type_support::get_parameter_descriptor_msg_type_support()
 {
-  return rosidl_generator_cpp::get_message_type_support_handle<
+  return rosidl_typesupport_cpp::get_message_type_support_handle<
     rcl_interfaces::msg::ParameterDescriptor
   >();
 }
@@ -62,7 +62,7 @@ rclcpp::type_support::get_parameter_descriptor_msg_type_support()
 const rosidl_message_type_support_t *
 rclcpp::type_support::get_list_parameters_result_msg_type_support()
 {
-  return rosidl_generator_cpp::get_message_type_support_handle<
+  return rosidl_typesupport_cpp::get_message_type_support_handle<
     rcl_interfaces::msg::ListParametersResult
   >();
 }
@@ -70,7 +70,7 @@ rclcpp::type_support::get_list_parameters_result_msg_type_support()
 const rosidl_service_type_support_t *
 rclcpp::type_support::get_get_parameters_srv_type_support()
 {
-  return rosidl_generator_cpp::get_service_type_support_handle<
+  return rosidl_typesupport_cpp::get_service_type_support_handle<
     rcl_interfaces::srv::GetParameters
   >();
 }
@@ -78,7 +78,7 @@ rclcpp::type_support::get_get_parameters_srv_type_support()
 const rosidl_service_type_support_t *
 rclcpp::type_support::get_get_parameter_types_srv_type_support()
 {
-  return rosidl_generator_cpp::get_service_type_support_handle<
+  return rosidl_typesupport_cpp::get_service_type_support_handle<
     rcl_interfaces::srv::GetParameterTypes
   >();
 }
@@ -86,7 +86,7 @@ rclcpp::type_support::get_get_parameter_types_srv_type_support()
 const rosidl_service_type_support_t *
 rclcpp::type_support::get_set_parameters_srv_type_support()
 {
-  return rosidl_generator_cpp::get_service_type_support_handle<
+  return rosidl_typesupport_cpp::get_service_type_support_handle<
     rcl_interfaces::srv::SetParameters
   >();
 }
@@ -94,7 +94,7 @@ rclcpp::type_support::get_set_parameters_srv_type_support()
 const rosidl_service_type_support_t *
 rclcpp::type_support::get_list_parameters_srv_type_support()
 {
-  return rosidl_generator_cpp::get_service_type_support_handle<
+  return rosidl_typesupport_cpp::get_service_type_support_handle<
     rcl_interfaces::srv::ListParameters
   >();
 }
@@ -102,7 +102,7 @@ rclcpp::type_support::get_list_parameters_srv_type_support()
 const rosidl_service_type_support_t *
 rclcpp::type_support::get_describe_parameters_srv_type_support()
 {
-  return rosidl_generator_cpp::get_service_type_support_handle<
+  return rosidl_typesupport_cpp::get_service_type_support_handle<
     rcl_interfaces::srv::DescribeParameters
   >();
 }
@@ -110,7 +110,7 @@ rclcpp::type_support::get_describe_parameters_srv_type_support()
 const rosidl_service_type_support_t *
 rclcpp::type_support::get_set_parameters_atomically_srv_type_support()
 {
-  return rosidl_generator_cpp::get_service_type_support_handle<
+  return rosidl_typesupport_cpp::get_service_type_support_handle<
     rcl_interfaces::srv::SetParametersAtomically
   >();
 }

rclcpp/src/rclcpp/utilities.cpp

@@ -19,8 +19,13 @@
 #include <csignal>
 #include <cstdio>
 #include <cstring>
+#include <map>
 #include <mutex>
 #include <string>
+#include <vector>
+
+#include "rcl/error_handling.h"
+#include "rcl/rcl.h"
 
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -32,8 +37,10 @@
 
 /// Represent the status of the global interrupt signal.
 static volatile sig_atomic_t g_signal_status = 0;
-/// Guard condition for interrupting the rmw implementation when the global interrupt signal fired.
-static rmw_guard_condition_t * g_sigint_guard_cond_handle = rmw_create_guard_condition();
+/// Guard conditions for interrupting the rmw implementation when the global interrupt signal fired.
+static std::map<rcl_wait_set_t *, rcl_guard_condition_t> g_sigint_guard_cond_handles;
+/// Mutex to protect g_sigint_guard_cond_handles
+static std::mutex g_sigint_guard_cond_handles_mutex;
 /// Condition variable for timed sleep (see sleep_for).
 static std::condition_variable g_interrupt_condition_variable;
 static std::atomic<bool> g_is_interrupted(false);
@@ -77,10 +84,15 @@ signal_handler(int signal_value)
   }
 #endif
   g_signal_status = signal_value;
-  rmw_ret_t status = rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
-  if (status != RMW_RET_OK) {
-    fprintf(stderr,
-      "[rclcpp::error] failed to trigger guard condition: %s\n", rmw_get_error_string_safe());
+  {
+    std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
+    for (auto & kv : g_sigint_guard_cond_handles) {
+      rcl_ret_t status = rcl_trigger_guard_condition(&(kv.second));
+      if (status != RCL_RET_OK) {
+        fprintf(stderr,
+          "[rclcpp::error] failed to trigger guard condition: %s\n", rcl_get_error_string_safe());
+      }
+    }
   }
   g_is_interrupted.store(true);
   g_interrupt_condition_variable.notify_all();
@@ -89,14 +101,11 @@ signal_handler(int signal_value)
 void
 rclcpp::utilities::init(int argc, char * argv[])
 {
-  (void)argc;
-  (void)argv;
   g_is_interrupted.store(false);
-  rmw_ret_t status = rmw_init();
-  if (status != RMW_RET_OK) {
-    // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
+  if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
+    // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
     throw std::runtime_error(
-      std::string("failed to initialize rmw implementation: ") + rmw_get_error_string_safe());
+      std::string("failed to initialize rmw implementation: ") + rcl_get_error_string_safe());
     // *INDENT-ON*
   }
 #ifdef HAS_SIGACTION
@@ -117,7 +126,7 @@ rclcpp::utilities::init(int argc, char * argv[])
     // NOLINTNEXTLINE(runtime/arrays)
     char error_string[error_length];
 #ifndef _WIN32
-#ifdef _GNU_SOURCE
+#if (defined(_GNU_SOURCE) && !defined(ANDROID))
     char * msg = strerror_r(errno, error_string, error_length);
     if (msg != error_string) {
       strncpy(error_string, msg, error_length);
@@ -132,7 +141,7 @@ rclcpp::utilities::init(int argc, char * argv[])
 #else
     strerror_s(error_string, error_length, errno);
 #endif
-    // *INDENT-OFF*
+    // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
     throw std::runtime_error(
       std::string("Failed to set SIGINT signal handler: (" + std::to_string(errno) + ")") +
       error_string);
@@ -146,23 +155,82 @@ rclcpp::utilities::ok()
   return ::g_signal_status == 0;
 }
 
