Add support check for content filter feature in subscription (#3089)

Signed-off-by: Barry Xu <barry.xu@sony.com>

.github/ISSUE_TEMPLATE.md

@@ -1,45 +0,0 @@
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-## Bug report
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-- Client library (if applicable):
-  - <!-- e.g. rclcpp, rclpy, or N/A -->
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-#### Steps to reproduce issue
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.github/workflows/mirror-rolling-to-master.yaml

@@ -1,13 +0,0 @@
-name: Mirror rolling to master
-
-on:
-  push:
-    branches: [ rolling ]
-
-jobs:
-  mirror-to-master:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: zofrex/mirror-branch@v1
-      with:
-        target-branch: master

CODEOWNERS

@@ -1,2 +0,0 @@
-# This file was generated by https://github.com/audrow/update-ros2-repos
-* @ivanpauno @hidmic @wjwwood

README.md

@@ -8,7 +8,7 @@ rclcpp provides the standard C++ API for interacting with ROS 2.
 
 `#include "rclcpp/rclcpp.hpp"` allows use of the most common elements of the ROS 2 system.
 
-The link to the latest API documentation can be found on the rclcpp package info page, at the [ROS Index](https://index.ros.org/p/rclcpp/).
+The link to the latest API documentation can be found on the [rclcpp package info page](https://docs.ros.org/en/rolling/p/rclcpp).
 
 
 ### Examples

rclcpp/CHANGELOG.rst

@@ -2,6 +2,614 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+30.1.5 (2026-02-09)
+-------------------
+* remove default: so that compiler can detect the missing case. (`#3048 <https://github.com/ros2/rclcpp/issues/3048>`_)
+* use weak_ptr for rcl entities in the memory strategy. (`#2988 <https://github.com/ros2/rclcpp/issues/2988>`_)
+* remove test_static_executor_entities_collector.cpp (`#3041 <https://github.com/ros2/rclcpp/issues/3041>`_)
+* include the 1st spin that might throw the exception. (`#3042 <https://github.com/ros2/rclcpp/issues/3042>`_)
+* print warning message on owner node if the parameter operation fails. (`#3037 <https://github.com/ros2/rclcpp/issues/3037>`_)
+* fix context in wait for message wait set (`#3030 <https://github.com/ros2/rclcpp/issues/3030>`_)
+* Revert "construct wait set with passed in context (`#3021 <https://github.com/ros2/rclcpp/issues/3021>`_)" (`#3028 <https://github.com/ros2/rclcpp/issues/3028>`_)
+* construct wait set with passed in context (`#3021 <https://github.com/ros2/rclcpp/issues/3021>`_)
+* Improve the robustness of the TopicEndpointInfo constructor (`#3013 <https://github.com/ros2/rclcpp/issues/3013>`_)
+* Deprecate the shared_ptr<MessageT> subscription callback signatures (`#2975 <https://github.com/ros2/rclcpp/issues/2975>`_)
+* Contributors: Barry Xu, Maurice Alexander Purnawan, Michael Carroll, Rahat Dhande, Tomoya Fujita
+
+30.1.4 (2025-12-23)
+-------------------
+* Updated deprecated ament_index_cpp API (`#3011 <https://github.com/ros2/rclcpp/issues/3011>`_)
+* Unified Node Interfaces: Add const version of get_node_x_interface() (`#3006 <https://github.com/ros2/rclcpp/issues/3006>`_)
+* Parameter Descriptor Simplification  (`#2179 <https://github.com/ros2/rclcpp/issues/2179>`_)
+* ParameterEventHandler support ContentFiltering (`#2971 <https://github.com/ros2/rclcpp/issues/2971>`_)
+* update policy_name_from_kind && test_qos (`#2156 <https://github.com/ros2/rclcpp/issues/2156>`_)
+* Add ability to disable and enable subscription's callbacks (`#2985 <https://github.com/ros2/rclcpp/issues/2985>`_)
+* Switch to isolated testing via rmw_test_fixture (`#2929 <https://github.com/ros2/rclcpp/issues/2929>`_)
+* remove I/O from signal handler. (`#2986 <https://github.com/ros2/rclcpp/issues/2986>`_)
+* Contributors: Alejandro Hernández Cordero, Andrianov Roman, Barry Xu, Lucas Wendland, Michael Orlov, Tomoya Fujita, fabianhirmann, yadunund
+
+30.1.3 (2025-11-18)
+-------------------
+* correct test function descriptions (`#2970 <https://github.com/ros2/rclcpp/issues/2970>`_)
+* add : get clients, servers info (`#2569 <https://github.com/ros2/rclcpp/issues/2569>`_)
+* Fix REP url locations (`#2987 <https://github.com/ros2/rclcpp/issues/2987>`_)
+* Contributors: Minju, Lee, Tim Clephas, Yuchen966
+
+30.1.2 (2025-10-21)
+-------------------
+* clear handles before node destruction in test_memory_strategy. (`#2969 <https://github.com/ros2/rclcpp/issues/2969>`_)
+* Added static assert asserting custom types have no overloaded operator new (`#2954 <https://github.com/ros2/rclcpp/issues/2954>`_)
+* Store graph listener inside the context instead of the node graph (`#2952 <https://github.com/ros2/rclcpp/issues/2952>`_)
+* Reapply "Catch the exception from rate.sleep() if the context is invalid. (`#2956 <https://github.com/ros2/rclcpp/issues/2956>`_)" (`#2963 <https://github.com/ros2/rclcpp/issues/2963>`_) (`#2964 <https://github.com/ros2/rclcpp/issues/2964>`_)
+* Revert "Catch the exception from rate.sleep() if the context is invalid. (`#2956 <https://github.com/ros2/rclcpp/issues/2956>`_)" (`#2963 <https://github.com/ros2/rclcpp/issues/2963>`_)
+* Catch the exception from rate.sleep() if the context is invalid. (`#2956 <https://github.com/ros2/rclcpp/issues/2956>`_)
+* update Time documentation (`#2955 <https://github.com/ros2/rclcpp/issues/2955>`_)
+* Contributors: Ilario A. Azzollini, Ivo Ivanov, Skyler Medeiros, Tomoya Fujita
+
+30.1.1 (2025-09-11)
+-------------------
+* Removed warning (`#2949 <https://github.com/ros2/rclcpp/issues/2949>`_)
+* add note about problems with spin_until_future_complete (`#2849 <https://github.com/ros2/rclcpp/issues/2849>`_)
+* deprecate rclcpp::spin_some and rclcpp::spin_all (`#2848 <https://github.com/ros2/rclcpp/issues/2848>`_)
+* Improve the function extract_type_identifier (`#2923 <https://github.com/ros2/rclcpp/issues/2923>`_)
+* Allow for implicitly convertable loggers as well (`#2922 <https://github.com/ros2/rclcpp/issues/2922>`_)
+* Contributors: Alberto Soragna, Alejandro Hernández Cordero, Barry Xu, Tim Clephas
+
+30.1.0 (2025-07-29)
+-------------------
+* Fix: improve exception context for parameter_value_from (`#2917 <https://github.com/ros2/rclcpp/issues/2917>`_)
+* Fix `start_type_description_service` param handling (`#2897 <https://github.com/ros2/rclcpp/issues/2897>`_)
+* Add qos parameter for wait_for_message function (`#2903 <https://github.com/ros2/rclcpp/issues/2903>`_)
+* Fujitatomoya/test append parameter override (`#2896 <https://github.com/ros2/rclcpp/issues/2896>`_)
+* Expose `typesupport_helpers` API needed for the Rosbag2 (`#2858 <https://github.com/ros2/rclcpp/issues/2858>`_)
+* Remove comment about now-removed StaticSingleThreadedExecutor (`#2893 <https://github.com/ros2/rclcpp/issues/2893>`_)
+* Add overload of `append_parameter_override` (`#2891 <https://github.com/ros2/rclcpp/issues/2891>`_)
+* fix: Don't deadlock if removing shutdown callbacks in a shutdown callback (`#2886 <https://github.com/ros2/rclcpp/issues/2886>`_)
+* Contributors: Christophe Bedard, Janosch Machowinski, Michael Orlov, Michiel Leegwater, Patrick Roncagliolo, Sriharsha Ghanta, Tomoya Fujita
+
+30.0.0 (2025-07-01)
+-------------------
+* Hand-code logging.hpp (`#2870 <https://github.com/ros2/rclcpp/issues/2870>`_)
+* Adressed TODO in node_graph (`#2877 <https://github.com/ros2/rclcpp/issues/2877>`_)
+* fix test_publisher_with_system_default_qos. (`#2881 <https://github.com/ros2/rclcpp/issues/2881>`_)
+* Contributors: Alejandro Hernández Cordero, Chris Lalancette, Tomoya Fujita
+
+29.6.1 (2025-06-23)
+-------------------
+* Fix for memory leaks in rclcpp::SerializedMessage (`#2861 <https://github.com/ros2/rclcpp/issues/2861>`_)
+* Removed warning test_qos (`#2859 <https://github.com/ros2/rclcpp/issues/2859>`_)
+* Added missing chrono includes (`#2854 <https://github.com/ros2/rclcpp/issues/2854>`_)
+* get_all_data_impl() does not handle null pointers properly, causing segmentation fault (`#2840 <https://github.com/ros2/rclcpp/issues/2840>`_)
+* QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures (`#2841 <https://github.com/ros2/rclcpp/issues/2841>`_)
+* remove get_notify_guard_condition from NodeBaseInterface. (`#2839 <https://github.com/ros2/rclcpp/issues/2839>`_)
+* Removed deprecated StaticSingleThreadedExecutor (`#2835 <https://github.com/ros2/rclcpp/issues/2835>`_)
+* Removed deprecated rcpputils Path (`#2834 <https://github.com/ros2/rclcpp/issues/2834>`_)
+* Add range constraints for applicable array parameters (`#2828 <https://github.com/ros2/rclcpp/issues/2828>`_)
+* Update RingBufferImplementation to clear internal data. (`#2837 <https://github.com/ros2/rclcpp/issues/2837>`_)
+* Removed deprecated cancel_sleep_or_wait (`#2836 <https://github.com/ros2/rclcpp/issues/2836>`_)
+* Add missing 's' to 'NodeParametersInterface' in doc/comment (`#2831 <https://github.com/ros2/rclcpp/issues/2831>`_)
+* subordinate node consistent behavior and update docstring. (`#2822 <https://github.com/ros2/rclcpp/issues/2822>`_)
+* Contributors: Alejandro Hernández Cordero, Alex Youngs, Christophe Bedard, Michael Carlstrom, Michael Orlov, Tomoya Fujita
+
+29.6.0 (2025-04-25)
+-------------------
+* throws std::invalid_argument if ParameterEvent is NULL. (`#2814 <https://github.com/ros2/rclcpp/issues/2814>`_)
+* Removed clang warnings (`#2823 <https://github.com/ros2/rclcpp/issues/2823>`_)
+* Contributors: Alejandro Hernández Cordero, Tomoya Fujita
+
+29.5.0 (2025-04-18)
+-------------------
+* Fix a race condition (`#2819 <https://github.com/ros2/rclcpp/issues/2819>`_)
+* Remove redundant typesupport check in serialization module (`#2808 <https://github.com/ros2/rclcpp/issues/2808>`_)
+* Remove get_typesupport_handle implementation. (`#2806 <https://github.com/ros2/rclcpp/issues/2806>`_)
+* Use NodeParameterInterface instead of /parameter_event to update "use_sim_time" (`#2378 <https://github.com/ros2/rclcpp/issues/2378>`_)
+* Remove cancel_clock_executor_promise\_. (`#2797 <https://github.com/ros2/rclcpp/issues/2797>`_)
+* Enable parameter update recursively only when QoS override parameters. (`#2742 <https://github.com/ros2/rclcpp/issues/2742>`_)
+* Contributors: Pedro de Azeredo, Tanishq Chaudhary, Tomoya Fujita
+
+29.4.0 (2025-04-04)
+-------------------
+* Removed trailing whitespace from the codebase. (`#2791 <https://github.com/ros2/rclcpp/issues/2791>`_)
+* Expanded docstring of `get_rmw_qos_profile()` (`#2787 <https://github.com/ros2/rclcpp/issues/2787>`_)
+* Set envars to run tests with rmw_zenoh_cpp with multicast discovery (`#2776 <https://github.com/ros2/rclcpp/issues/2776>`_)
+* fix: Compilefix for clang (`#2775 <https://github.com/ros2/rclcpp/issues/2775>`_)
+* add exception doc for configure_introspection. (`#2773 <https://github.com/ros2/rclcpp/issues/2773>`_)
+* feat: Add ClockWaiter and ClockConditionalVariable (`#2691 <https://github.com/ros2/rclcpp/issues/2691>`_)
+* doc: Added warning to not instantiate Clock directly with RCL_ROS_TIME (`#2768 <https://github.com/ros2/rclcpp/issues/2768>`_)
+* Use rmw_event_type_is_supported in test_qos_event (`#2761 <https://github.com/ros2/rclcpp/issues/2761>`_)
+* Support action typesupport helper (`#2750 <https://github.com/ros2/rclcpp/issues/2750>`_)
+* use maybe_unused attribute for the portability. (`#2758 <https://github.com/ros2/rclcpp/issues/2758>`_)
+* Executor strong reference fix (`#2745 <https://github.com/ros2/rclcpp/issues/2745>`_)
+* Cleanup of https://github.com/ros2/rclcpp/pull/2683 (`#2714 <https://github.com/ros2/rclcpp/issues/2714>`_)
+* Fix typo in doc section for get_service_typesupport_handle (`#2751 <https://github.com/ros2/rclcpp/issues/2751>`_)
+* Test case and fix for for https://github.com/ros2/rclcpp/issues/2652 (`#2713 <https://github.com/ros2/rclcpp/issues/2713>`_)
+* fix(timer): Delete node, after executor thread terminated (`#2737 <https://github.com/ros2/rclcpp/issues/2737>`_)
+* update doc section for spin_xxx methods. (`#2730 <https://github.com/ros2/rclcpp/issues/2730>`_)
+* fix: Expose timers used by rclcpp::Waitables (`#2699 <https://github.com/ros2/rclcpp/issues/2699>`_)
+* use rmw_qos_profile_rosout_default instead of rcl. (`#2663 <https://github.com/ros2/rclcpp/issues/2663>`_)
+* fix(Executor): Fixed entities not beeing executed after just beeing added (`#2724 <https://github.com/ros2/rclcpp/issues/2724>`_)
+* fix: make the loop condition align with the description (`#2726 <https://github.com/ros2/rclcpp/issues/2726>`_)
+* Collect log messages from rcl, and reset. (`#2720 <https://github.com/ros2/rclcpp/issues/2720>`_)
+* Contributors: Abhishek Kashyap, Alejandro Hernández Cordero, Barry Xu, Janosch Machowinski, Leander Stephen D'Souza, Tomoya Fujita, Yuyuan Yuan
+
+29.3.0 (2024-12-20)
+-------------------
+* Fix transient local IPC publish  (`#2708 <https://github.com/ros2/rclcpp/issues/2708>`_)
+* apply actual QoS from rmw to the IPC publisher. (`#2707 <https://github.com/ros2/rclcpp/issues/2707>`_)
+* Adding in topic name to logging on IPC issues (`#2706 <https://github.com/ros2/rclcpp/issues/2706>`_)
+* fix TestTimeSource.ROS_time_valid_attach_detach. (`#2700 <https://github.com/ros2/rclcpp/issues/2700>`_)
+* Update docstring for `rclcpp::Node::now()` (`#2696 <https://github.com/ros2/rclcpp/issues/2696>`_)
+* Re-enable executor test on rmw_connextdds. (`#2693 <https://github.com/ros2/rclcpp/issues/2693>`_)
+* Fix warnings on Windows. (`#2692 <https://github.com/ros2/rclcpp/issues/2692>`_)
+* Omnibus fixes for running tests with Connext. (`#2684 <https://github.com/ros2/rclcpp/issues/2684>`_)
+* fix(Executor): Fix segfault if callback group is deleted during rmw_wait (`#2683 <https://github.com/ros2/rclcpp/issues/2683>`_)
+* Contributors: Chris Lalancette, Jeffery Hsu, Patrick Roncagliolo, Steve Macenski, Tomoya Fujita, jmachowinski
+
+29.2.0 (2024-11-25)
+-------------------
+* accept custom allocator for LoanedMessage. (`#2672 <https://github.com/ros2/rclcpp/issues/2672>`_)
+* Contributors: Tomoya Fujita
+
+29.1.0 (2024-11-20)
+-------------------
+* a couple of typo fixes in doc section for LoanedMessage. (`#2676 <https://github.com/ros2/rclcpp/issues/2676>`_)
+* Make sure callback_end tracepoint is triggered in AnyServiceCallback (`#2670 <https://github.com/ros2/rclcpp/issues/2670>`_)
+* Correct the incorrect comments in generic_client.hpp (`#2662 <https://github.com/ros2/rclcpp/issues/2662>`_)
+* Fix NodeOptions assignment operator (`#2656 <https://github.com/ros2/rclcpp/issues/2656>`_)
+* set QoS History KEEP_ALL explicitly for statistics publisher. (`#2650 <https://github.com/ros2/rclcpp/issues/2650>`_)
+* Fix test_intra_process_manager.cpp with rmw_zenoh_cpp (`#2653 <https://github.com/ros2/rclcpp/issues/2653>`_)
+* Fixed test_events_executors in zenoh (`#2643 <https://github.com/ros2/rclcpp/issues/2643>`_)
+* rmw_fastrtps supports service event gid uniqueness test. (`#2638 <https://github.com/ros2/rclcpp/issues/2638>`_)
+* print warning if event callback is not supported instead of passing exception. (`#2648 <https://github.com/ros2/rclcpp/issues/2648>`_)
+* Implement callback support of async_send_request for service generic client (`#2614 <https://github.com/ros2/rclcpp/issues/2614>`_)
+* Contributors: Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Christophe Bedard, Romain DESILLE, Tomoya Fujita
+
+29.0.0 (2024-10-03)
+-------------------
+* Fixed test qos rmw zenoh (`#2639 <https://github.com/ros2/rclcpp/issues/2639>`_)
+* verify client gid uniqueness for a single service event. (`#2636 <https://github.com/ros2/rclcpp/issues/2636>`_)
+* Skip some tests in test_qos_event and run others with event types supported by rmw_zenoh (`#2626 <https://github.com/ros2/rclcpp/issues/2626>`_)
+* Shutdown the context before context's destructor is invoked in tests (`#2633 <https://github.com/ros2/rclcpp/issues/2633>`_)
+* Skip rmw zenoh content filtering tests (`#2627 <https://github.com/ros2/rclcpp/issues/2627>`_)
+* Use InvalidServiceTypeError for unavailable service type in GenericClient (`#2629 <https://github.com/ros2/rclcpp/issues/2629>`_)
+* Implement generic service (`#2617 <https://github.com/ros2/rclcpp/issues/2617>`_)
+* fix events-executor warm-up bug and add unit-tests (`#2591 <https://github.com/ros2/rclcpp/issues/2591>`_)
+* remove unnecessary gtest-skip in test_executors (`#2600 <https://github.com/ros2/rclcpp/issues/2600>`_)
+* Correct node name in service test code (`#2615 <https://github.com/ros2/rclcpp/issues/2615>`_)
+* Minor naming fixes for ParameterValue to_string() function (`#2609 <https://github.com/ros2/rclcpp/issues/2609>`_)
+* Removed clang warnings (`#2605 <https://github.com/ros2/rclcpp/issues/2605>`_)
+* Fix a couple of issues in the documentation. (`#2608 <https://github.com/ros2/rclcpp/issues/2608>`_)
+* deprecate the static single threaded executor (`#2598 <https://github.com/ros2/rclcpp/issues/2598>`_)
+* Fix name of ParameterEventHandler class in doc (`#2604 <https://github.com/ros2/rclcpp/issues/2604>`_)
+* subscriber_statistics_collectors\_ should be protected by mutex. (`#2592 <https://github.com/ros2/rclcpp/issues/2592>`_)
+* Fix bug in timers lifecycle for events executor (`#2586 <https://github.com/ros2/rclcpp/issues/2586>`_)
+* fix rclcpp/test/rclcpp/CMakeLists.txt to check for the correct targets existance (`#2596 <https://github.com/ros2/rclcpp/issues/2596>`_)
+* Shut down context during init if logging config fails (`#2594 <https://github.com/ros2/rclcpp/issues/2594>`_)
+* Make more of the Waitable API abstract (`#2593 <https://github.com/ros2/rclcpp/issues/2593>`_)
+* Contributors: Alberto Soragna, Alejandro Hernández Cordero, Alexis Pojomovsky, Barry Xu, Chris Lalancette, Christophe Bedard, Kang, Hsin-Yi, Tomoya Fujita
+
+28.3.3 (2024-07-29)
+-------------------
+* Only compile the tests once. (`#2590 <https://github.com/ros2/rclcpp/issues/2590>`_)
+* Contributors: Chris Lalancette
+
+28.3.2 (2024-07-24)
+-------------------
+* Updated rcpputils path API (`#2579 <https://github.com/ros2/rclcpp/issues/2579>`_)
+* Make the subscriber_triggered_to_receive_message test more reliable. (`#2584 <https://github.com/ros2/rclcpp/issues/2584>`_)
+  * Make the subscriber_triggered_to_receive_message test more reliable.
+  In the current code, inside of the timer we create the subscription
+  and the publisher, publish immediately, and expect the subscription
+  to get it immediately.  But it may be the case that discovery
+  hasn't even happened between the publisher and the subscription
+  by the time the publish call happens.
+  To make this more reliable, create the subscription and publish *before*
+  we ever create and spin on the timer.  This at least gives 100
+  milliseconds for discovery to happen.  That may not be quite enough
+  to make this reliable on all platforms, but in my local testing this
+  helps a lot.  Prior to this change I can make this fail one out of 10
+  times, and after the change I've run 100 times with no failures.
+* Have the EventsExecutor use more common code  (`#2570 <https://github.com/ros2/rclcpp/issues/2570>`_)
+  * move notify waitable setup to its own function
+  * move mutex lock to retrieve_entity utility
+  * use entities_need_rebuild\_ atomic bool in events-executors
+  * remove duplicated set_on_ready_callback for notify_waitable
+  * use mutex from base class rather than a new recursive mutex
+  * use current_collection\_ member in events-executor
+  * delay adding notify waitable to collection
+  * postpone clearing the current collection
+  * commonize notify waitable and collection
+  * commonize add/remove node/cbg methods
+  * fix linter errors
+  ---------
+* Removed deprecated methods and classes (`#2575 <https://github.com/ros2/rclcpp/issues/2575>`_)
+* Release ownership of entities after spinning cancelled (`#2556 <https://github.com/ros2/rclcpp/issues/2556>`_)
+  * Release ownership of entities after spinning cancelled
+  * Move release action to every exit point in different spin functions
+  * Move wait_result\_.reset() before setting spinning to false
+  * Update test code
+  * Move test code to test_executors.cpp
+  ---------
+* Split test_executors.cpp even further. (`#2572 <https://github.com/ros2/rclcpp/issues/2572>`_)
+  That's because it is too large for Windows Debug to compile,
+  so split into smaller bits.
+  Even with this split, the file is too big; that's likely
+  because we are using TYPED_TEST here, which generates multiple
+  symbols per test case.  To deal with this, without further
+  breaking up the file, also add in the /bigobj flag when
+  compiling on Windows Debug.
+* avoid adding notify waitable twice to events-executor collection (`#2564 <https://github.com/ros2/rclcpp/issues/2564>`_)
+  * avoid adding notify waitable twice to events-executor entities collection
+  * remove redundant mutex lock
+  ---------
+* Contributors: Alberto Soragna, Alejandro Hernández Cordero, Barry Xu, Chris Lalancette
+
+28.3.1 (2024-06-25)
+-------------------
+* Remove unnecessary msg includes in tests (`#2566 <https://github.com/ros2/rclcpp/issues/2566>`_)
+* Fix copy-paste errors in function docs (`#2565 <https://github.com/ros2/rclcpp/issues/2565>`_)
+* Fix typo in function doc (`#2563 <https://github.com/ros2/rclcpp/issues/2563>`_)
+* Contributors: Christophe Bedard
+
+28.3.0 (2024-06-17)
+-------------------
+* Add test creating two content filter topics with the same topic name (`#2546 <https://github.com/ros2/rclcpp/issues/2546>`_) (`#2549 <https://github.com/ros2/rclcpp/issues/2549>`_)
+* add impl pointer for ExecutorOptions (`#2523 <https://github.com/ros2/rclcpp/issues/2523>`_)
+* Fixup Executor::spin_all() regression fix (`#2517 <https://github.com/ros2/rclcpp/issues/2517>`_)
+* Add 'mimick' label to tests which use Mimick (`#2516 <https://github.com/ros2/rclcpp/issues/2516>`_)
+* Contributors: Alejandro Hernández Cordero, Scott K Logan, William Woodall
+
+28.2.0 (2024-04-26)
+-------------------
+* Check for negative time in rclcpp::Time(int64_t nanoseconds, ...) constructor (`#2510 <https://github.com/ros2/rclcpp/issues/2510>`_)
+* Revise the description of service configure_introspection() (`#2511 <https://github.com/ros2/rclcpp/issues/2511>`_)
+* Contributors: Barry Xu, Sharmin Ramli
+
+28.1.0 (2024-04-16)
+-------------------
+* Remove references to index.ros.org. (`#2504 <https://github.com/ros2/rclcpp/issues/2504>`_)
+* Reduce overhead for inheriting from rclcpp::Executor when base functionality is not reused (`#2506 <https://github.com/ros2/rclcpp/issues/2506>`_)
+* Contributors: Chris Lalancette, William Woodall, jmachowinski
+
+28.0.1 (2024-04-16)
+-------------------
+* [wjwwood] Updated "Data race fixes" (`#2500 <https://github.com/ros2/rclcpp/issues/2500>`_)
+  * Fix callback group logic in executor
+  * fix: Fixed unnecessary copy of wait_set
+  * fix(executor): Fixed race conditions with rebuild of wait_sets
+  Before this change, the rebuild of wait set would be triggered
+  after the wait set was waken up. With bad timing, this could
+  lead to the rebuild not happening with multi threaded executor.
+  * fix(Executor): Fixed lost of entities rebuild request
+  * chore: Added assert for not set callback_group in execute_any_executable
+  * Add test for cbg getting reset
+  Co-authored-by: Janosch Machowinski <j.machowinski@nospam.org>
+  * chore: renamed test cases to snake_case
+  * style
+  * fixup test to avoid polling and short timeouts
+  * fix: Use correct notify_waitable\_ instance
+  * fix(StaticSingleThreadedExecutor): Added missing special case handling for current_notify_waitable\_
+  * fix(TestCallbackGroup): Fixed test after change to timers
+  ---------
+  Co-authored-by: Janosch Machowinski <j.machowinski@cellumation.com>
+  Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai>
+  Co-authored-by: Janosch Machowinski <j.machowinski@nospam.org>
+* fixup var names to snake case (`#2501 <https://github.com/ros2/rclcpp/issues/2501>`_)
+* Added optional TimerInfo to timer callback (`#2343 <https://github.com/ros2/rclcpp/issues/2343>`_)
+  Co-authored-by: Alexis Tsogias <a.tsogias@cellumation.com>
+  Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>
+* Fix uninitialized memory in test (`#2498 <https://github.com/ros2/rclcpp/issues/2498>`_)
+  When I added in the tests for large messages, I made a mistake and reserved space in the strings, but didn't actually expand it.  Thus, we were writing into uninitialized memory.  Fix this by just using the correct constructor for string, which will allocate and initialize the memory properly.
+* Ensure waitables handle guard condition retriggering (`#2483 <https://github.com/ros2/rclcpp/issues/2483>`_)
+  Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai>
+* fix: init concatenated_vector with begin() & end() (`#2492 <https://github.com/ros2/rclcpp/issues/2492>`_)
+  * this commit will fix the warning [-Wstringop-overflow=] `#2461 <https://github.com/ros2/rclcpp/issues/2461>`_
+* Use the same context for the specified node in rclcpp::spin functions (`#2433 <https://github.com/ros2/rclcpp/issues/2433>`_)
+  * Use the same conext for the specified node in rclcpp::spin_xx functions
+  * Add test for spinning with non-default-context
+  * Format code
+  ---------
+* Disable compare-function-pointers in test_utilities (`#2489 <https://github.com/ros2/rclcpp/issues/2489>`_)
+* address ambiguous auto variable. (`#2481 <https://github.com/ros2/rclcpp/issues/2481>`_)
+* Increase the cppcheck timeout to 1200 seconds (`#2484 <https://github.com/ros2/rclcpp/issues/2484>`_)
+* Removed test_timers_manager clang warning (`#2479 <https://github.com/ros2/rclcpp/issues/2479>`_)
+* Flaky timer test fix (`#2469 <https://github.com/ros2/rclcpp/issues/2469>`_)
+  * fix(time_source): Fixed possible race condition
+  * fix(test_executors_time_cancel_behaviour): Fixed multiple race conditions
+  ---------
+  Co-authored-by: Janosch Machowinski <j.machowinski@nospam.org>
+* Add tracepoint for generic publisher/subscriber (`#2448 <https://github.com/ros2/rclcpp/issues/2448>`_)
+* update rclcpp::Waitable API to use references and const (`#2467 <https://github.com/ros2/rclcpp/issues/2467>`_)
+* Utilize rclcpp::WaitSet as part of the executors (`#2142 <https://github.com/ros2/rclcpp/issues/2142>`_)
+  * Deprecate callback_group call taking context
+  * Add base executor objects that can be used by implementors
+  * Template common operations
+  * Address reviewer feedback:
+  * Add callback to EntitiesCollector constructor
+  * Make function to check automatically added callback groups take a list
+  * Lint
+  * Address reviewer feedback and fix templates
+  * Lint and docs
+  * Make executor own the notify waitable
+  * Add pending queue to collector, remove from waitable
+  Also change node's get_guard_condition to return shared_ptr
+  * Change interrupt guard condition to shared_ptr
+  Check if guard condition is valid before adding it to the waitable
+  * Lint and docs
+  * Utilize rclcpp::WaitSet as part of the executors
+  * Don't exchange atomic twice
+  * Fix add_node and add more tests
+  * Make get_notify_guard_condition follow API tick-tock
+  * Improve callback group tick-tocking
+  * Don't lock twice
+  * Address reviewer feedback
+  * Add thread safety annotations and make locks consistent
+  * @wip
+  * Reset callback groups for multithreaded executor
+  * Avoid many small function calls when building executables
+  * Re-trigger guard condition if buffer has data
+  * Address reviewer feedback
+  * Trace points
+  * Remove tracepoints
+  * Reducing diff
+  * Reduce diff
+  * Uncrustify
+  * Restore tests
+  * Back to weak_ptr and reduce test time
+  * reduce diff and lint
+  * Restore static single threaded tests that weren't working before
+  * Restore more tests
+  * Fix multithreaded test
+  * Fix assert
+  * Fix constructor test
+  * Change ready_executables signature back
+  * Don't enforce removing callback groups before nodes
+  * Remove the "add_valid_node" API
+  * Only notify if the trigger condition is valid
+  * Only trigger if valid and needed
+  * Fix spin_some/spin_all implementation
+  * Restore single threaded executor
+  * Picking ABI-incompatible executor changes
+  * Add PIMPL
+  * Additional waitset prune
+  * Fix bad merge
+  * Expand test timeout
+  * Introduce method to clear expired entities from a collection
+  * Make sure to call remove_expired_entities().
+  * Prune queued work when callback group is removed
+  * Prune subscriptions from dynamic storage
+  * Styles fixes.
+  * Re-trigger guard conditions
+  * Condense to just use watiable.take_data
+  * Lint
+  * Address reviewer comments (nits)
+  * Lock mutex when copying
+  * Refactors to static single threaded based on reviewers
+  * More small refactoring
+  * Lint
+  * Lint
+  * Add ready executable accessors to WaitResult
+  * Make use of accessors from wait_set
+  * Fix tests
+  * Fix more tests
+  * Tidy up single threaded executor implementation
+  * Don't null out timer, rely on call
+  * change how timers are checked from wait result in executors
+  * peak -> peek
+  * fix bug in next_waitable logic
+  * fix bug in StaticSTE that broke the add callback groups to executor tests
+  * style
+  ---------
+  Co-authored-by: Chris Lalancette <clalancette@gmail.com>
+  Co-authored-by: William Woodall <william@osrfoundation.org>
+* fix flakiness in TestTimersManager unit-test (`#2468 <https://github.com/ros2/rclcpp/issues/2468>`_)
+  the previous version of the test was relying on the assumption that a timer with 1ms period gets called at least 6 times if the main thread waits 15ms. this is true most of the times, but it's not guaranteed, especially when running the test on windows CI servers. the new version of the test makes no assumptions on how much time it takes for the timers manager to invoke the timers, but rather focuses on ensuring that they are called the right amount of times, which is what's important for the purpose of the test
+* Contributors: Alberto Soragna, Alejandro Hernández Cordero, Chris Lalancette, Homalozoa X, Kotaro Yoshimoto, Michael Carroll, Tomoya Fujita, William Woodall, h-suzuki-isp, jmachowinski
+
+28.0.0 (2024-03-28)
+-------------------
+* fix spin_some_max_duration unit-test for events-executor (`#2465 <https://github.com/ros2/rclcpp/issues/2465>`_)
+* refactor and improve the parameterized spin_some tests for executors (`#2460 <https://github.com/ros2/rclcpp/issues/2460>`_)
+  * refactor and improve the spin_some parameterized tests for executors
+  * disable spin_some_max_duration for the StaticSingleThreadedExecutor and EventsExecutor
+  * fixup and clarify the docstring for Executor::spin_some()
+  * style
+  * review comments
+  ---------
+* enable simulation clock for timer canceling test. (`#2458 <https://github.com/ros2/rclcpp/issues/2458>`_)
+  * enable simulation clock for timer canceling test.
+  * move MainExecutorTypes to test_executors_timer_cancel_behavior.cpp.
+  ---------
+* Revert "relax the test simulation rate for timer canceling tests. (`#2453 <https://github.com/ros2/rclcpp/issues/2453>`_)" (`#2456 <https://github.com/ros2/rclcpp/issues/2456>`_)
+  This reverts commit 1c350d0d7fb9c7158e0a39057112486ddbd38e9a.
+* relax the test simulation rate for timer canceling tests. (`#2453 <https://github.com/ros2/rclcpp/issues/2453>`_)
+* Fix TypeAdapted publishing with large messages. (`#2443 <https://github.com/ros2/rclcpp/issues/2443>`_)
+  Mostly by ensuring we aren't attempting to store
+  large messages on the stack.  Also add in tests.
+  I verified that before these changes, the tests failed,
+  while after them they succeed.
+* Implement generic client (`#2358 <https://github.com/ros2/rclcpp/issues/2358>`_)
+  * Implement generic client
+  * Fix the incorrect parameter declaration
+  * Deleted copy constructor and assignment for FutureAndRequestId
+  * Update codes after rebase
+  * Address review comments
+  * Address review comments from iuhilnehc-ynos
+  * Correct an error in a description
+  * Fix window build errors
+  * Address review comments from William
+  * Add doc strings to create_generic_client
+  ---------
+* Rule of five: implement move operators (`#2425 <https://github.com/ros2/rclcpp/issues/2425>`_)
+* Various cleanups to deal with uncrustify 0.78. (`#2439 <https://github.com/ros2/rclcpp/issues/2439>`_)
+  These should also work with uncrustify 0.72.
+* Remove the set_deprecated signatures in any_subscription_callback. (`#2431 <https://github.com/ros2/rclcpp/issues/2431>`_)
+  These have been deprecated since April 2021, so it is safe
+  to remove them now.
+* fix doxygen syntax for NodeInterfaces (`#2428 <https://github.com/ros2/rclcpp/issues/2428>`_)
+* Set hints to find the python version we actually want. (`#2426 <https://github.com/ros2/rclcpp/issues/2426>`_)
+  The comment in the commit explains the reasoning behind it.
+* Update quality declaration documents (`#2427 <https://github.com/ros2/rclcpp/issues/2427>`_)
+* feat: add/minus for msg::Time and rclcpp::Duration (`#2419 <https://github.com/ros2/rclcpp/issues/2419>`_)
+  * feat: add/minus for msg::Time and rclcpp::Duration
+* Contributors: Alberto Soragna, Barry Xu, Chris Lalancette, Christophe Bedard, HuaTsai, Jonas Otto, Tim Clephas, Tomoya Fujita, William Woodall
+
+27.0.0 (2024-02-07)
+-------------------
+* Split test_executors up into smaller chunks. (`#2421 <https://github.com/ros2/rclcpp/issues/2421>`_)
+* [events executor] - Fix Behavior with Timer Cancel (`#2375 <https://github.com/ros2/rclcpp/issues/2375>`_)
+* Removed deprecated header (`#2413 <https://github.com/ros2/rclcpp/issues/2413>`_)
+* Make sure to mark RingBuffer methods as 'override'. (`#2410 <https://github.com/ros2/rclcpp/issues/2410>`_)
+* Contributors: Alejandro Hernández Cordero, Chris Lalancette, Matt Condino
+
+26.0.0 (2024-01-24)
+-------------------
+* Increase the cppcheck timeout to 600 seconds. (`#2409 <https://github.com/ros2/rclcpp/issues/2409>`_)
+* Add transient local durability support to publisher and subscriptions when using intra-process communication (`#2303 <https://github.com/ros2/rclcpp/issues/2303>`_)
+* Stop storing the context in the guard condition. (`#2400 <https://github.com/ros2/rclcpp/issues/2400>`_)
+* Contributors: Chris Lalancette, Jeffery Hsu
+
+25.0.0 (2023-12-26)
+-------------------
+* Updated GenericSubscription to AnySubscriptionCallback (`#1928 <https://github.com/ros2/rclcpp/issues/1928>`_)
+* make type support helper supported for service (`#2209 <https://github.com/ros2/rclcpp/issues/2209>`_)
+* Adding QoS to subscription options (`#2323 <https://github.com/ros2/rclcpp/issues/2323>`_)
+* Switch to target_link_libraries. (`#2374 <https://github.com/ros2/rclcpp/issues/2374>`_)
+* aligh with rcl that a rosout publisher of a node might not exist (`#2357 <https://github.com/ros2/rclcpp/issues/2357>`_)
+* Fix data race in EventHandlerBase (`#2349 <https://github.com/ros2/rclcpp/issues/2349>`_)
+* Support users holding onto shared pointers in the message memory pool (`#2336 <https://github.com/ros2/rclcpp/issues/2336>`_)
+* Contributors: Chen Lihui, Chris Lalancette, DensoADAS, Lucas Wendland, mauropasse
+
+24.0.0 (2023-11-06)
+-------------------
+* fix (signal_handler.hpp): spelling (`#2356 <https://github.com/ros2/rclcpp/issues/2356>`_)
+* Updates to not use std::move in some places. (`#2353 <https://github.com/ros2/rclcpp/issues/2353>`_)
+* rclcpp::Time::max() clock type support. (`#2352 <https://github.com/ros2/rclcpp/issues/2352>`_)
+* Serialized Messages with Topic Statistics (`#2274 <https://github.com/ros2/rclcpp/issues/2274>`_)
+* Add a custom deleter when constructing rcl_service_t (`#2351 <https://github.com/ros2/rclcpp/issues/2351>`_)
+* Disable the loaned messages inside the executor. (`#2335 <https://github.com/ros2/rclcpp/issues/2335>`_)
+* Use message_info in SubscriptionTopicStatistics instead of typed message (`#2337 <https://github.com/ros2/rclcpp/issues/2337>`_)
+* Add missing 'enable_rosout' comments (`#2345 <https://github.com/ros2/rclcpp/issues/2345>`_)
+* Adjust rclcpp usage of type description service (`#2344 <https://github.com/ros2/rclcpp/issues/2344>`_)
+* address rate related flaky tests. (`#2329 <https://github.com/ros2/rclcpp/issues/2329>`_)
+* Fixes pointed out by the clang analyzer. (`#2339 <https://github.com/ros2/rclcpp/issues/2339>`_)
+* Remove useless ROSRate class (`#2326 <https://github.com/ros2/rclcpp/issues/2326>`_)
+* Contributors: Alexey Merzlyakov, Chris Lalancette, Jiaqi Li, Lucas Wendland, Michael Carroll, Michael Orlov, Tomoya Fujita, Zard-C
+
+23.2.0 (2023-10-09)
+-------------------
+* add clients & services count (`#2072 <https://github.com/ros2/rclcpp/issues/2072>`_)
+* remove invalid sized allocation test for SerializedMessage. (`#2330 <https://github.com/ros2/rclcpp/issues/2330>`_)
+* Adding API to copy all parameters from one node to another (`#2304 <https://github.com/ros2/rclcpp/issues/2304>`_)
+* Contributors: Minju, Lee, Steve Macenski, Tomoya Fujita
+
+23.1.0 (2023-10-04)
+-------------------
+* Add locking to protect the TimeSource::NodeState::node_base\_ (`#2320 <https://github.com/ros2/rclcpp/issues/2320>`_)
+* Update SignalHandler get_global_signal_handler to avoid complex types in static memory (`#2316 <https://github.com/ros2/rclcpp/issues/2316>`_)
+* Removing Old Connext Tests (`#2313 <https://github.com/ros2/rclcpp/issues/2313>`_)
+* Documentation for list_parameters  (`#2315 <https://github.com/ros2/rclcpp/issues/2315>`_)
+* Decouple rosout publisher init from node init. (`#2174 <https://github.com/ros2/rclcpp/issues/2174>`_)
+* fix the depth to relative in list_parameters (`#2300 <https://github.com/ros2/rclcpp/issues/2300>`_)
+* Contributors: Chris Lalancette, Lucas Wendland, Minju, Lee, Tomoya Fujita, Tully Foote
+
+23.0.0 (2023-09-08)
+-------------------
+* Fix the return type of Rate::period. (`#2301 <https://github.com/ros2/rclcpp/issues/2301>`_)
+* Update API docs links in package READMEs (`#2302 <https://github.com/ros2/rclcpp/issues/2302>`_)
+* Cleanup flaky timers_manager tests. (`#2299 <https://github.com/ros2/rclcpp/issues/2299>`_)
+* Contributors: Chris Lalancette, Christophe Bedard
+
+22.2.0 (2023-09-07)
+-------------------
+* Topic correct typeadapter deduction (`#2294 <https://github.com/ros2/rclcpp/issues/2294>`_)
+* Fix C++20 allocator construct deprecation (`#2292 <https://github.com/ros2/rclcpp/issues/2292>`_)
+* Make Rate to select the clock to work with (`#2123 <https://github.com/ros2/rclcpp/issues/2123>`_)
+* Correct the position of a comment. (`#2290 <https://github.com/ros2/rclcpp/issues/2290>`_)
+* Remove unnecessary lambda captures in the tests. (`#2289 <https://github.com/ros2/rclcpp/issues/2289>`_)
+* Add rcl_logging_interface as an explicit dependency. (`#2284 <https://github.com/ros2/rclcpp/issues/2284>`_)
+* Revamp list_parameters to be more efficient and easier to read. (`#2282 <https://github.com/ros2/rclcpp/issues/2282>`_)
+* Contributors: AiVerisimilitude, Alexey Merzlyakov, Chen Lihui, Chris Lalancette, Jiaqi Li
+
+22.1.0 (2023-08-21)
+-------------------
+* Do not crash Executor when send_response fails due to client failure. (`#2276 <https://github.com/ros2/rclcpp/issues/2276>`_)
+* Adding Custom Unknown Type Error (`#2272 <https://github.com/ros2/rclcpp/issues/2272>`_)
+* Add a pimpl inside rclcpp::Node for future distro backports (`#2228 <https://github.com/ros2/rclcpp/issues/2228>`_)
+* Remove an unused variable from the events executor tests. (`#2270 <https://github.com/ros2/rclcpp/issues/2270>`_)
+* Add spin_all shortcut (`#2246 <https://github.com/ros2/rclcpp/issues/2246>`_)
+* Adding Missing Group Exceptions (`#2256 <https://github.com/ros2/rclcpp/issues/2256>`_)
+* Change associated clocks storage to unordered_set (`#2257 <https://github.com/ros2/rclcpp/issues/2257>`_)
+* associated clocks should be protected by mutex. (`#2255 <https://github.com/ros2/rclcpp/issues/2255>`_)
+* Instrument loaned message publication code path (`#2240 <https://github.com/ros2/rclcpp/issues/2240>`_)
+* Contributors: Chris Lalancette, Christophe Bedard, Emerson Knapp, Luca Della Vedova, Lucas Wendland, Tomoya Fujita, Tony Najjar
+
+22.0.0 (2023-07-11)
+-------------------
+* Implement get_node_type_descriptions_interface for lifecyclenode and add smoke test for it (`#2237 <https://github.com/ros2/rclcpp/issues/2237>`_)
+* Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service (`#2224 <https://github.com/ros2/rclcpp/issues/2224>`_)
+* Move always_false_v to detail namespace (`#2232 <https://github.com/ros2/rclcpp/issues/2232>`_)
+* Revamp the test_subscription.cpp tests. (`#2227 <https://github.com/ros2/rclcpp/issues/2227>`_)
+* warning: comparison of integer expressions of different signedness (`#2219 <https://github.com/ros2/rclcpp/issues/2219>`_)
+* Modifies timers API to select autostart state (`#2005 <https://github.com/ros2/rclcpp/issues/2005>`_)
+* Enable callback group tests for connextdds (`#2182 <https://github.com/ros2/rclcpp/issues/2182>`_)
+* Contributors: Chris Lalancette, Christopher Wecht, Eloy Briceno, Emerson Knapp, Nathan Wiebe Neufeldt, Tomoya Fujita
+
+21.3.0 (2023-06-12)
+-------------------
+* Fix up misspellings of "receive". (`#2208 <https://github.com/ros2/rclcpp/issues/2208>`_)
+* Remove flaky stressAddRemoveNode test (`#2206 <https://github.com/ros2/rclcpp/issues/2206>`_)
+* Use TRACETOOLS\_ prefix for tracepoint-related macros (`#2162 <https://github.com/ros2/rclcpp/issues/2162>`_)
+* Contributors: Chris Lalancette, Christophe Bedard, Michael Carroll
+
+21.2.0 (2023-06-07)
+-------------------
+* remove nolint since ament_cpplint updated for the c++17 header (`#2198 <https://github.com/ros2/rclcpp/issues/2198>`_)
+* Feature/available capacity of ipm (`#2173 <https://github.com/ros2/rclcpp/issues/2173>`_)
+* add mutex to protect events_executor current entity collection (`#2187 <https://github.com/ros2/rclcpp/issues/2187>`_)
+* Declare rclcpp callbacks before the rcl entities (`#2024 <https://github.com/ros2/rclcpp/issues/2024>`_)
+* Contributors: Alberto Soragna, Chen Lihui, DensoADAS, mauropasse
+
+21.1.1 (2023-05-11)
+-------------------
+* Fix race condition in events-executor (`#2177 <https://github.com/ros2/rclcpp/issues/2177>`_)
+* Add missing stdexcept include (`#2186 <https://github.com/ros2/rclcpp/issues/2186>`_)
+* Fix a format-security warning when building with clang (`#2171 <https://github.com/ros2/rclcpp/issues/2171>`_)
+* Fix delivered message kind (`#2175 <https://github.com/ros2/rclcpp/issues/2175>`_)
+* Contributors: Alberto Soragna, Chris Lalancette, methylDragon, Øystein Sture
+
+21.1.0 (2023-04-27)
+-------------------
+
+21.0.0 (2023-04-18)
+-------------------
+* Add support for logging service. (`#2122 <https://github.com/ros2/rclcpp/issues/2122>`_)
+* Picking ABI-incompatible executor changes (`#2170 <https://github.com/ros2/rclcpp/issues/2170>`_)
+* add events-executor and timers-manager in rclcpp (`#2155 <https://github.com/ros2/rclcpp/issues/2155>`_)
+* Create common structures for executors to use (`#2143 <https://github.com/ros2/rclcpp/issues/2143>`_)
+* Implement deliver message kind (`#2168 <https://github.com/ros2/rclcpp/issues/2168>`_)
+* Contributors: Alberto Soragna, Lei Liu, Michael Carroll, methylDragon
+
+20.0.0 (2023-04-13)
+-------------------
+* applied tracepoints for ring_buffer (`#2091 <https://github.com/ros2/rclcpp/issues/2091>`_)
+* Dynamic Subscription (REP-2011 Subset): Stubs for rclcpp (`#2165 <https://github.com/ros2/rclcpp/issues/2165>`_)
+* Add type_hash to cpp TopicEndpointInfo (`#2137 <https://github.com/ros2/rclcpp/issues/2137>`_)
+* Trigger the intraprocess guard condition with data (`#2164 <https://github.com/ros2/rclcpp/issues/2164>`_)
+* Minor grammar fix (`#2149 <https://github.com/ros2/rclcpp/issues/2149>`_)
+* Fix unnecessary allocations in executor.cpp (`#2135 <https://github.com/ros2/rclcpp/issues/2135>`_)
+* add Logger::get_effective_level(). (`#2141 <https://github.com/ros2/rclcpp/issues/2141>`_)
+* Remove deprecated header (`#2139 <https://github.com/ros2/rclcpp/issues/2139>`_)
+* Implement matched event (`#2105 <https://github.com/ros2/rclcpp/issues/2105>`_)
+* use allocator via init_options argument. (`#2129 <https://github.com/ros2/rclcpp/issues/2129>`_)
+* Fixes to silence some clang warnings. (`#2127 <https://github.com/ros2/rclcpp/issues/2127>`_)
+* Documentation improvements on the executor (`#2125 <https://github.com/ros2/rclcpp/issues/2125>`_)
+* Avoid losing waitable handles while using MultiThreadedExecutor (`#2109 <https://github.com/ros2/rclcpp/issues/2109>`_)
+* Hook up the incompatible type event inside of rclcpp (`#2069 <https://github.com/ros2/rclcpp/issues/2069>`_)
+* Update all rclcpp packages to C++17. (`#2121 <https://github.com/ros2/rclcpp/issues/2121>`_)
+* Fix clang warning: bugprone-use-after-move (`#2116 <https://github.com/ros2/rclcpp/issues/2116>`_)
+* Contributors: Barry Xu, Chris Lalancette, Christopher Wecht, Emerson Knapp, Michael Carroll, Tomoya Fujita, Yadu, mauropasse, methylDragon, ymski
+
 19.3.0 (2023-03-01)
 -------------------
 * Fix memory leak in tracetools::get_symbol() (`#2104 <https://github.com/ros2/rclcpp/issues/2104>`_)