+static std::mutex on_shutdown_mutex_;
+static std::vector<std::function<void(void)>> on_shutdown_callbacks_;
+
 void
 rclcpp::utilities::shutdown()
 {
   g_signal_status = SIGINT;
-  rmw_ret_t status = rmw_trigger_guard_condition(g_sigint_guard_cond_handle);
-  if (status != RMW_RET_OK) {
-    fprintf(stderr,
-      "[rclcpp::error] failed to trigger guard condition: %s\n", rmw_get_error_string_safe());
+  {
+    std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
+    for (auto & kv : g_sigint_guard_cond_handles) {
+      if (rcl_trigger_guard_condition(&(kv.second)) != RCL_RET_OK) {
+        fprintf(stderr,
+          "[rclcpp::error] failed to trigger sigint guard condition: %s\n",
+          rcl_get_error_string_safe());
+      }
+    }
   }
   g_is_interrupted.store(true);
   g_interrupt_condition_variable.notify_all();
+  {
+    std::lock_guard<std::mutex> lock(on_shutdown_mutex_);
+    for (auto & on_shutdown_callback : on_shutdown_callbacks_) {
+      on_shutdown_callback();
+    }
+  }
 }
 
-rmw_guard_condition_t *
-rclcpp::utilities::get_global_sigint_guard_condition()
+void
+rclcpp::utilities::on_shutdown(std::function<void(void)> callback)
 {
-  return ::g_sigint_guard_cond_handle;
+  std::lock_guard<std::mutex> lock(on_shutdown_mutex_);
+  on_shutdown_callbacks_.push_back(callback);
+}
+
+rcl_guard_condition_t *
+rclcpp::utilities::get_sigint_guard_condition(rcl_wait_set_t * waitset)
+{
+  std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
+  auto kv = g_sigint_guard_cond_handles.find(waitset);
+  if (kv != g_sigint_guard_cond_handles.end()) {
+    return &kv->second;
+  } else {
+    rcl_guard_condition_t handle =
+      rcl_get_zero_initialized_guard_condition();
+    rcl_guard_condition_options_t options = rcl_guard_condition_get_default_options();
+    if (rcl_guard_condition_init(&handle, options) != RCL_RET_OK) {
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
+      throw std::runtime_error(std::string(
+        "Couldn't initialize guard condition: ") + rcl_get_error_string_safe());
+      // *INDENT-ON*
+    }
+    g_sigint_guard_cond_handles[waitset] = handle;
+    return &g_sigint_guard_cond_handles[waitset];
+  }
+}
+
+void
+rclcpp::utilities::release_sigint_guard_condition(rcl_wait_set_t * waitset)
+{
+  std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
+  auto kv = g_sigint_guard_cond_handles.find(waitset);
+  if (kv != g_sigint_guard_cond_handles.end()) {
+    if (rcl_guard_condition_fini(&kv->second) != RCL_RET_OK) {
+      // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
+      throw std::runtime_error(std::string(
+        "Failed to destroy sigint guard condition: ") +
+        rcl_get_error_string_safe());
+      // *INDENT-ON*
+    }
+    g_sigint_guard_cond_handles.erase(kv);
+  } else {
+    // *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
+    throw std::runtime_error(std::string(
+      "Tried to release sigint guard condition for nonexistent waitset"));
+    // *INDENT-ON*
+  }
 }
 