rclcpp/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.20)
 
 project(rclcpp)
 
@@ -10,11 +10,14 @@ find_package(builtin_interfaces REQUIRED)
 find_package(libstatistics_collector REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
+find_package(rcl_logging_interface REQUIRED)
 find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
+find_package(rosidl_dynamic_typesupport REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_runtime_cpp REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
@@ -42,25 +45,38 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/clock.cpp
   src/rclcpp/context.cpp
   src/rclcpp/contexts/default_context.cpp
+  src/rclcpp/create_generic_client.cpp
   src/rclcpp/detail/add_guard_condition_to_rcl_wait_set.cpp
+  src/rclcpp/detail/resolve_intra_process_buffer_type.cpp
   src/rclcpp/detail/resolve_parameter_overrides.cpp
   src/rclcpp/detail/rmw_implementation_specific_payload.cpp
   src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp
   src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
   src/rclcpp/detail/utilities.cpp
   src/rclcpp/duration.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp
   src/rclcpp/event.cpp
   src/rclcpp/exceptions/exceptions.cpp
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
+  src/rclcpp/executor_options.cpp
   src/rclcpp/executors.cpp
+  src/rclcpp/executors/executor_entities_collection.cpp
+  src/rclcpp/executors/executor_entities_collector.cpp
+  src/rclcpp/executors/executor_notify_waitable.cpp
   src/rclcpp/executors/multi_threaded_executor.cpp
   src/rclcpp/executors/single_threaded_executor.cpp
-  src/rclcpp/executors/static_executor_entities_collector.cpp
-  src/rclcpp/executors/static_single_threaded_executor.cpp
   src/rclcpp/expand_topic_or_service_name.cpp
+  src/rclcpp/experimental/executors/events_executor/events_executor.cpp
+  src/rclcpp/experimental/timers_manager.cpp
   src/rclcpp/future_return_code.cpp
+  src/rclcpp/generic_client.cpp
   src/rclcpp/generic_publisher.cpp
+  src/rclcpp/generic_service.cpp
   src/rclcpp/generic_subscription.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp
@@ -82,10 +98,12 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/node_interfaces/node_time_source.cpp
   src/rclcpp/node_interfaces/node_timers.cpp
   src/rclcpp/node_interfaces/node_topics.cpp
+  src/rclcpp/node_interfaces/node_type_descriptions.cpp
   src/rclcpp/node_interfaces/node_waitables.cpp
   src/rclcpp/node_options.cpp
   src/rclcpp/parameter.cpp
   src/rclcpp/parameter_client.cpp
+  src/rclcpp/parameter_descriptor_wrapper.cpp
   src/rclcpp/parameter_event_handler.cpp
   src/rclcpp/parameter_events_filter.cpp
   src/rclcpp/parameter_map.cpp
@@ -95,6 +113,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/qos.cpp
   src/rclcpp/event_handler.cpp
   src/rclcpp/qos_overriding_options.cpp
+  src/rclcpp/rate.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp
@@ -111,28 +130,22 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/waitable.cpp
 )
 