 bool

rclcpp/test/mock_msgs/srv/Mock.srv

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

rclcpp/test/test_externally_defined_services.cpp

@@ -0,0 +1,142 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/any_service_callback.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "rcl/service.h"
+
+#include "rclcpp/srv/mock.hpp"
+#include "rclcpp/srv/mock.h"
+
+class TestExternallyDefinedServices : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+};
+
+void
+callback(const std::shared_ptr<rclcpp::srv::Mock::Request>/*req*/,
+  std::shared_ptr<rclcpp::srv::Mock::Response>/*resp*/)
+{}
+
+TEST_F(TestExternallyDefinedServices, default_behavior) {
+  auto node_handle = rclcpp::node::Node::make_shared("base_node");
+
+  try {
+    auto srv = node_handle->create_service<rclcpp::srv::Mock>("test",
+        callback);
+  } catch (const std::exception &) {
+    FAIL();
+    return;
+  }
+  SUCCEED();
+}
+
+
+TEST_F(TestExternallyDefinedServices, extern_defined_uninitialized) {
+  auto node_handle = rclcpp::node::Node::make_shared("base_node");
+
+  // mock for externally defined service
+  rcl_service_t service_handle = rcl_get_zero_initialized_service();
+
+  rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;
+
+  // don't initialize the service
+  // expect fail
+  try {
+    rclcpp::service::Service<rclcpp::srv::Mock>(
+      node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
+      &service_handle, cb);
+  } catch (const std::runtime_error &) {
+    SUCCEED();
+    return;
+  }
+
+  FAIL();
+}
+
+TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
+  auto node_handle = rclcpp::node::Node::make_shared("base_node");
+
+  // mock for externally defined service
+  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_GET_TYPE_SUPPORT(
+    rclcpp, srv, Mock);
+  rcl_ret_t ret = rcl_service_init(
+    &service_handle,
+    node_handle->get_node_base_interface()->get_rcl_node_handle(),
+    ts, "base_node_service", &service_options);
+  if (ret != RCL_RET_OK) {
+    FAIL();
+    return;
+  }
+
+  rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;
+
+  try {
+    rclcpp::service::Service<rclcpp::srv::Mock>(
+      node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
+      &service_handle, cb);
+  } catch (const std::runtime_error &) {
+    FAIL();
+    return;
+  }
+
+  SUCCEED();
+}
+
+TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
+  auto node_handle = rclcpp::node::Node::make_shared("base_node");
+
+  // mock for externally defined service
+  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_GET_TYPE_SUPPORT(
+    rclcpp, srv, Mock);
+  rcl_ret_t ret = rcl_service_init(
+    &service_handle,
+    node_handle->get_node_base_interface()->get_rcl_node_handle(),
+    ts, "base_node_service", &service_options);
+  if (ret != RCL_RET_OK) {
+    FAIL();
+    return;
+  }
+  rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;
+
+  {
+    // Call constructor
+    rclcpp::service::Service<rclcpp::srv::Mock> srv_cpp(
+      node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
+      &service_handle, cb);
+    // Call destructor
+  }
+
+  if (!service_handle.impl) {
+    FAIL();
+    return;
+  }
+  SUCCEED();
+}

rclcpp/test/test_find_weak_nodes.cpp

@@ -0,0 +1,76 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+#include <memory>
+
+#include "rclcpp/strategies/allocator_memory_strategy.hpp"
+#include "rclcpp/memory_strategy.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestFindWeakNodes : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+};
+
+TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
+  // GIVEN
+  // A vector of weak pointers to nodes
+  auto memory_strategy = std::make_shared<
+    rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
+  auto existing_node = rclcpp::node::Node::make_shared("existing_node");
+  auto dead_node = rclcpp::node::Node::make_shared("dead_node");
+  rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector 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());
+
+  // WHEN
+  bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
+
+  // THEN
+  // The result of finding dangling node pointers should be true
+  ASSERT_TRUE(has_invalid_weak_nodes);
+}
+
+TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
+  // GIVEN
+  // A vector of weak pointers to nodes, all valid
+  auto memory_strategy = std::make_shared<
+    rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
+  auto existing_node1 = rclcpp::node::Node::make_shared("existing_node1");
+  auto existing_node2 = rclcpp::node::Node::make_shared("existing_node2");
+  rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector 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());
+
+  // WHEN
+  bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
+
+  // THEN
+  // The result of finding dangling node pointers should be false
+  ASSERT_FALSE(has_invalid_weak_nodes);
+}

rclcpp/test/test_intra_process_manager.cpp

@@ -31,14 +31,14 @@ namespace mock
 class PublisherBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase);
+  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase)
 
   PublisherBase()
   : mock_topic_name(""), mock_queue_size(0) {}
 
-  const std::string & get_topic_name() const
+  const char * get_topic_name() const
   {
-    return mock_topic_name;
+    return mock_topic_name.c_str();
   }
   size_t get_queue_size() const
   {
@@ -66,7 +66,7 @@ public:
   using MessageUniquePtr = std::unique_ptr<T, MessageDeleter>;
   std::shared_ptr<MessageAlloc> allocator_;
 
-  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<T, Alloc>);
+  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<T, Alloc>)
 
   Publisher()
   {
@@ -93,14 +93,14 @@ namespace mock
 class SubscriptionBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionBase);
+  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionBase)
 
   SubscriptionBase()
   : mock_topic_name(""), mock_queue_size(0) {}
 
-  const std::string & get_topic_name() const
+  const char * get_topic_name() const
   {
-    return mock_topic_name;
+    return mock_topic_name.c_str();
   }
   size_t get_queue_size() const
   {

rclcpp/test/test_mapped_ring_buffer.cpp

@@ -17,6 +17,8 @@
 #define RCLCPP_BUILDING_LIBRARY 1  // Prevent including unavailable symbols
 #include <rclcpp/mapped_ring_buffer.hpp>
 