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
+# By default, without the settings below, find_package(Python3) will attempt
+# to find the newest python version it can, and additionally will find the
+# most specific version.  For instance, on a system that has
+# /usr/bin/python3.10, /usr/bin/python3.11, and /usr/bin/python3, it will find
+# /usr/bin/python3.11, even if /usr/bin/python3 points to /usr/bin/python3.10.
+# The behavior we want is to prefer the "system" installed version unless the
+# user specifically tells us othewise through the Python3_EXECUTABLE hint.
+# Setting CMP0094 to NEW means that the search will stop after the first
+# python version is found.  Setting Python3_FIND_UNVERSIONED_NAMES means that
+# the search will prefer /usr/bin/python3 over /usr/bin/python3.11.  And that
+# latter functionality is only available in CMake 3.20 or later, so we need
+# at least that version.
+cmake_policy(SET CMP0094 NEW)
+set(Python3_FIND_UNVERSIONED_NAMES FIRST)
 
-# "watch" template for changes
-configure_file(
-  "resource/logging.hpp.em"
-  "logging.hpp.em.watch"
-  COPYONLY
-)
-# generate header with logging macros
-set(python_code_logging
-  "import em"
-  "em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")
-string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")
-add_custom_command(OUTPUT include/rclcpp/logging.hpp
-  COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
-  COMMAND Python3::Interpreter ARGS -c "${python_code_logging}"
-  DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
-  COMMENT "Expanding logging.hpp.em"
-  VERBATIM
-)
-list(APPEND ${PROJECT_NAME}_SRCS
-  include/rclcpp/logging.hpp)
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
 
 file(GLOB interface_files "include/rclcpp/node_interfaces/node_*_interface.hpp")
 foreach(interface_file ${interface_files})
@@ -189,22 +202,28 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
-# specific order: dependents before dependencies
-ament_target_dependencies(${PROJECT_NAME}
-  "ament_index_cpp"
-  "libstatistics_collector"
-  "rcl"
-  "rcl_interfaces"
-  "rcl_yaml_param_parser"
-  "rcpputils"
-  "rcutils"
-  "builtin_interfaces"
-  "rosgraph_msgs"
-  "rosidl_typesupport_cpp"
-  "rosidl_runtime_cpp"
-  "statistics_msgs"
-  "tracetools"
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ${builtin_interfaces_TARGETS}
+  libstatistics_collector::libstatistics_collector
+  rcl::rcl
+  ${rcl_interfaces_TARGETS}
+  rcl_yaml_param_parser::rcl_yaml_param_parser
+  rcpputils::rcpputils
+  rcutils::rcutils
+  rmw::rmw
+  ${rosgraph_msgs_TARGETS}
+  rosidl_dynamic_typesupport::rosidl_dynamic_typesupport
+  rosidl_runtime_c::rosidl_runtime_c
+  rosidl_runtime_cpp::rosidl_runtime_cpp
+  rosidl_typesupport_cpp::rosidl_typesupport_cpp
+  ${statistics_msgs_TARGETS}
+  tracetools::tracetools
+  ${CMAKE_THREAD_LIBS_INIT}
+)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  ament_index_cpp::ament_index_cpp
+  rcl_logging_interface::rcl_logging_interface
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,
@@ -226,20 +245,23 @@ ament_export_libraries(${PROJECT_NAME})
 # Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})
 
-# specific order: dependents before dependencies
-ament_export_dependencies(ament_index_cpp)
-ament_export_dependencies(libstatistics_collector)
-ament_export_dependencies(rcl)
-ament_export_dependencies(rcpputils)
-ament_export_dependencies(rcutils)
-ament_export_dependencies(builtin_interfaces)
-ament_export_dependencies(rosgraph_msgs)
-ament_export_dependencies(rosidl_typesupport_cpp)
-ament_export_dependencies(rosidl_typesupport_c)
-ament_export_dependencies(rosidl_runtime_cpp)
-ament_export_dependencies(rcl_yaml_param_parser)
-ament_export_dependencies(statistics_msgs)
-ament_export_dependencies(tracetools)
+ament_export_dependencies(
+  builtin_interfaces
+  libstatistics_collector
+  rcl
+  rcl_interfaces
+  rcl_yaml_param_parser
+  rcpputils
+  rcutils
+  rmw
+  rosgraph_msgs
+  rosidl_dynamic_typesupport
+  rosidl_runtime_c
+  rosidl_runtime_cpp
+  rosidl_typesupport_cpp
+  statistics_msgs
+  tracetools
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -257,7 +279,7 @@ install(
 
 if(TEST cppcheck)
   # must set the property after ament_package()
-  set_tests_properties(cppcheck PROPERTIES TIMEOUT 500)
+  set_tests_properties(cppcheck PROPERTIES TIMEOUT 1200)
 endif()
 
 if(TEST cpplint)

rclcpp/Doxyfile

@@ -21,6 +21,22 @@ GENERATE_LATEX         = NO
 ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
+EXCLUDE_SYMBOLS        += RCLCPP_STATIC_ASSERT_LOGGER
+EXCLUDE_SYMBOLS        += RCLCPP_LOG
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_ONCE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_EXPRESSION
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_FUNCTION
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_SKIPFIRST
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_TIME_POINT_FUNC
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_THROTTLE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_SKIPFIRST_THROTTLE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_ONCE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_EXPRESSION
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_FUNCTION
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_SKIPFIRST
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_THROTTLE
+EXCLUDE_SYMBOLS        += RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
 PREDEFINED             += DOXYGEN_ONLY
 PREDEFINED             += RCLCPP_LOCAL=
 PREDEFINED             += RCLCPP_PUBLIC=

rclcpp/QUALITY_DECLARATION.md

@@ -1,10 +1,10 @@
-This document is a declaration of software quality for the `rclcpp` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+This document is a declaration of software quality for the `rclcpp` package, based on the guidelines in [REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 # rclcpp Quality Declaration
 
 The package `rclcpp` claims to be in the **Quality Level 1** category when it is used with a **Quality Level 1** middleware.
 
-Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Quality Categories in REP-2004](https://www.ros.org/reps/rep-2004.html) of the ROS2 developer guide.
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 1 in REP-2004](https://reps.openrobotics.org/rep-2004/).
 
 ## Version Policy [1]
 
@@ -55,7 +55,7 @@ All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://d
 
 ### Continuous Integration [2.iv]
 
-All pull requests must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+All pull requests must pass CI on all [tier 1 platforms](https://reps.openrobotics.org/rep-2000/#support-tiers)
 
 Currently nightly results can be seen here:
 
@@ -94,7 +94,7 @@ There is an automated test which runs a linter that ensures each file has at lea
 
 ### Feature Testing [4.i]
 
-Each feature in `rclcpp` has corresponding tests which simulate typical usage, and they are located in the [`test`](https://github.com/ros2/rclcpp/tree/master/test) directory.
+Each feature in `rclcpp` has corresponding tests which simulate typical usage, and they are located in the [`test`](https://github.com/ros2/rclcpp/tree/rolling/test) directory.
 New features are required to have tests before being added.
 
 Currently nightly test results can be seen here:
@@ -129,7 +129,7 @@ Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly
 
 `rclcpp` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#performance), and opts to do performance analysis on each release rather than each change.
 
-The performance tests of `rclcpp` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/master/rclcpp/test/benchmark).
+The performance tests of `rclcpp` are located in the [test/benchmark directory](https://github.com/ros2/rclcpp/tree/rolling/rclcpp/test/benchmark).
 
 System level performance benchmarks that cover features of `rclcpp` can be found at:
 * [Benchmarks](http://build.ros2.org/view/Rci/job/Rci__benchmark_ubuntu_focal_amd64/BenchmarkTable/)
@@ -139,7 +139,7 @@ Changes that introduce regressions in performance must be adequately justified i
 
 ### Linters and Static Analysis [4.v]
 
-`rclcpp` uses and passes all the ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
+`rclcpp` uses and passes all the ROS 2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#linters-and-static-analysis). Passing implies there are no linter/static errors when testing against CI of supported platforms.
 
 Currently nightly test results can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rclcpp/)
@@ -163,49 +163,49 @@ It also has several test dependencies, which do not affect the resulting quality
 
 The `libstatistics_collector` package provides lightweight aggregation utilities to collect statistics and measure message metrics.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/master/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros-tooling/libstatistics_collector/tree/rolling/QUALITY_DECLARATION.md).
 
 #### `rcl`
 
 `rcl` a library to support implementation of language specific ROS 2 Client Libraries.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/master/rcl/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/blob/rolling/rcl/QUALITY_DECLARATION.md).
 
 #### `rcl_yaml_param_parser`
 
 The `rcl_yaml_param_parser` package provides an API that is used to parse YAML configuration files which may be used to configure ROS and specific nodes.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/master/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl/tree/rolling/rcl_yaml_param_parser/QUALITY_DECLARATION.md).
 
 #### `rcpputils`
 
 The `rcpputils` package provides an API which contains common utilities and data structures useful when programming in C++.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcpputils/blob/rolling/QUALITY_DECLARATION.md).
 
 #### `rcutils`
 
 The `rcutils` package provides an API which contains common utilities and data structures useful when programming in C.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcutils/blob/rolling/QUALITY_DECLARATION.md).
 
 #### `rmw`
 
 `rmw` is the ROS 2 middleware library.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rmw/blob/rolling/rmw/QUALITY_DECLARATION.md).
 
 #### `statistics_msgs`
 
 The `statistics_msgs` package contains ROS 2 message definitions for reporting statistics for topics and system resources.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/master/statistics_msgs/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/rcl_interfaces/blob/rolling/statistics_msgs/QUALITY_DECLARATION.md).
 
 #### `tracetools`
 
 The `tracetools` package provides utilities for instrumenting the code in `rclcpp` so that it may be traced for debugging and performance analysis.
 
-It is **Quality Level 1**, see its [Quality Declaration document](https://gitlab.com/ros-tracing/ros2_tracing/-/blob/master/tracetools/QUALITY_DECLARATION.md).
+It is **Quality Level 1**, see its [Quality Declaration document](https://github.com/ros2/ros2_tracing/blob/rolling/tracetools/QUALITY_DECLARATION.md).
 
 ### Direct Runtime non-ROS Dependency [5.iii]
 
@@ -213,7 +213,7 @@ It is **Quality Level 1**, see its [Quality Declaration document](https://gitlab
 
 ## Platform Support [6]
 
-`rclcpp` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+`rclcpp` supports all of the tier 1 platforms as described in [REP-2000](https://reps.openrobotics.org/rep-2000/#support-tiers), and tests each change against all of them.
 
 Currently nightly build status can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/rclcpp/)
@@ -225,4 +225,4 @@ Currently nightly build status can be seen here:
 
 ### Vulnerability Disclosure Policy [7.i]
 
-This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).
+This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://reps.openrobotics.org/rep-2006/).

rclcpp/README.md

@@ -2,7 +2,7 @@
 
 The ROS client library in C++.
 
-Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components and features.
+The link to the latest rclcpp API documentation, which includes a complete list of its main components and features, can be found on the [rclcpp package info page](https://docs.ros.org/en/rolling/p/rclcpp).
 
 ## Quality Declaration
 

rclcpp/doc/api_review_march_2020.md

@@ -434,4 +434,3 @@
 
 - (tfoote) There should be no jumps in steady time. If there's a big change in system time, it doesn't necessarily mean that time jumped, just that you might have been sleeping for a long time. Most ntp systems adjust the slew rate these days instead of jumping but still that's an external process and I don't know of any APIs to introspect the state of the clock. I'm not sure that we have a way to detect jumps in time for system or steady time. To that end I think that we should be clear that we only provide callbacks when simulation time starts or stops, or simulation time jumps. We should also strongly recommend that operators not actively adjust their system clocks while running ROS nodes.
 - (jacobperron) I agree with Tully, if we don't have a way to detect system time jumps then I think we should just document that this only works with ROS time. In addition to documentation, we could log an info or warning message if the user registers jump callback with steady or system time, but it may be unnecessarily noisy.
-

rclcpp/doc/proposed_node_parameter_callbacks.md

@@ -2,15 +2,15 @@
 
 ## Introduction:
 
-The original requirement came in **gazebo_ros_pkgs** for setting individual wheel slip parameters based on global wheel slip value [link to original issue](https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1365). 
+The original requirement came in **gazebo_ros_pkgs** for setting individual wheel slip parameters based on global wheel slip value [link to original issue](https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1365).
 
-The main requirement is to set one or more parameters after another parameter is set successfully. 
+The main requirement is to set one or more parameters after another parameter is set successfully.
 
 Additionally, it would be nice if users could be notified locally (via a callback) when parameters have been set successfully (i.e. post validation).
 
 Related discussion can be found in [#609](https://github.com/ros2/rclcpp/issues/609) [#1789](https://github.com/ros2/rclcpp/pull/1789)
 
-With the current parameters API, the `add_on_set_parameters_callback` is intended for validation of parameter values before they are set, it should **not** cause any side-effects. 
+With the current parameters API, the `add_on_set_parameters_callback` is intended for validation of parameter values before they are set, it should **not** cause any side-effects.
 
 There is also the `ParameterEventHandler` that publishes changes to node parameters on `/parameter_events` topic for external nodes to see. Though the node could subscribe to the `/parameter_events` topic to be notified of changes to its own parameters, it is less than ideal since there is a delay caused by waiting for an executor to process the callback.
 
@@ -19,11 +19,11 @@ We propose adding a `PostSetParametersCallbackHandle` for successful parameter s
 The validation callback is often abused to trigger side effects in the code, for instance updating class attributes even before a parameter has been set successfully. Instead of relying on the `/parameter_events` topic to be notified of parameter changes, users can register a callback with a new API, `add_post_set_parameters_callback`.
 
 It is possible to use the proposed `add_post_set_parameters_callback` for setting additional parameters, but this might result in infinite recursion and does not allow those additional parameters to be set atomically with the original parameter(s) changed.
-To workaround these issues, we propose adding a "pre set" callback type that can be registered with `add_pre_set_parameters_callback`, which will be triggered before the validation callbacks and can be used to modify the parameter list. 
+To workaround these issues, we propose adding a "pre set" callback type that can be registered with `add_pre_set_parameters_callback`, which will be triggered before the validation callbacks and can be used to modify the parameter list.
 
 ![Desgin API](https://github.com/ros2/rclcpp/blob/deepanshu/local-param-changed-callback-support/rclcpp/doc/param_callback_design.png?raw=true)
 
 ## Alternatives
 
 * Users could call `set_parameter` while processing a message from the `/parameter_events` topic, however, there is extra overhead in having to create subscription (as noted earlier).
-* Users could call `set_parameter` inside the "on set" parameters callback, however it is not well-defined how side-effects should handle cases where parameter validation fails.
+* Users could call `set_parameter` inside the "on set" parameters callback, however it is not well-defined how side-effects should handle cases where parameter validation fails.

rclcpp/include/rclcpp/allocator/allocator_common.hpp

@@ -27,10 +27,39 @@ namespace rclcpp
 namespace allocator
 {
 
+template<typename T>
+using clean_t = std::remove_cv_t<std::remove_reference_t<T>>;
+
+// Primary template: false
+template<typename, typename = std::void_t<>>
+struct has_get_rcl_allocator : std::false_type {};
+
+// Specialization: true if expression is valid
+template<typename T>
+struct has_get_rcl_allocator<T,
+  std::void_t<
+    decltype(std::declval<clean_t<T> &>().get_rcl_allocator())
+  >
+>
+  : std::bool_constant<
+    std::is_same_v<
+      decltype(std::declval<clean_t<T> &>().get_rcl_allocator()),
+      rcl_allocator_t
+    >
+  >
+{};
+
+// Helper variable template
+template<typename T>
+inline constexpr bool has_get_rcl_allocator_v =
+  has_get_rcl_allocator<T>::value;
+
 template<typename T, typename Alloc>
 using AllocRebind = typename std::allocator_traits<Alloc>::template rebind_traits<T>;
 
 template<typename Alloc>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros.")]]
 void * retyped_allocate(size_t size, void * untyped_allocator)
 {
   auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
@@ -41,6 +70,8 @@ void * retyped_allocate(size_t size, void * untyped_allocator)
 }
 
 template<typename Alloc>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros.")]]
 void * retyped_zero_allocate(size_t number_of_elem, size_t size_of_elem, void * untyped_allocator)
 {
   auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
@@ -57,6 +88,8 @@ void * retyped_zero_allocate(size_t number_of_elem, size_t size_of_elem, void *
 }
 
 template<typename T, typename Alloc>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros.")]]
 void retyped_deallocate(void * untyped_pointer, void * untyped_allocator)
 {
   auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
@@ -68,6 +101,8 @@ void retyped_deallocate(void * untyped_pointer, void * untyped_allocator)
 }
 
 template<typename T, typename Alloc>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros.")]]
 void * retyped_reallocate(void * untyped_pointer, size_t size, void * untyped_allocator)
 {
   auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
@@ -85,6 +120,9 @@ template<
   typename T,
   typename Alloc,
   typename std::enable_if<!std::is_same<Alloc, std::allocator<void>>::value>::type * = nullptr>
+[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
+  "can not be determined. This will be remove in future versions of ros. To suppress this warning"
+  "define the method 'rcl_allocator_t get_rcl_allocator()' on your allocator")]]
 rcl_allocator_t get_rcl_allocator(Alloc & allocator)
 {
   rcl_allocator_t rcl_allocator = rcl_get_default_allocator();

rclcpp/include/rclcpp/allocator/allocator_deleter.hpp

@@ -69,18 +69,17 @@ private:
 };
 
 template<typename Alloc, typename T, typename D>
-void set_allocator_for_deleter(D * deleter, Alloc * alloc)
+void set_allocator_for_deleter([[maybe_unused]] D * deleter, [[maybe_unused]] Alloc * alloc)
 {
-  (void) alloc;
-  (void) deleter;
   throw std::runtime_error("Reached unexpected template specialization");
 }
 
 template<typename T, typename U>
-void set_allocator_for_deleter(std::default_delete<T> * deleter, std::allocator<U> * alloc)
+void set_allocator_for_deleter(
+  [[maybe_unused]] std::default_delete<T> * deleter,
+  [[maybe_unused]] std::allocator<U> * alloc)
 {
-  (void) deleter;
-  (void) alloc;
+  // This function is intentionally left empty.
 }
 
 template<typename Alloc, typename T>

rclcpp/include/rclcpp/any_executable.hpp

@@ -45,9 +45,9 @@ struct AnyExecutable
   rclcpp::ClientBase::SharedPtr client;
   rclcpp::Waitable::SharedPtr waitable;
   // These are used to keep the scope on the containing items
-  rclcpp::CallbackGroup::SharedPtr callback_group;
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
-  std::shared_ptr<void> data;
+  rclcpp::CallbackGroup::SharedPtr callback_group {nullptr};
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base {nullptr};
+  std::shared_ptr<void> data {nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -156,7 +156,7 @@ public:
     const std::shared_ptr<rmw_request_id_t> & request_header,
     std::shared_ptr<typename ServiceT::Request> request)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     if (std::holds_alternative<std::monostate>(callback_)) {
       // TODO(ivanpauno): Remove the set method, and force the users of this class
       // to pass a callback at construnciton.
@@ -165,11 +165,13 @@ public:
     if (std::holds_alternative<SharedPtrDeferResponseCallback>(callback_)) {
       const auto & cb = std::get<SharedPtrDeferResponseCallback>(callback_);
       cb(request_header, std::move(request));
+      TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
       return nullptr;
     }
     if (std::holds_alternative<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_)) {
       const auto & cb = std::get<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_);
       cb(service_handle, request_header, std::move(request));
+      TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
       return nullptr;
     }
     // auto response = allocate_shared<typename ServiceT::Response, Allocator>();
@@ -182,7 +184,7 @@ public:
       const auto & cb = std::get<SharedPtrWithRequestHeaderCallback>(callback_);
       cb(request_header, std::move(request), response);
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
     return response;
   }
 
@@ -191,9 +193,9 @@ public:
 #ifndef TRACETOOLS_DISABLED
     std::visit(
       [this](auto && arg) {
-        if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
+        if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
           char * symbol = tracetools::get_symbol(arg);
-          DO_TRACEPOINT(
+          TRACETOOLS_DO_TRACEPOINT(
             rclcpp_callback_register,
             static_cast<const void *>(this),
             symbol);

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -15,12 +15,14 @@
 #ifndef RCLCPP__ANY_SUBSCRIPTION_CALLBACK_HPP_
 #define RCLCPP__ANY_SUBSCRIPTION_CALLBACK_HPP_
 
+#include <atomic>
 #include <functional>
 #include <memory>
+#include <mutex>
 #include <stdexcept>
 #include <type_traits>
 #include <utility>
-#include <variant>  // NOLINT[build/include_order]
+#include <variant>
 
 #include "rosidl_runtime_cpp/traits.hpp"
 #include "tracetools/tracetools.h"
@@ -30,19 +32,19 @@
 #include "rclcpp/detail/subscription_callback_type_helper.hpp"
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/message_info.hpp"
+#include "rclcpp/serialization.hpp"
 #include "rclcpp/serialized_message.hpp"
 #include "rclcpp/type_adapter.hpp"
 
-
-template<class>
-inline constexpr bool always_false_v = false;
-
 namespace rclcpp
 {
 
 namespace detail
 {
 
+template<class>
+inline constexpr bool always_false_v = false;
+
 template<typename MessageT, typename AllocatorT>
 struct MessageDeleterHelper
 {
@@ -158,13 +160,14 @@ struct AnySubscriptionCallbackPossibleTypes
 template<
   typename MessageT,
   typename AllocatorT,
-  bool is_adapted_type = rclcpp::TypeAdapter<MessageT>::is_specialized::value
+  bool is_adapted_type = rclcpp::TypeAdapter<MessageT>::is_specialized::value,
+  bool is_serialized_type = serialization_traits::is_serialized_message_class<MessageT>::value
 >
 struct AnySubscriptionCallbackHelper;
 
 /// Specialization for when MessageT is not a TypeAdapter.
 template<typename MessageT, typename AllocatorT>
-struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, false>
+struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, false, false>
 {
   using CallbackTypes = AnySubscriptionCallbackPossibleTypes<MessageT, AllocatorT>;
 
@@ -194,7 +197,7 @@ struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, false>
 
 /// Specialization for when MessageT is a TypeAdapter.
 template<typename MessageT, typename AllocatorT>
-struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, true>
+struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, true, false>
 {
   using CallbackTypes = AnySubscriptionCallbackPossibleTypes<MessageT, AllocatorT>;
 
@@ -232,6 +235,26 @@ struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, true>
   >;
 };
 
+/// Specialization for when MessageT is a SerializedMessage to exclude duplicated declarations.
+template<typename MessageT, typename AllocatorT>
+struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, false, true>
+{
+  using CallbackTypes = AnySubscriptionCallbackPossibleTypes<MessageT, AllocatorT>;
+
+  using variant_type = std::variant<
+    typename CallbackTypes::ConstRefSerializedMessageCallback,
+    typename CallbackTypes::ConstRefSerializedMessageWithInfoCallback,
+    typename CallbackTypes::UniquePtrSerializedMessageCallback,
+    typename CallbackTypes::UniquePtrSerializedMessageWithInfoCallback,
+    typename CallbackTypes::SharedConstPtrSerializedMessageCallback,
+    typename CallbackTypes::SharedConstPtrSerializedMessageWithInfoCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageCallback,
+    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageWithInfoCallback,
+    typename CallbackTypes::SharedPtrSerializedMessageCallback,
+    typename CallbackTypes::SharedPtrSerializedMessageWithInfoCallback
+  >;
+};
+
 }  // namespace detail
 
 template<
@@ -354,7 +377,19 @@ public:
     allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
   }
 
-  AnySubscriptionCallback(const AnySubscriptionCallback &) = default;
+  AnySubscriptionCallback(const AnySubscriptionCallback & other)
+  : callback_variant_(other.callback_variant_),
+    callback_disabled_(other.callback_disabled_.load()),
+    subscribed_type_allocator_(other.subscribed_type_allocator_),
+    subscribed_type_deleter_(other.subscribed_type_deleter_),
+    ros_message_type_allocator_(other.ros_message_type_allocator_),
+    ros_message_type_deleter_(other.ros_message_type_deleter_),
+    serialized_message_allocator_(other.serialized_message_allocator_),
+    serialized_message_deleter_(other.serialized_message_deleter_)
+  {
+    allocator::set_allocator_for_deleter(&subscribed_type_deleter_, &subscribed_type_allocator_);
+    allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
+  }
 
   /// Generic function for setting the callback.
   /**
@@ -376,12 +411,27 @@ public:
     constexpr auto is_deprecated =
       rclcpp::function_traits::same_arguments<
       typename scbth::callback_type,
-      std::function<void(std::shared_ptr<MessageT>)>
-      >::value
-      ||
+      std::function<void(std::shared_ptr<SubscribedType>)>
+      >::value ||
       rclcpp::function_traits::same_arguments<
       typename scbth::callback_type,
-      std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>
+      std::function<void(std::shared_ptr<SubscribedType>, const rclcpp::MessageInfo &)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<ROSMessageType>)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<ROSMessageType>, const rclcpp::MessageInfo &)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>
+      >::value ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &)>
       >::value;
 
     // Use the discovered type to force the type of callback when assigning
@@ -400,10 +450,12 @@ public:
 
   /// Function for shared_ptr to non-const MessageT, which is deprecated.
   template<typename SetT>
-#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // *INDENT-OFF*
+  #if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
   // suppress deprecation warnings in `test_any_subscription_callback.cpp`
   [[deprecated("use 'void(std::shared_ptr<const MessageT>)' instead")]]
-#endif
+  #endif
+  // *INDENT-ON*
   void
   set_deprecated(std::function<void(std::shared_ptr<SetT>)> callback)
   {
@@ -412,18 +464,34 @@ public:
 
   /// Function for shared_ptr to non-const MessageT with MessageInfo, which is deprecated.
   template<typename SetT>
-#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // *INDENT-OFF*
+  #if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
   // suppress deprecation warnings in `test_any_subscription_callback.cpp`
   [[deprecated(
           "use 'void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
   )]]
-#endif
+  #endif
+  // *INDENT-ON*
   void
   set_deprecated(std::function<void(std::shared_ptr<SetT>, const rclcpp::MessageInfo &)> callback)
   {
     callback_variant_ = callback;
   }
 
+  /// Disable the callback from being called during dispatch.
+  void disable()
+  {
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    callback_disabled_.store(true);
+  }
+
+  /// Enable the callback to be called during dispatch.
+  void enable()
+  {
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    callback_disabled_.store(false);
+  }
+
   std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>
   create_ros_unique_ptr_from_ros_shared_ptr_message(
     const std::shared_ptr<const ROSMessageType> & message)
@@ -487,12 +555,18 @@ public:
   }
 
   // Dispatch when input is a ros message and the output could be anything.
-  void
+  template<typename TMsg = ROSMessageType>
+  typename std::enable_if<!serialization_traits::is_serialized_message_class<TMsg>::value,
+    void>::type
   dispatch(
     std::shared_ptr<ROSMessageType> message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    if (callback_disabled_.load()) {
+      return;
+    }
+    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -580,19 +654,23 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(always_false_v<T>, "unhandled callback type");
+          static_assert(detail::always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   // Dispatch when input is a serialized message and the output could be anything.
   void
   dispatch(
-    std::shared_ptr<rclcpp::SerializedMessage> serialized_message,
+    std::shared_ptr<const rclcpp::SerializedMessage> serialized_message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    if (callback_disabled_.load()) {
+      return;
+    }
+    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -660,10 +738,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(always_false_v<T>, "unhandled callback type");
+          static_assert(detail::always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   void
@@ -671,7 +749,11 @@ public:
     std::shared_ptr<const SubscribedType> message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    if (callback_disabled_.load()) {
+      return;
+    }
+    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), true);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -790,10 +872,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(always_false_v<T>, "unhandled callback type");
+          static_assert(detail::always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   void
@@ -801,7 +883,11 @@ public:
     std::unique_ptr<SubscribedType, SubscribedTypeDeleter> message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    std::unique_lock<std::recursive_mutex> callback_lock(callback_mutex_);
+    if (callback_disabled_.load()) {
+      return;
+    }
+    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), true);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -924,10 +1010,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(always_false_v<T>, "unhandled callback type");
+          static_assert(detail::always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   constexpr
@@ -965,9 +1051,9 @@ public:
 #ifndef TRACETOOLS_DISABLED
     std::visit(
       [this](auto && callback) {
-        if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
+        if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
           char * symbol = tracetools::get_symbol(callback);
-          DO_TRACEPOINT(
+          TRACETOOLS_DO_TRACEPOINT(
             rclcpp_callback_register,
             static_cast<const void *>(this),
             symbol);
@@ -995,6 +1081,8 @@ private:
   //   http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2020/p2162r0.html
   // For now, compose the variant into this class as a private attribute.
   typename HelperT::variant_type callback_variant_;
+  std::recursive_mutex callback_mutex_;
+  std::atomic_bool callback_disabled_{false};
 
   SubscribedTypeAllocator subscribed_type_allocator_;
   SubscribedTypeDeleter subscribed_type_deleter_;

rclcpp/include/rclcpp/callback_group.hpp

@@ -89,6 +89,7 @@ public:
    * added to the executor in either case.
    *
    * \param[in] group_type The type of the callback group.
+   * \param[in] context A weak pointer to the context associated with this callback group.
    * \param[in] automatically_add_to_executor_with_node A boolean that
    *   determines whether a callback group is automatically added to an executor
    *   with the node with which it is associated.
@@ -96,6 +97,7 @@ public:
   RCLCPP_PUBLIC
   explicit CallbackGroup(
     CallbackGroupType group_type,
+    const rclcpp::Context::WeakPtr & context,
     bool automatically_add_to_executor_with_node = true);
 
   /// Default destructor.
@@ -104,54 +106,84 @@ public:
 
   template<typename Function>
   rclcpp::SubscriptionBase::SharedPtr
-  find_subscription_ptrs_if(Function func) const
+  find_subscription_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::SubscriptionBase, Function>(func, subscription_ptrs_);
   }
 
   template<typename Function>
   rclcpp::TimerBase::SharedPtr
-  find_timer_ptrs_if(Function func) const
+  find_timer_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::TimerBase, Function>(func, timer_ptrs_);
   }
 
   template<typename Function>
   rclcpp::ServiceBase::SharedPtr
-  find_service_ptrs_if(Function func) const
+  find_service_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::ServiceBase, Function>(func, service_ptrs_);
   }
 
   template<typename Function>
   rclcpp::ClientBase::SharedPtr
-  find_client_ptrs_if(Function func) const
+  find_client_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::ClientBase, Function>(func, client_ptrs_);
   }
 
   template<typename Function>
   rclcpp::Waitable::SharedPtr
-  find_waitable_ptrs_if(Function func) const
+  find_waitable_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
   }
 
+  /// Get the total number of entities in this callback group.
+  /**
+   * \return the number of entities in the callback group.
+   */
+  RCLCPP_PUBLIC
+  size_t
+  size() const;
+
+  /// Return a reference to the 'can be taken' atomic boolean.
+  /**
+   * The resulting bool will be true in the case that no executor is currently
+   * using an executable entity from this group.
+   * The resulting bool will be false in the case that an executor is currently
+   * using an executable entity from this group, and the group policy doesn't
+   * allow a second take (eg mutual exclusion)
+   * \return a reference to the flag
+   */
   RCLCPP_PUBLIC
   std::atomic_bool &
   can_be_taken_from();
 
+  /// Get the group type.
+  /**
+   * \return the group type
+   */
   RCLCPP_PUBLIC
   const CallbackGroupType &
   type() const;
 
+  /// Collect all of the entity pointers contained in this callback group.
+  /**
+   * \param[in] sub_func Function to execute for each subscription
+   * \param[in] service_func Function to execute for each service
+   * \param[in] client_func Function to execute for each client
+   * \param[in] timer_func Function to execute for each timer
+   * \param[in] waitable_fuinc Function to execute for each waitable
+   */
   RCLCPP_PUBLIC
-  void collect_all_ptrs(
-    std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> sub_func,
-    std::function<void(const rclcpp::ServiceBase::SharedPtr &)> service_func,
-    std::function<void(const rclcpp::ClientBase::SharedPtr &)> client_func,
-    std::function<void(const rclcpp::TimerBase::SharedPtr &)> timer_func,
-    std::function<void(const rclcpp::Waitable::SharedPtr &)> waitable_func) const;
+  void
+  collect_all_ptrs(
+    const std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> & sub_func,
+    const std::function<void(const rclcpp::ServiceBase::SharedPtr &)> & service_func,
+    const std::function<void(const rclcpp::ClientBase::SharedPtr &)> & client_func,
+    const std::function<void(const rclcpp::TimerBase::SharedPtr &)> & timer_func,
+    const std::function<void(const rclcpp::Waitable::SharedPtr &)> & waitable_func) const;
 
   /// Return a reference to the 'associated with executor' atomic boolean.
   /**
@@ -178,10 +210,13 @@ public:
   bool
   automatically_add_to_executor_with_node() const;
 
-  /// Defer creating the notify guard condition and return it.
+  /// Retrieve the guard condition used to signal changes to this callback group.
+  /**
+   * \return guard condition if it is valid, otherwise nullptr.
+   */
   RCLCPP_PUBLIC
   rclcpp::GuardCondition::SharedPtr
-  get_notify_guard_condition(const rclcpp::Context::SharedPtr context_ptr);
+  get_notify_guard_condition();
 
   /// Trigger the notify guard condition.
   RCLCPP_PUBLIC
@@ -193,31 +228,31 @@ protected:
 
   RCLCPP_PUBLIC
   void
-  add_publisher(const rclcpp::PublisherBase::SharedPtr publisher_ptr);
+  add_publisher(const rclcpp::PublisherBase::SharedPtr & publisher_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_subscription(const rclcpp::SubscriptionBase::SharedPtr subscription_ptr);
+  add_subscription(const rclcpp::SubscriptionBase::SharedPtr & subscription_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr);
+  add_timer(const rclcpp::TimerBase::SharedPtr & timer_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_service(const rclcpp::ServiceBase::SharedPtr service_ptr);
+  add_service(const rclcpp::ServiceBase::SharedPtr & service_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_client(const rclcpp::ClientBase::SharedPtr client_ptr);
+  add_client(const rclcpp::ClientBase::SharedPtr & client_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr);
+  add_waitable(const rclcpp::Waitable::SharedPtr & waitable_ptr);
 
   RCLCPP_PUBLIC
   void
-  remove_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr) noexcept;
+  remove_waitable(const rclcpp::Waitable::SharedPtr & waitable_ptr) noexcept;
 
   CallbackGroupType type_;
   // Mutex to protect the subsequent vectors of pointers.
@@ -234,10 +269,12 @@ protected:
   std::shared_ptr<rclcpp::GuardCondition> notify_guard_condition_ = nullptr;
   std::recursive_mutex notify_guard_condition_mutex_;
 