+#include <memory>
+
 /*
    Tests get_copy and pop on an empty mrb.
  */

rclcpp/test/test_rate.cpp

@@ -39,9 +39,9 @@ TEST(TestRate, rate_basics) {
   rclcpp::utilities::sleep_for(offset);
   ASSERT_TRUE(r.sleep());
   auto two = std::chrono::system_clock::now();
-  delta = two - one;
-  ASSERT_TRUE(period < delta + epsilon);
-  ASSERT_TRUE(period * overrun_ratio > delta);
+  delta = two - start;
+  ASSERT_TRUE(2 * period < delta);
+  ASSERT_TRUE(2 * period * overrun_ratio > delta);
 
   rclcpp::utilities::sleep_for(offset);
   auto two_offset = std::chrono::system_clock::now();
@@ -66,35 +66,35 @@ TEST(TestRate, wall_rate_basics) {
   auto epsilon = std::chrono::milliseconds(1);
   double overrun_ratio = 1.5;
 
-  auto start = std::chrono::system_clock::now();
+  auto start = std::chrono::steady_clock::now();
   rclcpp::rate::WallRate r(period);
   ASSERT_TRUE(r.is_steady());
   ASSERT_TRUE(r.sleep());
-  auto one = std::chrono::system_clock::now();
+  auto one = std::chrono::steady_clock::now();
   auto delta = one - start;
   ASSERT_TRUE(period < delta);
   ASSERT_TRUE(period * overrun_ratio > delta);
 
   rclcpp::utilities::sleep_for(offset);
   ASSERT_TRUE(r.sleep());
-  auto two = std::chrono::system_clock::now();
-  delta = two - one;
-  ASSERT_TRUE(period < delta + epsilon);
-  ASSERT_TRUE(period * overrun_ratio > delta);
+  auto two = std::chrono::steady_clock::now();
+  delta = two - start;
+  ASSERT_TRUE(2 * period < delta + epsilon);
+  ASSERT_TRUE(2 * period * overrun_ratio > delta);
 
   rclcpp::utilities::sleep_for(offset);
-  auto two_offset = std::chrono::system_clock::now();
+  auto two_offset = std::chrono::steady_clock::now();
   r.reset();
   ASSERT_TRUE(r.sleep());
-  auto three = std::chrono::system_clock::now();
+  auto three = std::chrono::steady_clock::now();
   delta = three - two_offset;
   ASSERT_TRUE(period < delta);
   ASSERT_TRUE(period * overrun_ratio > delta);
 
   rclcpp::utilities::sleep_for(offset + period);
-  auto four = std::chrono::system_clock::now();
+  auto four = std::chrono::steady_clock::now();
   ASSERT_FALSE(r.sleep());
-  auto five = std::chrono::system_clock::now();
+  auto five = std::chrono::steady_clock::now();
   delta = five - four;
   ASSERT_TRUE(epsilon > delta);
 }