+  rclcpp::Context::WeakPtr context_;
+
 private:
   template<typename TypeT, typename Function>
   typename TypeT::SharedPtr _find_ptrs_if_impl(
-    Function func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
+    const Function & func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
   {
     std::lock_guard<std::mutex> lock(mutex_);
     for (auto & weak_ptr : vect_ptrs) {

rclcpp/include/rclcpp/client.hpp

@@ -20,13 +20,13 @@
 #include <future>
 #include <memory>
 #include <mutex>
-#include <optional>  // NOLINT, cpplint doesn't think this is a cpp std header
+#include <optional>
 #include <sstream>
 #include <string>
 #include <tuple>
 #include <unordered_map>
 #include <utility>
-#include <variant>  // NOLINT
+#include <variant>
 #include <vector>
 
 #include "rcl/client.h"
@@ -70,14 +70,6 @@ struct FutureAndRequestId
   /// Allow implicit conversions to `std::future` by reference.
   operator FutureT &() {return this->future;}
 
-  /// Deprecated, use the `future` member variable instead.
-  /**
-   * Allow implicit conversions to `std::future` by value.
-   * \deprecated
-   */
-  [[deprecated("FutureAndRequestId: use .future instead of an implicit conversion")]]
-  operator FutureT() {return this->future;}
-
   // delegate future like methods in the std::future impl_
 
   /// See std::future::get().
@@ -115,6 +107,29 @@ struct FutureAndRequestId
   /// Destructor.
   ~FutureAndRequestId() = default;
 };
+
+template<typename PendingRequestsT, typename AllocatorT = std::allocator<int64_t>>
+size_t
+prune_requests_older_than_impl(
+  PendingRequestsT & pending_requests,
+  std::mutex & pending_requests_mutex,
+  std::chrono::time_point<std::chrono::system_clock> time_point,
+  std::vector<int64_t, AllocatorT> * pruned_requests = nullptr)
+{
+  std::lock_guard guard(pending_requests_mutex);
+  auto old_size = pending_requests.size();
+  for (auto it = pending_requests.begin(), last = pending_requests.end(); it != last; ) {
+    if (it->second.first < time_point) {
+      if (pruned_requests) {
+        pruned_requests->push_back(it->first);
+      }
+      it = pending_requests.erase(it);
+    } else {
+      ++it;
+    }
+  }
+  return old_size - pending_requests.size();
+}
 }  // namespace detail
 
 namespace node_interfaces
@@ -130,7 +145,7 @@ public:
   RCLCPP_PUBLIC
   ClientBase(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph);
 
   RCLCPP_PUBLIC
   virtual ~ClientBase() = default;
@@ -206,7 +221,8 @@ public:
   virtual std::shared_ptr<void> create_response() = 0;
   virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
   virtual void handle_response(
-    std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<void> response) = 0;
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & response) = 0;
 
   /// Exchange the "in use by wait set" state for this client.
   /**
@@ -281,7 +297,7 @@ public:
    * \param[in] callback functor to be called when a new response is received
    */
   void
-  set_on_new_response_callback(std::function<void(size_t)> callback)
+  set_on_new_response_callback(const std::function<void(size_t)> & callback)
   {
     if (!callback) {
       throw std::invalid_argument(
@@ -363,12 +379,16 @@ protected:
   std::shared_ptr<rclcpp::Context> context_;
   rclcpp::Logger node_logger_;
 
+  std::recursive_mutex callback_mutex_;
+  // It is important to declare on_new_response_callback_ before
+  // client_handle_, so on destruction the client is
+  // destroyed first. Otherwise, the rmw client callback
+  // would point briefly to a destroyed function.
+  std::function<void(size_t)> on_new_response_callback_{nullptr};
+  // Declare client_handle_ after callback
   std::shared_ptr<rcl_client_t> client_handle_;
 
   std::atomic<bool> in_use_by_wait_set_{false};
-
-  std::recursive_mutex callback_mutex_;
-  std::function<void(size_t)> on_new_response_callback_{nullptr};
 };
 
 template<typename ServiceT>
@@ -409,15 +429,6 @@ public:
   {
     using detail::FutureAndRequestId<std::future<SharedResponse>>::FutureAndRequestId;
 
-    /// Deprecated, use `.future.share()` instead.
-    /**
-     * Allow implicit conversions to `std::shared_future` by value.
-     * \deprecated
-     */
-    [[deprecated(
-      "FutureAndRequestId: use .future.share() instead of an implicit conversion")]]
-    operator SharedFuture() {return this->future.share();}
-
     // delegate future like methods in the std::future impl_
 
     /// See std::future::share().
@@ -463,11 +474,11 @@ public:
    * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] node_graph The node graph interface of the corresponding node.
    * \param[in] service_name Name of the topic to publish to.
-   * \param[in] client_options options for the subscription.
+   * \param[in] client_options options for the client.
    */
   Client(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph,
     const std::string & service_name,
     rcl_client_options_t & client_options)
   : ClientBase(node_base, node_graph),
@@ -546,8 +557,8 @@ public:
    */
   void
   handle_response(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> response) override
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & response) override
   {
     std::optional<CallbackInfoVariant>
     optional_pending_request = this->get_and_erase_pending_request(request_header->sequence_number);
@@ -556,7 +567,7 @@ public:
     }
     auto & value = *optional_pending_request;
     auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(
-      std::move(response));
+      response);
     if (std::holds_alternative<Promise>(value)) {
       auto & promise = std::get<Promise>(value);
       promise.set_value(std::move(typed_response));
@@ -607,7 +618,7 @@ public:
    * \return a FutureAndRequestId instance.
    */
   FutureAndRequestId
-  async_send_request(SharedRequest request)
+  async_send_request(const SharedRequest & request)
   {
     Promise promise;
     auto future = promise.get_future();
@@ -642,7 +653,7 @@ public:
     >::type * = nullptr
   >
   SharedFutureAndRequestId
-  async_send_request(SharedRequest request, CallbackT && cb)
+  async_send_request(const SharedRequest & request, CallbackT && cb)
   {
     Promise promise;
     auto shared_future = promise.get_future().share();
@@ -673,7 +684,7 @@ public:
     >::type * = nullptr
   >
   SharedFutureWithRequestAndRequestId
-  async_send_request(SharedRequest request, CallbackT && cb)
+  async_send_request(const SharedRequest & request, CallbackT && cb)
   {
     PromiseWithRequest promise;
     auto shared_future = promise.get_future().share();
@@ -767,19 +778,11 @@ public:
     std::chrono::time_point<std::chrono::system_clock> time_point,
     std::vector<int64_t, AllocatorT> * pruned_requests = nullptr)
   {
-    std::lock_guard guard(pending_requests_mutex_);
-    auto old_size = pending_requests_.size();
-    for (auto it = pending_requests_.begin(), last = pending_requests_.end(); it != last; ) {
-      if (it->second.first < time_point) {
-        if (pruned_requests) {
-          pruned_requests->push_back(it->first);
-        }
-        it = pending_requests_.erase(it);
-      } else {
-        ++it;
-      }
-    }
-    return old_size - pending_requests_.size();
+    return detail::prune_requests_older_than_impl(
+      pending_requests_,
+      pending_requests_mutex_,
+      time_point,
+      pruned_requests);
   }
 
   /// Configure client introspection.
@@ -787,10 +790,13 @@ public:
    * \param[in] clock clock to use to generate introspection timestamps
    * \param[in] qos_service_event_pub QoS settings to use when creating the introspection publisher
    * \param[in] introspection_state the state to set introspection to
+   *
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw if
+   *   it failed to configure introspection.
    */
   void
   configure_introspection(
-    Clock::SharedPtr clock, const QoS & qos_service_event_pub,
+    const Clock::SharedPtr & clock, const QoS & qos_service_event_pub,
     rcl_service_introspection_state_t introspection_state)
   {
     rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();
@@ -845,7 +851,7 @@ protected:
         "Received invalid sequence number. Ignoring...");
       return std::nullopt;
     }
-    auto value = std::move(it->second.second);
+    std::optional<CallbackInfoVariant> value = std::move(it->second.second);
     this->pending_requests_.erase(request_number);
     return value;
   }

rclcpp/include/rclcpp/clock.hpp

@@ -60,6 +60,13 @@ public:
   /**
    * Initializes the clock instance with the given clock_type.
    *
+   * WARNING Don't instantiate a clock using RCL_ROS_TIME directly,
+   * unless you really know what you are doing. By default no TimeSource
+   * is attached to a new clock. This will lead to the unexpected behavior,
+   * that your RCL_ROS_TIME will run always on system time. If you want
+   * a RCL_ROS_TIME use Node::get_clock(), or make sure to attach a
+   * TimeSource yourself.
+   *
    * \param clock_type type of the clock.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    */
@@ -110,8 +117,8 @@ public:
   RCLCPP_PUBLIC
   bool
   sleep_until(
-    Time until,
-    Context::SharedPtr context = contexts::get_global_default_context());
+    const Time & until,
+    const Context::SharedPtr & context = contexts::get_global_default_context());
 
   /**
    * Sleep for a specified Duration.
@@ -134,8 +141,8 @@ public:
   RCLCPP_PUBLIC
   bool
   sleep_for(
-    Duration rel_time,
-    Context::SharedPtr context = contexts::get_global_default_context());
+    const Duration & rel_time,
+    const Context::SharedPtr & context = contexts::get_global_default_context());
 
   /**
    * Check if the clock is started.
@@ -161,7 +168,7 @@ public:
    */
   RCLCPP_PUBLIC
   bool
-  wait_until_started(Context::SharedPtr context = contexts::get_global_default_context());
+  wait_until_started(const Context::SharedPtr & context = contexts::get_global_default_context());
 
   /**
    * Wait for clock to start, with timeout.
@@ -179,7 +186,7 @@ public:
   bool
   wait_until_started(
     const rclcpp::Duration & timeout,
-    Context::SharedPtr context = contexts::get_global_default_context(),
+    const Context::SharedPtr & context = contexts::get_global_default_context(),
     const rclcpp::Duration & wait_tick_ns = rclcpp::Duration(0, static_cast<uint32_t>(1e7)));
 
   /**
@@ -207,13 +214,13 @@ public:
   std::mutex &
   get_clock_mutex() noexcept;
 
-  // Add a callback to invoke if the jump threshold is exceeded.
+  /// Add a callback to invoke if the jump threshold is exceeded.
   /**
    * These callback functions must remain valid as long as the
    * returned shared pointer is valid.
    *
    * Function will register callbacks to the callback queue. On time jump all
-   * callbacks will be executed whose threshold is greater then the time jump;
+   * callbacks will be executed whose threshold is greater than the time jump;
    * The logic will first call selected pre_callbacks and then all selected
    * post_callbacks.
    *
@@ -222,7 +229,7 @@ public:
    * \param pre_callback Must be non-throwing
    * \param post_callback Must be non-throwing.
    * \param threshold Callbacks will be triggered if the time jump is greater
-   * then the threshold.
+   * than the threshold.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    * \throws std::bad_alloc if the allocation of the JumpHandler fails.
    * \warning the instance of the clock must remain valid as long as any created
@@ -231,8 +238,8 @@ public:
   RCLCPP_PUBLIC
   JumpHandler::SharedPtr
   create_jump_callback(
-    JumpHandler::pre_callback_t pre_callback,
-    JumpHandler::post_callback_t post_callback,
+    const JumpHandler::pre_callback_t & pre_callback,
+    const JumpHandler::post_callback_t & post_callback,
     const rcl_jump_threshold_t & threshold);
 
 private:
@@ -250,6 +257,117 @@ private:
   std::shared_ptr<Impl> impl_;
 };
 
+/**
+ * A synchronization primitive, equal to std::conditional_variable,
+ * that works with the rclcpp::Clock.
+ *
+ * For more information on the API see https://en.cppreference.com/w/cpp/thread/condition_variable.
+ *
+ * Note, this class does not handle shutdowns, if you want to
+ * haven them handles as well, use ClockConditionalVariable.
+ */
+class ClockWaiter
+{
+private:
+  class ClockWaiterImpl;
+  std::unique_ptr<ClockWaiterImpl> impl_;
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(ClockWaiter)
+
+  RCLCPP_PUBLIC
+  explicit ClockWaiter(const rclcpp::Clock::SharedPtr & clock);
+
+  RCLCPP_PUBLIC
+  ~ClockWaiter();
+
+  /**
+   * Calling this function will block the current thread, until abs_time is reached,
+   * or pred returns true.
+   * @param lock A locked lock. The lock must be locked at call time, or this method will throw.
+   *             The lock will be atomically released and this thread will blocked.
+   * @param abs_time The time until which this thread shall be blocked.
+   * @param pred may be called in cased of spurious wakeups, but must be called every time
+   *             notify_one() was called. During the call to pred, the given lock will be locked.
+   *             This method will return, if pred returns true.
+   */
+  RCLCPP_PUBLIC
+  bool
+  wait_until(
+    std::unique_lock<std::mutex> & lock,
+    const rclcpp::Time & abs_time, const std::function<bool ()> & pred);
+
+  /**
+   * Notify the blocked thread, that it should reevaluate the wakeup condition.
+   * The given pred function in wait_until will be reevaluated and wait_until
+   * will return if it evaluates to true.
+   */
+  RCLCPP_PUBLIC
+  void
+  notify_one();
+};
+
+
+/**
+ * A synchronization primitive, similar to std::conditional_variable,
+ * that works with the rclcpp::Clock.
+ *
+ * For more information on the API see https://en.cppreference.com/w/cpp/thread/condition_variable.
+ *
+ * This primitive will wake up if the context was shut down.
+ */
+class ClockConditionalVariable
+{
+  class Impl;
+  std::unique_ptr<Impl> impl_;
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(ClockConditionalVariable)
+
+  RCLCPP_PUBLIC
+  ClockConditionalVariable(
+    const rclcpp::Clock::SharedPtr & clock,
+    const rclcpp::Context::SharedPtr & context = rclcpp::contexts::get_global_default_context());
+  RCLCPP_PUBLIC
+  ~ClockConditionalVariable();
+
+  /**
+   * Calling this function will block the current thread, until abs_time is reached,
+   * or pred returns true.
+   * @param lock A locked lock. The lock must be locked at call time, or this method will throw.
+   *             The lock will be atomically released and this thread will blocked.
+   *             The given lock must be created using the mutex returned my mutex().
+   * @param abs_time The time until which this thread shall be blocked.
+   * @param pred may be called in cased of spurious wakeups, but must be called every time
+   *             notify_one() was called. During the call to pred, the given lock will be locked.
+   *             This method will return, if pred returns true.
+   *
+   * @return true if until was reached.
+   */
+  RCLCPP_PUBLIC
+  bool
+  wait_until(
+    std::unique_lock<std::mutex> & lock, const rclcpp::Time & until,
+    const std::function<bool ()> & pred);
+
+  /**
+   * Notify the blocked thread, that is should reevaluate the wakeup condition.
+   * E.g. the given pred function in wait_until shall be reevaluated.
+   */
+  RCLCPP_PUBLIC
+  void
+  notify_one();
+
+  /**
+   * Returns the internal mutex. In order to be race free with the context shutdown,
+   * this mutex must be used for the wait_until call.
+   */
+  RCLCPP_PUBLIC
+  std::mutex &
+  mutex();
+};
+
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CLOCK_HPP_

rclcpp/include/rclcpp/context.hpp

@@ -26,6 +26,7 @@
 #include <unordered_set>
 #include <utility>
 #include <vector>
+#include <stdexcept>
 
 #include "rcl/context.h"
 #include "rcl/guard_condition.h"
@@ -36,6 +37,10 @@
 
 namespace rclcpp
 {
+namespace graph_listener
+{
+class GraphListener;
+}  // namespace graph_listener
 
 /// Thrown when init is called on an already initialized context.
 class ContextAlreadyInitialized : public std::runtime_error
@@ -224,7 +229,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   OnShutdownCallback
-  on_shutdown(OnShutdownCallback callback);
+  on_shutdown(const OnShutdownCallback & callback);
 
   /// Add a on_shutdown callback to be called when shutdown is called for this context.
   /**
@@ -248,7 +253,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   OnShutdownCallbackHandle
-  add_on_shutdown_callback(OnShutdownCallback callback);
+  add_on_shutdown_callback(const OnShutdownCallback & callback);
 
   /// Remove an registered on_shutdown callbacks.
   /**
@@ -275,7 +280,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   PreShutdownCallbackHandle
-  add_pre_shutdown_callback(PreShutdownCallback callback);
+  add_pre_shutdown_callback(const PreShutdownCallback & callback);
 
   /// Remove an registered pre_shutdown callback.
   /**
@@ -308,6 +313,10 @@ public:
   std::shared_ptr<rcl_context_t>
   get_rcl_context();
 
+  RCLCPP_PUBLIC
+  std::shared_ptr<rclcpp::graph_listener::GraphListener>
+  get_graph_listener();
+
   /// Sleep for a given period of time or until shutdown() is called.
   /**
    * This function can be interrupted early if:
@@ -380,16 +389,19 @@ private:
   std::recursive_mutex sub_contexts_mutex_;
 
   std::vector<std::shared_ptr<OnShutdownCallback>> on_shutdown_callbacks_;
-  mutable std::mutex on_shutdown_callbacks_mutex_;
+  mutable std::recursive_mutex on_shutdown_callbacks_mutex_;
 
   std::vector<std::shared_ptr<PreShutdownCallback>> pre_shutdown_callbacks_;
-  mutable std::mutex pre_shutdown_callbacks_mutex_;
+  mutable std::recursive_mutex pre_shutdown_callbacks_mutex_;
 
   /// Condition variable for timed sleep (see sleep_for).
   std::condition_variable interrupt_condition_variable_;
   /// Mutex for protecting the global condition variable.
   std::mutex interrupt_mutex_;
 
+  /// Graph Listener which waits on graph changes for the node and is shared across nodes.
+  std::shared_ptr<rclcpp::graph_listener::GraphListener> graph_listener_;
+
   /// Keep shared ownership of global vector of weak contexts
   std::shared_ptr<WeakContextsWrapper> weak_contexts_;
 
@@ -405,7 +417,7 @@ private:
   RCLCPP_LOCAL
   ShutdownCallbackHandle
   add_shutdown_callback(
-    ShutdownCallback callback);
+    const ShutdownCallback & callback);
 
   template<ShutdownType shutdown_type>
   RCLCPP_LOCAL

rclcpp/include/rclcpp/copy_all_parameter_values.hpp

@@ -0,0 +1,82 @@
+// Copyright 2023 Open Navigation LLC
+//
+// 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__COPY_ALL_PARAMETER_VALUES_HPP_
+#define RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
+
+#include <string>
+#include <vector>
+
+#include "rcl_interfaces/srv/list_parameters.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
+
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+
+namespace rclcpp
+{
+
+/**
+ * Copy all parameters from one source node to another destination node.
+ * May throw exceptions if parameters from source are uninitialized or undeclared.
+ * \param source Node to copy parameters from
+ * \param destination Node to copy parameters to
+ * \param override_existing_params Default false. Whether to override existing destination params
+ * if both the source and destination contain the same parameter.
+ */
+template<typename NodeT1, typename NodeT2>
+void
+copy_all_parameter_values(
+  const NodeT1 & source, const NodeT2 & destination, const bool override_existing_params = false)
+{
+  using Parameters = std::vector<rclcpp::Parameter>;
+  using Descriptions = std::vector<rcl_interfaces::msg::ParameterDescriptor>;
+  auto source_params = source->get_node_parameters_interface();
+  auto dest_params = destination->get_node_parameters_interface();
+  rclcpp::Logger logger = destination->get_node_logging_interface()->get_logger();
+
+  std::vector<std::string> param_names = source_params->list_parameters({}, 0).names;
+  Parameters params = source_params->get_parameters(param_names);
+  Descriptions descriptions = source_params->describe_parameters(param_names);
+
+  for (unsigned int idx = 0; idx != params.size(); idx++) {
+    if (!dest_params->has_parameter(params[idx].get_name())) {
+      dest_params->declare_parameter(
+        params[idx].get_name(), params[idx].get_parameter_value(), descriptions[idx]);
+    } else if (override_existing_params) {
+      try {
+        rcl_interfaces::msg::SetParametersResult result =
+          dest_params->set_parameters_atomically({params[idx]});
+        if (!result.successful) {
+          // Parameter update rejected or read-only
+          RCLCPP_WARN(
+            logger,
+            "Unable to set parameter (%s): %s!",
+            params[idx].get_name().c_str(), result.reason.c_str());
+        }
+      } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
+        RCLCPP_WARN(
+          logger,
+          "Unable to set parameter (%s): incompatable parameter type (%s)!",
+          params[idx].get_name().c_str(), e.what());
+      }
+    }
+  }
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_

rclcpp/include/rclcpp/create_client.hpp

@@ -47,28 +47,9 @@ create_client(
   const std::string & service_name,
   const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
   rclcpp::CallbackGroup::SharedPtr group = nullptr)
-{
-  return create_client<ServiceT>(
-    node_base, node_graph, node_services,
-    service_name,
-    qos.get_rmw_qos_profile(),
-    group);
-}
-
-/// Create a service client with a given type.
-/// \internal
-template<typename ServiceT>
-typename rclcpp::Client<ServiceT>::SharedPtr
-create_client(
-  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-  std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
-  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
-  const std::string & service_name,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::CallbackGroup::SharedPtr group)
 {
   rcl_client_options_t options = rcl_client_get_default_options();
-  options.qos = qos_profile;
+  options.qos = qos.get_rmw_qos_profile();
 
   auto cli = rclcpp::Client<ServiceT>::make_shared(
     node_base.get(),
@@ -80,7 +61,6 @@ create_client(
   node_services->add_client(cli_base_ptr, group);
   return cli;
 }
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CREATE_CLIENT_HPP_

rclcpp/include/rclcpp/create_generic_client.hpp

@@ -0,0 +1,90 @@
+// Copyright 2023 Sony Group Corporation.
+//
+// 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_GENERIC_CLIENT_HPP_
+#define RCLCPP__CREATE_GENERIC_CLIENT_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/generic_client.hpp"
+#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
+#include "rclcpp/node_interfaces/get_node_graph_interface.hpp"
+#include "rclcpp/node_interfaces/get_node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/qos.hpp"
+
+namespace rclcpp
+{
+/// Create a generic service client with a name of given type.
+/**
+ * \param[in] node_base NodeBaseInterface implementation of the node on which
+ *  to create the client.
+ * \param[in] node_graph NodeGraphInterface implementation of the node on which
+ *  to create the client.
+ * \param[in] node_services NodeServicesInterface implementation of the node on
+ *  which to create the client.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] service_type The name of service type, e.g. "test_msgs/srv/BasicTypes"
+ * \param[in] qos Quality of service profile for client.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created client.
+ */
+RCLCPP_PUBLIC
+rclcpp::GenericClient::SharedPtr
+create_generic_client(
+  const std::shared_ptr<node_interfaces::NodeBaseInterface> & node_base,
+  const std::shared_ptr<node_interfaces::NodeGraphInterface> & node_graph,
+  const std::shared_ptr<node_interfaces::NodeServicesInterface> & node_services,
+  const std::string & service_name,
+  const std::string & service_type,
+  const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
+  const rclcpp::CallbackGroup::SharedPtr & group = rclcpp::CallbackGroup::SharedPtr());
+
+/// Create a generic service client with a name of given type.
+/**
+ * The NodeT type needs to have NodeBaseInterface implementation, NodeGraphInterface implementation
+ * and NodeServicesInterface implementation of the node which to create the client.
+ *
+ * \param[in] node The node on which to create the client.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] service_type The name of service type, e.g. "test_msgs/srv/BasicTypes"
+ * \param[in] qos Quality of service profile for client.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created client.
+ */
+template<typename NodeT>
+rclcpp::GenericClient::SharedPtr
+create_generic_client(
+  NodeT node,
+  const std::string & service_name,
+  const std::string & service_type,
+  const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+{
+  return create_generic_client(
+    rclcpp::node_interfaces::get_node_base_interface(node),
+    rclcpp::node_interfaces::get_node_graph_interface(node),
+    rclcpp::node_interfaces::get_node_services_interface(node),
+    service_name,
+    service_type,
+    qos,
+    group
+  );
+}
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_GENERIC_CLIENT_HPP_

rclcpp/include/rclcpp/create_generic_service.hpp

@@ -0,0 +1,102 @@
+// Copyright 2024 Sony Group Corporation.
+//
+// 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_GENERIC_SERVICE_HPP_
+#define RCLCPP__CREATE_GENERIC_SERVICE_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/generic_service.hpp"
+#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/get_node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rmw/rmw.h"
+
+namespace rclcpp
+{
+/// Create a generic service with a given type.
+/**
+ * \param[in] node_base NodeBaseInterface implementation of the node on which
+ *  to create the generic service.
+ * \param[in] node_services NodeServicesInterface implementation of the node on
+ *  which to create the service.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool".
+ * \param[in] callback The callback to call when the service gets a request.
+ * \param[in] qos Quality of service profile for the service.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created service.
+ */
+template<typename CallbackT>
+typename rclcpp::GenericService::SharedPtr
+create_generic_service(
+  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
+  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+  const std::string & service_name,
+  const std::string & service_type,
+  CallbackT && callback,
+  const rclcpp::QoS & qos,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  rclcpp::GenericServiceCallback 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.get_rmw_qos_profile();
+
+  auto serv = GenericService::make_shared(
+    node_base->get_shared_rcl_node_handle(),
+    service_name, service_type, any_service_callback, service_options);
+  auto serv_base_ptr = std::dynamic_pointer_cast<ServiceBase>(serv);
+  node_services->add_service(serv_base_ptr, group);
+  return serv;
+}
+
+/// Create a generic service with a given type.
+/**
+ * The NodeT type needs to have NodeBaseInterface implementation and NodeServicesInterface
+ * implementation of the node which to create the generic service.
+ *
+ * \param[in] node The node on which to create the generic service.
+ * \param[in] service_name The name on which the service is accessible.
+ * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool".
+ * \param[in] callback The callback to call when the service gets a request.
+ * \param[in] qos Quality of service profile for the service.
+ * \param[in] group Callback group to handle the reply to service calls.
+ * \return Shared pointer to the created service.
+ */
+template<typename NodeT, typename CallbackT>
+typename rclcpp::GenericService::SharedPtr
+create_generic_service(
+  NodeT node,
+  const std::string & service_name,
+  const std::string & service_type,
+  CallbackT && callback,
+  const rclcpp::QoS & qos,
+  rclcpp::CallbackGroup::SharedPtr group)
+{
+  return create_generic_service<CallbackT>(
+    rclcpp::node_interfaces::get_node_base_interface(node),
+    rclcpp::node_interfaces::get_node_services_interface(node),
+    service_name,
+    service_type,
+    std::forward<CallbackT>(callback), qos.get_rmw_qos_profile(), group);
+}
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_GENERIC_SERVICE_HPP_

rclcpp/include/rclcpp/create_generic_subscription.hpp

@@ -45,13 +45,15 @@ namespace rclcpp
  * Not all publisher options are currently respected, the only relevant options for this
  * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
  */
-template<typename AllocatorT = std::allocator<void>>
+template<
+  typename CallbackT,
+  typename AllocatorT = std::allocator<void>>
 std::shared_ptr<GenericSubscription> create_generic_subscription(
   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
   const std::string & topic_name,
   const std::string & topic_type,
   const rclcpp::QoS & qos,
-  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+  CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   )
@@ -60,13 +62,20 @@ std::shared_ptr<GenericSubscription> create_generic_subscription(
   auto ts_lib = rclcpp::get_typesupport_library(
     topic_type, "rosidl_typesupport_cpp");
 
+  auto allocator = options.get_allocator();
+
+  using rclcpp::AnySubscriptionCallback;
+  AnySubscriptionCallback<rclcpp::SerializedMessage, AllocatorT>
+  any_subscription_callback(*allocator);
+  any_subscription_callback.set(std::forward<CallbackT>(callback));
+
   auto subscription = std::make_shared<GenericSubscription>(
     topics_interface->get_node_base_interface(),
     std::move(ts_lib),
     topic_name,
     topic_type,
     qos,
-    callback,
+    any_subscription_callback,
     options);
 
   topics_interface->add_subscription(subscription, options.callback_group);

rclcpp/include/rclcpp/create_subscription.hpp

@@ -50,8 +50,8 @@ template<
   typename SubscriptionT,
   typename MessageMemoryStrategyT,
   typename NodeParametersT,
-  typename NodeTopicsT,
-  typename ROSMessageType = typename SubscriptionT::ROSMessageType>
+  typename NodeTopicsT
+>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
   NodeParametersT & node_parameters,
@@ -70,7 +70,7 @@ create_subscription(
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics_interface = get_node_topics_interface(node_topics);
 
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>
+  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>
   subscription_topic_stats = nullptr;
 
   if (rclcpp::detail::resolve_enable_topic_statistics(
@@ -80,8 +80,7 @@ create_subscription(
     if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
       throw std::invalid_argument(
               "topic_stats_options.publish_period must be greater than 0, specified value of " +
-              std::to_string(options.topic_stats_options.publish_period.count()) +
-              " ms");
+              std::to_string(options.topic_stats_options.publish_period.count()) + " ms");
     }
 
     std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>>
@@ -89,14 +88,14 @@ create_subscription(
       node_parameters,
       node_topics_interface,
       options.topic_stats_options.publish_topic,
-      qos);
+      options.topic_stats_options.qos);
 
-    subscription_topic_stats = std::make_shared<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>
-      >(node_topics_interface->get_node_base_interface()->get_name(), publisher);
+    subscription_topic_stats =
+      std::make_shared<rclcpp::topic_statistics::SubscriptionTopicStatistics>(
+      node_topics_interface->get_node_base_interface()->get_name(), publisher);
 
     std::weak_ptr<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>
+      rclcpp::topic_statistics::SubscriptionTopicStatistics
     > weak_subscription_topic_stats(subscription_topic_stats);
     auto sub_call_back = [weak_subscription_topic_stats]() {
         auto subscription_topic_stats = weak_subscription_topic_stats.lock();

rclcpp/include/rclcpp/create_timer.hpp

@@ -90,7 +90,8 @@ create_timer(
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr,
+  bool autostart = true)
 {
   return create_timer(
     clock,
@@ -98,7 +99,8 @@ create_timer(
     std::forward<CallbackT>(callback),
     group,
     node_base.get(),
-    node_timers.get());
+    node_timers.get(),
+    autostart);
 }
 
 /// Create a timer with a given clock
@@ -109,7 +111,8 @@ create_timer(
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr,
+  bool autostart = true)
 {
   return create_timer(
     clock,
@@ -117,7 +120,8 @@ create_timer(
     std::forward<CallbackT>(callback),
     group,
     rclcpp::node_interfaces::get_node_base_interface(node).get(),
-    rclcpp::node_interfaces::get_node_timers_interface(node).get());
+    rclcpp::node_interfaces::get_node_timers_interface(node).get(),
+    autostart);
 }
 
 /// Convenience method to create a general timer with node resources.
@@ -132,6 +136,7 @@ create_timer(
  * \param group callback group
  * \param node_base node base interface
  * \param node_timers node timer interface
+ * \param autostart defines if the timer should start it's countdown on initialization or not.
  * \return shared pointer to a generic timer
  * \throws std::invalid_argument if either clock, node_base or node_timers
  * are nullptr, or period is negative or too large
@@ -144,7 +149,8 @@ create_timer(
   CallbackT callback,
   rclcpp::CallbackGroup::SharedPtr group,
   node_interfaces::NodeBaseInterface * node_base,
-  node_interfaces::NodeTimersInterface * node_timers)
+  node_interfaces::NodeTimersInterface * node_timers,
+  bool autostart = true)
 {
   if (clock == nullptr) {
     throw std::invalid_argument{"clock cannot be null"};
@@ -160,7 +166,7 @@ create_timer(
 
   // Add a new generic timer.
   auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
-    std::move(clock), period_ns, std::move(callback), node_base->get_context());
+    std::move(clock), period_ns, std::move(callback), node_base->get_context(), autostart);
   node_timers->add_timer(timer, group);
   return timer;
 }
@@ -187,7 +193,8 @@ create_wall_timer(
   CallbackT callback,
   rclcpp::CallbackGroup::SharedPtr group,
   node_interfaces::NodeBaseInterface * node_base,
-  node_interfaces::NodeTimersInterface * node_timers)
+  node_interfaces::NodeTimersInterface * node_timers,
+  bool autostart = true)
 {
   if (node_base == nullptr) {
     throw std::invalid_argument{"input node_base cannot be null"};
@@ -201,7 +208,7 @@ create_wall_timer(
 
   // Add a new wall timer.
   auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
-    period_ns, std::move(callback), node_base->get_context());
+    period_ns, std::move(callback), node_base->get_context(), autostart);
   node_timers->add_timer(timer, group);
   return timer;
 }

rclcpp/include/rclcpp/detail/qos_parameters.hpp

@@ -97,6 +97,9 @@ declare_parameter_or_get(
   rcl_interfaces::msg::ParameterDescriptor descriptor)
 {
   try {
+    // enable parameter modification to make it possible
+    // to declare QoS override parameters during parameter callbacks.
+    parameters_interface.enable_parameter_modification();
     return parameters_interface.declare_parameter(
       param_name, param_value, descriptor);
   } catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
@@ -267,8 +270,8 @@ apply_qos_override(
       RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING(
         reliability, RELIABILITY, value, qos);
       break;
-    default:
-      throw std::invalid_argument{"unknown QosPolicyKind"};
+    case QosPolicyKind::Invalid:
+      throw std::invalid_argument{"invalid QosPolicyKind"};
   }
 }
 
@@ -329,9 +332,11 @@ get_default_qos_param_value(rclcpp::QosPolicyKind kind, const rclcpp::QoS & qos)
       return ParameterValue(
         check_if_stringified_policy_is_null(
           rmw_qos_reliability_policy_to_str(rmw_qos.reliability), kind));
-    default:
-      throw std::invalid_argument{"unknown QoS policy kind"};
+    case QosPolicyKind::Invalid:
+      throw std::invalid_argument{"invalid QoS policy kind"};
   }
+
+  return ParameterValue();
 }
 
 }  // namespace detail

rclcpp/include/rclcpp/detail/resolve_enable_topic_statistics.hpp

@@ -29,7 +29,7 @@ template<typename OptionsT, typename NodeBaseT>
 bool
 resolve_enable_topic_statistics(const OptionsT & options, const NodeBaseT & node_base)
 {
-  bool topic_stats_enabled;
+  bool topic_stats_enabled = false;
   switch (options.topic_stats_options.state) {
     case TopicStatisticsState::Enable:
       topic_stats_enabled = true;

rclcpp/include/rclcpp/detail/resolve_intra_process_buffer_type.hpp

@@ -47,6 +47,11 @@ resolve_intra_process_buffer_type(
   return resolved_buffer_type;
 }
 
+RCLCPP_PUBLIC
+rclcpp::IntraProcessBufferType
+resolve_intra_process_buffer_type(
+  const rclcpp::IntraProcessBufferType buffer_type);
+
 }  // namespace detail
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp

@@ -30,7 +30,7 @@ template<typename OptionsT, typename NodeBaseT>
 bool
 resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
 {
-  bool use_intra_process;
+  bool use_intra_process = false;
   switch (options.use_intra_process_comm) {
     case IntraProcessSetting::Enable:
       use_intra_process = true;
@@ -43,7 +43,6 @@ resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
       break;
     default:
       throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
   }
 
   return use_intra_process;

rclcpp/include/rclcpp/duration.hpp

@@ -18,6 +18,7 @@
 #include <chrono>
 
 #include "builtin_interfaces/msg/duration.hpp"
+#include "builtin_interfaces/msg/time.hpp"
 #include "rcl/time.h"
 #include "rclcpp/visibility_control.hpp"
 
@@ -158,6 +159,14 @@ private:
   Duration() = default;
 };
 