rclcpp_lifecycle/CMakeLists.txt

@@ -0,0 +1,99 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rclcpp_lifecycle)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-std=c++14")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rcl_lifecycle REQUIRED)
+find_package(rmw_implementation_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
+
+include_directories(include)
+
+macro(targets)
+  get_rclcpp_information("${rmw_implementation}" "rclcpp${target_suffix}")
+  get_rcl_lifecycle_information("${rmw_implementation}" "rcl_lifecycle${target_suffix}")
+
+  ### CPP High level library
+  add_library(rclcpp_lifecycle${target_suffix}
+    SHARED
+    src/lifecycle_node.cpp
+    src/node_interfaces/lifecycle_node_interface.cpp
+    src/state.cpp
+    src/transition.cpp
+  )
+  ament_target_dependencies(rclcpp_lifecycle${target_suffix}
+    "rclcpp${target_suffix}"
+    "rcl_lifecycle${target_suffix}"
+    "lifecycle_msgs")
+
+  # Causes the visibility macros to use dllexport rather than dllimport,
+  # which is appropriate when building the dll but not consuming it.
+  target_compile_definitions(rclcpp_lifecycle${target_suffix} PRIVATE "RCLCPP_LIFECYCLE_BUILDING_DLL")
+
+  install(TARGETS
+    rclcpp_lifecycle${target_suffix}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin)
+endmacro()
+
+call_for_each_rmw_implementation(targets GENERATE_DEFAULT)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(test_lifecycle_node test/test_lifecycle_node.cpp)
+  if(TARGET test_lifecycle_node)
+    target_include_directories(test_lifecycle_node PUBLIC
+      ${rcl_lifecycle_INCLUDE_DIRS}
+      ${rclcpp_INCLUDE_DIRS}
+      ${rclcpp_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_lifecycle_node ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_state_machine_info test/test_state_machine_info.cpp)
+  if(TARGET test_state_machine_info)
+    target_include_directories(test_state_machine_info PUBLIC
+      ${rcl_lifecycle_INCLUDE_DIRS}
+      ${rclcpp_INCLUDE_DIRS}
+      ${rclcpp_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_state_machine_info ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_register_custom_callbacks test/test_register_custom_callbacks.cpp)
+  if(TARGET test_register_custom_callbacks)
+    target_include_directories(test_register_custom_callbacks PUBLIC
+      ${rcl_lifecycle_INCLUDE_DIRS}
+      ${rclcpp_INCLUDE_DIRS}
+      ${rclcpp_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_register_custom_callbacks ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_callback_exceptions test/test_callback_exceptions.cpp)
+  if(TARGET test_callback_exceptions)
+    target_include_directories(test_callback_exceptions PUBLIC
+      ${rcl_lifecycle_INCLUDE_DIRS}
+      ${rclcpp_INCLUDE_DIRS}
+      ${rclcpp_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_callback_exceptions ${PROJECT_NAME})
+  endif()
+endif()
+
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(rcl_lifecycle)
+ament_export_dependencies(lifecycle_msgs)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_package()
+
+install(DIRECTORY include/
+  DESTINATION include)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -0,0 +1,416 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
+#define RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
+
+#include <string>
+#include <map>
+#include <vector>
+#include <memory>
+
+#include "rcl/error_handling.h"
+#include "rcl/node.h"
+
+#include "rcl_interfaces/msg/list_parameters_result.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+#include "rcl_interfaces/msg/parameter_event.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/context.hpp"
+#include "rclcpp/event.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/message_memory_strategy.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/timer.hpp"
+
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "rclcpp_lifecycle/transition.hpp"
+#include "rclcpp_lifecycle/visibility_control.h"
+
+namespace rclcpp_lifecycle
+{
+
+/// LifecycleNode for creating lifecycle components
+/**
+ * has lifecycle nodeinterface for configuring this node.
+ */
+class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
+  public std::enable_shared_from_this<LifecycleNode>
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(LifecycleNode)
+
+  /// Create a new lifecycle node with the specified name.
+  /**
+   * \param[in] node_name Name of the node.
+   * \param[in] use_intra_process_comms True to use the optimized intra-process communication
+   * pipeline to pass messages between nodes in the same process using shared memory.
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  explicit LifecycleNode(const std::string & node_name, bool use_intra_process_comms = false);
+
+  /// Create a node based on the node name and a rclcpp::context::Context.
+  /**
+   * \param[in] node_name Name of the node.
+   * \param[in] context The context for the node (usually represents the state of a process).
+   * \param[in] use_intra_process_comms True to use the optimized intra-process communication
+   * pipeline to pass messages between nodes in the same process using shared memory.
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  LifecycleNode(
+    const std::string & node_name, rclcpp::context::Context::SharedPtr context,
+    bool use_intra_process_comms = false);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual ~LifecycleNode();
+
+  /// Get the name of the node.
+  // \return The name of the node.
+  RCLCPP_LIFECYCLE_PUBLIC
+  const char *
+  get_name() const;
+
+  /// Create and return a callback group.
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp::callback_group::CallbackGroup::SharedPtr
+  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
+
+  /// Return the list of callback groups in the node.
+  RCLCPP_LIFECYCLE_PUBLIC
+  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  get_callback_groups() const;
+
+  /// 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.
+   * \return Shared pointer to the created publisher.
+   */
+  template<typename MessageT, typename Alloc = std::allocator<void>>
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
+  create_publisher(
+    const std::string & topic_name, size_t qos_history_depth,
+    std::shared_ptr<Alloc> allocator = nullptr);
+
+  /// Create and return a LifecyclePublisher.
+  /**
+   * \param[in] topic_name The topic for this publisher to publish on.
+   * \param[in] qos_history_depth The depth of the publisher message queue.
+   * \return Shared pointer to the created publisher.
+   */
+  template<typename MessageT, typename Alloc = std::allocator<void>>
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
+  create_publisher(
+    const std::string & topic_name,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
+    std::shared_ptr<Alloc> allocator = 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.
+   * \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::Subscription<MessageT, Alloc>>
+  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<MessageT, 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.
+   * \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::Subscription<MessageT, Alloc>>
+  std::shared_ptr<SubscriptionT>
+  create_subscription(
+    const std::string & topic_name,
+    size_t qos_history_depth,
+    CallbackT && callback,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
+    bool ignore_local_publications = false,
+    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
+    msg_mem_strat = nullptr,
+    std::shared_ptr<Alloc> allocator = nullptr);
+
+  /// Create a timer.
+  /**
+   * \param[in] period Time interval between triggers of the callback.
+   * \param[in] callback User-defined callback function.
+   * \param[in] group Callback group to execute this timer's callback in.
+   */
+  template<typename DurationT = std::milli, typename CallbackT>
+  typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
+  create_wall_timer(
+    std::chrono::duration<int64_t, DurationT> period,
+    CallbackT callback,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+
+  /* Create and return a Client. */
+  template<typename ServiceT>
+  typename rclcpp::client::Client<ServiceT>::SharedPtr
+  create_client(
+    const std::string & service_name,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+
+  /* Create and return a Service. */
+  template<typename ServiceT, typename CallbackT>
+  typename rclcpp::service::Service<ServiceT>::SharedPtr
+  create_service(
+    const std::string & service_name,
+    CallbackT && callback,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::vector<rcl_interfaces::msg::SetParametersResult>
+  set_parameters(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  rcl_interfaces::msg::SetParametersResult
+  set_parameters_atomically(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::vector<rclcpp::parameter::ParameterVariant>
+  get_parameters(const std::vector<std::string> & names) const;
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp::parameter::ParameterVariant
+  get_parameter(const std::string & name) const;
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  bool
+  get_parameter(
+    const std::string & name,
+    rclcpp::parameter::ParameterVariant & parameter) const;
+
+  template<typename ParameterT>
+  bool
+  get_parameter(const std::string & name, ParameterT & parameter) const;
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::vector<rcl_interfaces::msg::ParameterDescriptor>
+  describe_parameters(const std::vector<std::string> & names) const;
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::vector<uint8_t>
+  get_parameter_types(const std::vector<std::string> & names) const;
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  rcl_interfaces::msg::ListParametersResult
+  list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
+
+  /// Register the callback for parameter changes
+  /**
+   * \param[in] User defined callback function, It is expected to atomically set parameters.
+   * \note Repeated invocations of this function will overwrite previous callbacks
+   */
+  template<typename CallbackT>
+  void
+  register_param_change_callback(CallbackT && callback);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::map<std::string, std::string>
+  get_topic_names_and_types() const;
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  size_t
+  count_publishers(const std::string & topic_name) const;
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  size_t
+  count_subscribers(const std::string & topic_name) const;
+
+  /// Return a graph event, which will be set anytime a graph change occurs.
+  /* The graph Event object is a loan which must be returned.
+   * The Event object is scoped and therefore to return the load just let it go
+   * out of scope.
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp::event::Event::SharedPtr
+  get_graph_event();
+
+  /// Wait for a graph event to occur by waiting on an Event to become set.
+  /* The given Event must be acquire through the get_graph_event() method.
+   *
+   * \throws InvalidEventError if the given event is nullptr
+   * \throws EventNotRegisteredError if the given event was not acquired with
+   *   get_graph_event().
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  void
+  wait_for_graph_change(
+    rclcpp::event::Event::SharedPtr event,
+    std::chrono::nanoseconds timeout);
+
+  /// Return the Node's internal NodeBaseInterface implementation.
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
+  get_node_base_interface();
+
+  /// Return the Node's internal NodeGraphInterface implementation.
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
+  get_node_graph_interface();
+
+  /// Return the Node's internal NodeTimersInterface implementation.
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
+  get_node_timers_interface();
+
+  /// Return the Node's internal NodeTopicsInterface implementation.
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
+  get_node_topics_interface();
+
+  /// Return the Node's internal NodeServicesInterface implementation.
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
+  get_node_services_interface();
+
+  /// Return the Node's internal NodeParametersInterface implementation.
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
+  get_node_parameters_interface();
+
+  //
+  // LIFECYCLE COMPONENTS
+  //
+  RCLCPP_LIFECYCLE_PUBLIC
+  const State &
+  get_current_state();
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::vector<State>
+  get_available_states();
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::vector<Transition>
+  get_available_transitions();
+
+  /// trigger the specified transition
+  /*
+   * return the new state after this transition
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  const State &
+  trigger_transition(const Transition & transition);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  const State &
+  trigger_transition(unsigned int transition_id);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  bool
+  register_on_configure(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
+  RCLCPP_LIFECYCLE_PUBLIC
+  bool
+  register_on_cleanup(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
+  RCLCPP_LIFECYCLE_PUBLIC
+  bool
+  register_on_shutdown(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
+  RCLCPP_LIFECYCLE_PUBLIC
+  bool
+  register_on_activate(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
+  RCLCPP_LIFECYCLE_PUBLIC
+  bool
+  register_on_deactivate(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
+  RCLCPP_LIFECYCLE_PUBLIC
+  bool
+  register_on_error(std::function<rcl_lifecycle_ret_t(const State &)> fcn);
+
+protected:
+  RCLCPP_LIFECYCLE_PUBLIC
+  void
+  add_publisher_handle(std::shared_ptr<rclcpp_lifecycle::LifecyclePublisherInterface> pub);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  void
+  add_timer_handle(std::shared_ptr<rclcpp::timer::TimerBase> timer);
+
+private:
+  RCLCPP_DISABLE_COPY(LifecycleNode)
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  bool
+  group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group);
+
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
+  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
+  rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
+
+  bool use_intra_process_comms_;
+
+  class LifecycleNodeInterfaceImpl;
+  std::unique_ptr<LifecycleNodeInterfaceImpl> impl_;
+};
+
+}  // namespace rclcpp_lifecycle
+
+#ifndef RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_
+// Template implementations
+#include "rclcpp_lifecycle/lifecycle_node_impl.hpp"
+#endif
+
+#endif  // RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -0,0 +1,212 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_
+#define RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/contexts/default_context.hpp"
+#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/create_publisher.hpp"
+#include "rclcpp/create_subscription.hpp"
+#include "rclcpp/type_support_decl.hpp"
+
+#include "lifecycle_publisher.hpp"
+#include "rclcpp_lifecycle/visibility_control.h"
+
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+namespace rclcpp_lifecycle
+{
+
+template<typename MessageT, typename Alloc>
+std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
+LifecycleNode::create_publisher(
+  const std::string & topic_name, size_t qos_history_depth,
+  std::shared_ptr<Alloc> allocator)
+{
+  if (!allocator) {
+    allocator = std::make_shared<Alloc>();
+  }
+  rmw_qos_profile_t qos = rmw_qos_profile_default;
+  qos.depth = qos_history_depth;
+  return this->create_publisher<MessageT, Alloc>(topic_name, qos, allocator);
+}
+
+template<typename MessageT, typename Alloc>
+std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
+LifecycleNode::create_publisher(
+  const std::string & topic_name,
+  const rmw_qos_profile_t & qos_profile,
+  std::shared_ptr<Alloc> allocator)
+{
+  using PublisherT = rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>;
+
+  // create regular publisher in rclcpp::Node
+  return rclcpp::create_publisher<MessageT, Alloc, PublisherT>(
+    this->node_topics_.get(),
+    topic_name,
+    qos_profile,
+    use_intra_process_comms_,
+    allocator);
+}
+
+// TODO(karsten1987): Create LifecycleSubscriber
+template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
+std::shared_ptr<SubscriptionT>
+LifecycleNode::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<MessageT, Alloc>::SharedPtr
+  msg_mem_strat,
+  std::shared_ptr<Alloc> allocator)
+{
+  if (!allocator) {
+    allocator = std::make_shared<Alloc>();
+  }
+
+  if (!msg_mem_strat) {
+    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
+    msg_mem_strat = MessageMemoryStrategy<MessageT, Alloc>::create_default();
+  }
+
+  return rclcpp::create_subscription<
+    MessageT, CallbackT, Alloc,
+    rclcpp::subscription::Subscription<MessageT, Alloc>>(
+    this->node_topics_.get(),
+    topic_name,
+    std::forward<CallbackT>(callback),
+    qos_profile,
+    group,
+    ignore_local_publications,
+    use_intra_process_comms_,
+    msg_mem_strat,
+    allocator);
+}
+
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename Alloc,
+  typename SubscriptionT>
+std::shared_ptr<SubscriptionT>
+LifecycleNode::create_subscription(
+  const std::string & topic_name,
+  size_t qos_history_depth,
+  CallbackT && callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
+  msg_mem_strat,
+  std::shared_ptr<Alloc> allocator)
+{
+  rmw_qos_profile_t qos = rmw_qos_profile_default;
+  qos.depth = qos_history_depth;
+  return this->create_subscription<MessageT, CallbackT, Alloc>(
+    topic_name,
+    std::forward<CallbackT>(callback),
+    qos,
+    group,
+    ignore_local_publications,
+    msg_mem_strat,
+    allocator);
+}
+
+template<typename DurationT, typename CallbackT>
+typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
+LifecycleNode::create_wall_timer(
+  std::chrono::duration<int64_t, DurationT> period,
+  CallbackT callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  auto timer = rclcpp::timer::WallTimer<CallbackT>::make_shared(
+    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
+    std::move(callback));
+  node_timers_->add_timer(timer, group);
+  return timer;
+}
+
+template<typename ServiceT>
+typename rclcpp::client::Client<ServiceT>::SharedPtr
+LifecycleNode::create_client(
+  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;
+
+  using rclcpp::client::Client;
+  using rclcpp::client::ClientBase;
+
+  auto cli = Client<ServiceT>::make_shared(
+    node_base_.get(),
+    node_graph_,
+    service_name,
+    options);
+
+  auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
+  node_services_->add_client(cli_base_ptr, group);
+  return cli;
+}
+
+template<typename ServiceT, typename CallbackT>
+typename rclcpp::service::Service<ServiceT>::SharedPtr
+LifecycleNode::create_service(
+  const std::string & service_name,
+  CallbackT && callback,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
+  any_service_callback.set(std::forward<CallbackT>(callback));
+
+  rcl_service_options_t service_options = rcl_service_get_default_options();
+  service_options.qos = qos_profile;
+
+  auto serv = rclcpp::service::Service<ServiceT>::make_shared(
+    node_base_->get_shared_rcl_node_handle(),
+    service_name, any_service_callback, service_options);
+  auto serv_base_ptr = std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(serv);
+  node_services_->add_service(serv_base_ptr, group);
+  return serv;
+}
+
+template<typename ParameterT>
+bool
+LifecycleNode::get_parameter(const std::string & name, ParameterT & parameter) const
+{
+  rclcpp::parameter::ParameterVariant parameter_variant(name, parameter);
+  bool result = get_parameter(name, parameter_variant);
+  parameter = parameter_variant.get_value<ParameterT>();
+
+  return result;
+}
+
+template<typename CallbackT>
+void
+LifecycleNode::register_param_change_callback(CallbackT && callback)
+{
+  this->node_parameters_->register_param_change_callback(std::forward<CallbackT>(callback));
+}
+
+}  // namespace rclcpp_lifecycle
+#endif  // RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp

@@ -0,0 +1,167 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP_LIFECYCLE__LIFECYCLE_PUBLISHER_HPP_
+#define RCLCPP_LIFECYCLE__LIFECYCLE_PUBLISHER_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/publisher.hpp"
+
+namespace rclcpp_lifecycle
+{
+/// base class with only
+/**
+ * pure virtual functions. A managed
+ * node can then deactivate or activate
+ * the publishing.
+ * It is more a convenient interface class
+ * than a necessary base class.
+ */
+class LifecyclePublisherInterface
+{
+public:
+  virtual void on_activate() = 0;
+  virtual void on_deactivate() = 0;
+  virtual bool is_activated() = 0;
+};
+
+/// brief child class of rclcpp Publisher class.
+/**
+ * Overrides all publisher functions to check for
+ * enabled/disabled state.
+ */
+template<typename MessageT, typename Alloc = std::allocator<void>>
+class LifecyclePublisher : public LifecyclePublisherInterface,
+  public rclcpp::publisher::Publisher<MessageT, Alloc>
+{
+public:
+  using MessageAllocTraits = rclcpp::allocator::AllocRebind<MessageT, Alloc>;
+  using MessageAlloc = typename MessageAllocTraits::allocator_type;
+  using MessageDeleter = rclcpp::allocator::Deleter<MessageAlloc, MessageT>;
+  using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
+
+  LifecyclePublisher(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic,
+    const rcl_publisher_options_t & publisher_options,
+    std::shared_ptr<MessageAlloc> allocator)
+  : rclcpp::publisher::Publisher<MessageT, Alloc>(
+      node_base, topic, publisher_options, allocator),
+    enabled_(false)
+  {}
+
+  ~LifecyclePublisher() {}
+
+  /// LifecyclePublisher pulish function
+  /**
+   * The publish function checks whether the communication
+   * was enabled or disabled and forwards the message
+   * to the actual rclcpp Publisher base class
+   */
+  virtual void
+  publish(std::unique_ptr<MessageT, MessageDeleter> & msg)
+  {
+    if (!enabled_) {
+      return;
+    }
+    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+  }
+
+  /// LifecyclePublisher pulish function
+  /**
+   * The publish function checks whether the communication
+   * was enabled or disabled and forwards the message
+   * to the actual rclcpp Publisher base class
+   */
+  virtual void
+  publish(const std::shared_ptr<MessageT> & msg)
+  {
+    if (!enabled_) {
+      return;
+    }
+    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+  }
+
+  /// LifecyclePublisher pulish function
+  /**
+   * The publish function checks whether the communication
+   * was enabled or disabled and forwards the message
+   * to the actual rclcpp Publisher base class
+   */
+  virtual void
+  publish(std::shared_ptr<const MessageT> msg)
+  {
+    if (!enabled_) {
+      return;
+    }
+    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+  }
+
+  /// LifecyclePublisher pulish function
+  /**
+   * The publish function checks whether the communication
+   * was enabled or disabled and forwards the message
+   * to the actual rclcpp Publisher base class
+   */
+  virtual void
+  publish(const MessageT & msg)
+  {
+    if (!enabled_) {
+      return;
+    }
+    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+  }
+
+  /// LifecyclePublisher pulish function
+  /**
+   * The publish function checks whether the communication
+   * was enabled or disabled and forwards the message
+   * to the actual rclcpp Publisher base class
+   */
+  virtual void
+  publish(std::shared_ptr<const MessageT> & msg)
+  {
+    if (!enabled_) {
+      return;
+    }
+    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+  }
+
+  virtual void
+  on_activate()
+  {
+    enabled_ = true;
+  }
+
+  virtual void
+  on_deactivate()
+  {
+    enabled_ = false;
+  }
+
+  virtual bool
+  is_activated()
+  {
+    return enabled_;
+  }
+
+private:
+  bool enabled_ = false;
+};
+
+}  // namespace rclcpp_lifecycle
+
+#endif  // RCLCPP_LIFECYCLE__LIFECYCLE_PUBLISHER_HPP_

rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp

@@ -0,0 +1,98 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_
+#define RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_
+
+#include "rcl_lifecycle/data_types.h"
+
+#include "rclcpp_lifecycle/state.hpp"
+#include "rclcpp_lifecycle/visibility_control.h"
+
+namespace rclcpp_lifecycle
+{
+namespace node_interfaces
+{
+/// Interface class for a managed node.
+/** Virtual functions as defined in
+ * http://design.ros2.org/articles/node_lifecycle.html
+ *
+ * If the callback function returns successfully,
+ * the specified transition is completed.
+ * If the callback function fails or throws an
+ * uncaught exception, the on_error function is
+ * called.
+ * By default, all functions remain optional to overwrite
+ * and return true. Except the on_error function, which
+ * returns false and thus goes to shutdown/finalize state.
+ */
+class LifecycleNodeInterface
+{
+protected:
+  RCLCPP_LIFECYCLE_PUBLIC
+  LifecycleNodeInterface() {}
+
+public:
+  /// Callback function for configure transition
+  /*
+   * \return true by default
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual rcl_lifecycle_ret_t
+  on_configure(const State & previous_state);
+
+  /// Callback function for cleanup transition
+  /*
+   * \return true by default
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual rcl_lifecycle_ret_t
+  on_cleanup(const State & previous_state);
+
+  /// Callback function for shutdown transition
+  /*
+   * \return true by default
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual rcl_lifecycle_ret_t
+  on_shutdown(const State & previous_state);
+
+  /// Callback function for activate transition
+  /*
+   * \return true by default
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual rcl_lifecycle_ret_t
+  on_activate(const State & previous_state);
+
+  /// Callback function for deactivate transition
+  /*
+   * \return true by default
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual rcl_lifecycle_ret_t
+  on_deactivate(const State & previous_state);
+
+  /// Callback function for errorneous transition
+  /*
+   * \return false by default
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual rcl_lifecycle_ret_t
+  on_error(const State & previous_state);
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp_lifecycle
+#endif  // RCLCPP_LIFECYCLE__NODE_INTERFACES__LIFECYCLE_NODE_INTERFACE_HPP_

rclcpp_lifecycle/include/rclcpp_lifecycle/state.hpp

@@ -0,0 +1,57 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP_LIFECYCLE__STATE_HPP_
+#define RCLCPP_LIFECYCLE__STATE_HPP_
+
+#include <string>
+
+#include "rclcpp_lifecycle/visibility_control.h"
+
+// forward declare rcl_state_t
+typedef struct rcl_lifecycle_state_t rcl_lifecycle_state_t;
+
+namespace rclcpp_lifecycle
+{
+
+class State
+{
+public:
+  RCLCPP_LIFECYCLE_PUBLIC
+  State();
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  State(unsigned int id, const std::string & label);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  explicit State(const rcl_lifecycle_state_t * rcl_lifecycle_state_handle);
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  virtual ~State();
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  unsigned int
+  id() const;
+
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::string
+  label() const;
+
+protected:
+  bool owns_rcl_state_handle_;
+  const rcl_lifecycle_state_t * state_handle_;
+};
+
+}  // namespace rclcpp_lifecycle
+#endif  // RCLCPP_LIFECYCLE__STATE_HPP_