+RCLCPP_PUBLIC
+builtin_interfaces::msg::Time
+operator+(const builtin_interfaces::msg::Time & lhs, const rclcpp::Duration & rhs);
+
+RCLCPP_PUBLIC
+builtin_interfaces::msg::Time
+operator-(const builtin_interfaces::msg::Time & lhs, const rclcpp::Duration & rhs);
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__DURATION_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp

@@ -0,0 +1,70 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
+
+#include <rcl/allocator.h>
+#include <rcl/types.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/// Utility wrapper class for rosidl_dynamic_typesupport_dynamic_data_t
+/// STUBBED OUT
+class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessage)
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessage();
+
+protected:
+  // NOTE(methylDragon):
+  // This is just here to extend the lifetime of the serialization support
+  // It isn't actually used by the builder since the builder should compose its own support
+  //
+  // ... Though ideally it should be the exact same support as the one stored in the
+  // DynamicSerializationSupport
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data_;
+  bool is_loaned_;
+
+  // Used for returning the loaned value, and lifetime management
+  DynamicMessage::SharedPtr parent_data_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicMessage)
+
+  RCLCPP_PUBLIC
+  DynamicMessage();
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type.hpp

@@ -0,0 +1,64 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_
+
+#include <rcl/allocator.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_t`
+/// STUBBED OUT
+class DynamicMessageType : public std::enable_shared_from_this<DynamicMessageType>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageType)
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessageType();
+
+protected:
+  // NOTE(methylDragon):
+  // This is just here to extend the lifetime of the serialization support
+  // It isn't actually used by the builder since the builder should compose its own support
+  //
+  // ... Though ideally it should be the exact same support as the one stored in the
+  // `DynamicSerializationSupport`
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicMessageType)
+
+  RCLCPP_PUBLIC
+  DynamicMessageType();
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp

@@ -0,0 +1,65 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
+
+#include <rcl/allocator.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_builder_t *`
+/// STUBBED OUT
+class DynamicMessageTypeBuilder : public std::enable_shared_from_this<DynamicMessageTypeBuilder>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeBuilder)
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessageTypeBuilder();
+
+protected:
+  // NOTE(methylDragon):
+  // This is just here to extend the lifetime of the serialization support
+  // It isn't actually used by the builder since the builder should compose its own support
+  //
+  // ... Though ideally it should be the exact same support as the one stored in the
+  // `DynamicSerializationSupport`
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicMessageTypeBuilder)
+
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder();
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp

@@ -0,0 +1,67 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
+
+#include <rcl/allocator.h>
+
+#include <rosidl_dynamic_typesupport/dynamic_message_type_support_struct.h>
+#include <rosidl_dynamic_typesupport/types.h>
+#include <rosidl_runtime_c/message_type_support_struct.h>
+#include <rosidl_runtime_c/type_description/type_description__struct.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/// Utility wrapper class for `rosidl_message_type_support_t` containing managed
+/// STUBBED OUT
+class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMessageTypeSupport>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeSupport)
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessageTypeSupport();
+
+protected:
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+  DynamicMessageType::SharedPtr dynamic_message_type_;
+  DynamicMessage::SharedPtr dynamic_message_;
+
+  rosidl_message_type_support_t rosidl_message_type_support_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicMessageTypeSupport)
+
+  RCLCPP_PUBLIC
+  DynamicMessageTypeSupport();
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp

@@ -0,0 +1,60 @@
+// Copyright 2023 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__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
+
+#include <rcl/allocator.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/// Utility wrapper class for rosidl_dynamic_typesupport_serialization_support_t
+class DynamicSerializationSupport : public std::enable_shared_from_this<DynamicSerializationSupport>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicSerializationSupport)
+
+  RCLCPP_PUBLIC
+  explicit DynamicSerializationSupport(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport(
+    const std::string & serialization_library_name,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicSerializationSupport();
+
+protected:
+  rosidl_dynamic_typesupport_serialization_support_t rosidl_serialization_support_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicSerializationSupport)
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_

rclcpp/include/rclcpp/event_handler.hpp

@@ -15,11 +15,13 @@
 #ifndef RCLCPP__EVENT_HANDLER_HPP_
 #define RCLCPP__EVENT_HANDLER_HPP_
 
+#include <atomic>
 #include <functional>
 #include <memory>
 #include <mutex>
 #include <stdexcept>
 #include <string>
+#include <vector>
 
 #include "rcl/error_handling.h"
 #include "rcl/event_callback.h"
@@ -109,6 +111,14 @@ public:
   RCLCPP_PUBLIC
   virtual ~EventHandlerBase();
 
+  RCLCPP_PUBLIC
+  virtual
+  void enable() = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  void disable() = 0;
+
   /// Get the number of ready events
   RCLCPP_PUBLIC
   size_t
@@ -117,12 +127,12 @@ public:
   /// Add the Waitable to a wait set.
   RCLCPP_PUBLIC
   void
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
+  add_to_wait_set(rcl_wait_set_t & wait_set) override;
 
   /// Check if the Waitable is ready.
   RCLCPP_PUBLIC
   bool
-  is_ready(rcl_wait_set_t * wait_set) override;
+  is_ready(const rcl_wait_set_t & wait_set) override;
 
   /// Set a callback to be called when each new event instance occurs.
   /**
@@ -191,7 +201,7 @@ public:
         }
       };
 
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_event_callback_mutex_);
 
     // Set it temporarily to the new callback, while we replace the old one.
     // This two-step setting, prevents a gap where the old std::function has
@@ -214,27 +224,32 @@ public:
   void
   clear_on_ready_callback() override
   {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_event_callback_mutex_);
     if (on_new_event_callback_) {
       set_on_new_event_callback(nullptr, nullptr);
       on_new_event_callback_ = nullptr;
     }
   }
 
+  RCLCPP_PUBLIC
+  std::vector<std::shared_ptr<rclcpp::TimerBase>>
+  get_timers() const override
+  {
+    return {};
+  }
+
 protected:
   RCLCPP_PUBLIC
   void
   set_on_new_event_callback(rcl_event_callback_t callback, const void * user_data);
 
-  std::recursive_mutex callback_mutex_;
+  std::recursive_mutex on_new_event_callback_mutex_;
   std::function<void(size_t)> on_new_event_callback_{nullptr};
 
   rcl_event_t event_handle_;
   size_t wait_set_event_index_;
 };
 
-using QOSEventHandlerBase [[deprecated("Use rclcpp::EventHandlerBase")]] = EventHandlerBase;
-
 template<typename EventCallbackT, typename ParentHandleT>
 class EventHandler : public EventHandlerBase
 {
@@ -260,6 +275,16 @@ public:
     }
   }
 
+  ~EventHandler()
+  {
+    // Since the rmw event listener holds a reference to the
+    // "on ready" callback, we need to clear it on destruction of this class.
+    // This clearing is not needed for other rclcpp entities like pub/subs, since
+    // they do own the underlying rmw entities, which are destroyed
+    // on their rclcpp destructors, thus no risk of dangling pointers.
+    clear_on_ready_callback();
+  }
+
   /// Take data so that the callback cannot be scheduled again
   std::shared_ptr<void>
   take_data() override
@@ -270,22 +295,26 @@ public:
       RCUTILS_LOG_ERROR_NAMED(
         "rclcpp",
         "Couldn't take event info: %s", rcl_get_error_string().str);
+      rcl_reset_error();
       return nullptr;
     }
     return std::static_pointer_cast<void>(std::make_shared<EventCallbackInfoT>(callback_info));
   }
 
   std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override
+  take_data_by_entity_id([[maybe_unused]] size_t id) override
   {
-    (void)id;
     return take_data();
   }
 
   /// Execute any entities of the Waitable that are ready.
   void
-  execute(std::shared_ptr<void> & data) override
+  execute(const std::shared_ptr<void> & data) override
   {
+    std::unique_lock<std::mutex> event_callback_lock(event_callback_mutex_);
+    if (disabled_.load()) {
+      return;
+    }
     if (!data) {
       throw std::runtime_error("'data' is empty");
     }
@@ -294,18 +323,54 @@ public:
     callback_ptr.reset();
   }
 
+  /// Disable the event callback from being called when execute(..) invoked
+  /**
+   * This will also temporarily remove the on_new_event_callback from the underlying rmw layer,
+   *  so that it is not called from the middleware while disabled.
+   */
+  void disable() override
+  {
+    {
+      // Temporary remove the on_new_event_callback_ to prevent it from being called
+      std::lock_guard<std::recursive_mutex> on_new_event_lock(on_new_event_callback_mutex_);
+      if (on_new_event_callback_) {
+        set_on_new_event_callback(nullptr, nullptr);
+      }
+    }
+    std::lock_guard<std::mutex> event_callback_lock(event_callback_mutex_);
+    disabled_.store(true);
+  }
+
+  /// Enable the event callback to be called when execute(..) invoked
+  /**
+   * This will also set back the on_new_event_callback to the underlying rmw layer, if it was
+   * previously removed with disable().
+   */
+  void enable() override
+  {
+    {
+      // Set callback again if it was previously removed in disable()
+      std::lock_guard<std::recursive_mutex> on_new_event_lock(on_new_event_callback_mutex_);
+      if (on_new_event_callback_) {
+        set_on_new_event_callback(
+          rclcpp::detail::cpp_callback_trampoline<
+            decltype(on_new_event_callback_), const void *, size_t>,
+          static_cast<const void *>(&on_new_event_callback_));
+      }
+    }
+    std::lock_guard<std::mutex> event_callback_lock(event_callback_mutex_);
+    disabled_.store(false);
+  }
+
 private:
   using EventCallbackInfoT = typename std::remove_reference<typename
       rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type;
 
   ParentHandleT parent_handle_;
   EventCallbackT event_callback_;
+  std::mutex event_callback_mutex_;
+  std::atomic_bool disabled_{false};
 };
-
-template<typename EventCallbackT, typename ParentHandleT>
-using QOSEventHandler [[deprecated("Use rclcpp::EventHandler")]] = EventHandler<EventCallbackT,
-    ParentHandleT>;
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EVENT_HANDLER_HPP_

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -100,6 +100,15 @@ public:
   {}
 };
 
+class InvalidServiceTypeError : public std::runtime_error
+{
+public:
+  InvalidServiceTypeError()
+  : std::runtime_error("Service type is invalid.") {}
+  explicit InvalidServiceTypeError(const std::string & msg)
+  : std::runtime_error(msg) {}
+};
+
 class UnimplementedError : public std::runtime_error
 {
 public:
@@ -206,6 +215,14 @@ public:
   const std::vector<std::string> unknown_ros_args;
 };
 
+/// Thrown when an unknown type is passed
+class UnknownTypeError : public std::runtime_error
+{
+public:
+  explicit UnknownTypeError(const std::string & type)
+  : std::runtime_error("Unknown type: " + type) {}
+};
+
 /// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
 class InvalidEventError : public std::runtime_error
 {
@@ -222,6 +239,14 @@ public:
   : std::runtime_error("event already registered") {}
 };
 
+/// Thrown when a callback group is missing from the node, when it wants to utilize the group.
+class MissingGroupNodeException : public std::runtime_error
+{
+public:
+  explicit MissingGroupNodeException(const std::string & obj_type)
+  : std::runtime_error("cannot create: " + obj_type + " , callback group not in node") {}
+};
+
 /// Thrown if passed parameters are inconsistent or invalid
 class InvalidParametersException : public std::runtime_error
 {

rclcpp/include/rclcpp/executor.hpp

@@ -29,28 +29,27 @@
 
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
+#include "rclcpp/executors/executor_notify_waitable.hpp"
 #include "rcpputils/scope_exit.hpp"
 
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/executor_options.hpp"
+#include "rclcpp/executors/executor_entities_collection.hpp"
+#include "rclcpp/executors/executor_entities_collector.hpp"
 #include "rclcpp/future_return_code.hpp"
-#include "rclcpp/memory_strategies.hpp"
-#include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/wait_set.hpp"
 
 namespace rclcpp
 {
 
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
-
 // Forward declaration is used in convenience method signature.
 class Node;
+class ExecutorImplementation;
 
 /// Coordinate the order and timing of available communication tasks.
 /**
@@ -103,8 +102,8 @@ public:
   RCLCPP_PUBLIC
   virtual void
   add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+    const rclcpp::CallbackGroup::SharedPtr & group_ptr,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
     bool notify = true);
 
   /// Get callback groups that belong to executor.
@@ -174,7 +173,7 @@ public:
   RCLCPP_PUBLIC
   virtual void
   remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
+    const rclcpp::CallbackGroup::SharedPtr & group_ptr,
     bool notify = true);
 
   /// Add a node to the executor.
@@ -198,7 +197,9 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
+  add_node(
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
+    bool notify = true);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
@@ -206,7 +207,7 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
+  add_node(const std::shared_ptr<rclcpp::Node> & node_ptr, bool notify = true);
 
   /// Remove a node from the executor.
   /**
@@ -226,7 +227,9 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify = true);
+  remove_node(
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
+    bool notify = true);
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
@@ -234,7 +237,7 @@ public:
    */
   RCLCPP_PUBLIC
   virtual void
-  remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
+  remove_node(const std::shared_ptr<rclcpp::Node> & node_ptr, bool notify = true);
 
   /// Add a node to executor, execute the next available unit of work, and remove the node.
   /**
@@ -246,7 +249,7 @@ public:
   template<typename RepT = int64_t, typename T = std::milli>
   void
   spin_node_once(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node,
     std::chrono::duration<RepT, T> timeout = std::chrono::duration<RepT, T>(-1))
   {
     return spin_node_once_nanoseconds(
@@ -259,7 +262,7 @@ public:
   template<typename NodeT = rclcpp::Node, typename RepT = int64_t, typename T = std::milli>
   void
   spin_node_once(
-    std::shared_ptr<NodeT> node,
+    const std::shared_ptr<NodeT> & node,
     std::chrono::duration<RepT, T> timeout = std::chrono::duration<RepT, T>(-1))
   {
     return spin_node_once_nanoseconds(
@@ -273,29 +276,63 @@ public:
    * \param[in] node Shared pointer to the node to add.
    */
   RCLCPP_PUBLIC
-  void
-  spin_node_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node);
+  virtual void
+  spin_node_some(const 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);
+  virtual void
+  spin_node_some(const std::shared_ptr<rclcpp::Node> & node);
 
-  /// Collect work once and execute all available work, optionally within a duration.
+  /// Collect work once and execute all available work, optionally within a max duration.
   /**
-   * This function can be overridden. The default implementation is suitable for a
-   * single-threaded model of execution.
-   * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
-   * to block (which may have unintended consequences).
+   * This function can be overridden.
+   * The default implementation is suitable for a single-threaded model of execution.
+   * Adding subscriptions, timers, services, etc. with blocking or long running
+   * callbacks may cause the function exceed the max_duration significantly.
+   *
+   * Work that is ready to be done is collected only once, and when collecting that work
+   * entities which may have multiple pieces of work ready will only be executed at most
+   * one time.
+   * The reason for this is that it is not possible to tell if, for example, a ready
+   * subscription has only one message ready or multiple without checking again.
+   * Because, in order to find out if there are multiple messages, one message must
+   * be taken and executed before checking again if that subscription is still ready.
+   * However, this function only checks for ready entities to work on once,
+   * and so it will never execute a single entity more than once per call to this function.
+   * See spin_all() variants for a function that will repeatedly work on a single entity
+   * in a single call.
+   *
+   * If there is no work to be done when this called, it will return immediately
+   * because the collecting of available work is non-blocking.
+   * Before each piece of ready work is executed this function checks if the
+   * max_duration has been exceeded, and if it has it returns without starting
+   * the execution of the next piece of work.
+   *
+   * If a max_duration of 0 is given, then all of the collected work will be
+   * executed before the function returns.
    *
    * \param[in] max_duration The maximum amount of time to spend executing work, or 0 for no limit.
-   * Note that spin_some() may take longer than this time as it only returns once max_duration has
-   * been exceeded.
    */
   RCLCPP_PUBLIC
   virtual void
   spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
+  /// Add a node, complete all immediately available work exhaustively, and remove the node.
+  /**
+   * \param[in] node Shared pointer to the node to add.
+   */
+  RCLCPP_PUBLIC
+  virtual void
+  spin_node_all(
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node,
+    std::chrono::nanoseconds max_duration);
+
+  /// Convenience function which takes Node and forwards NodeBaseInterface.
+  RCLCPP_PUBLIC
+  virtual void
+  spin_node_all(const std::shared_ptr<rclcpp::Node> & node, std::chrono::nanoseconds max_duration);
+
   /// Collect and execute work repeatedly within a duration or until no more work is available.
   /**
    * This function can be overridden. The default implementation is suitable for a
@@ -338,6 +375,9 @@ public:
    *   If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return
    *   code.
    * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
+   * \note This method will check the future and the timeout only when the executor is woken up.
+   *   If this future is unrelated to an executor's entity, this method will not correctly detect
+   *   when it's completed and therefore may wait forever and never time out.
    */
   template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   FutureReturnCode
@@ -345,52 +385,12 @@ public:
     const FutureT & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
-    // TODO(wjwwood): does not work recursively; can't call spin_node_until_future_complete
-    // inside a callback executed by an executor.
-
-    // 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));
-    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;
-
-    if (spinning.exchange(true)) {
-      throw std::runtime_error("spin_until_future_complete() called while already spinning");
-    }
-    RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
-    while (rclcpp::ok(this->context_) && spinning.load()) {
-      // Do one item of work.
-      spin_once_impl(timeout_left);
-
-      // Check if the future is set, return SUCCESS if it is.
-      status = future.wait_for(std::chrono::seconds(0));
-      if (status == std::future_status::ready) {
-        return FutureReturnCode::SUCCESS;
+    return spin_until_future_complete_impl(
+      std::chrono::duration_cast<std::chrono::nanoseconds>(timeout),
+      [&future](std::chrono::nanoseconds wait_time) {
+        return future.wait_for(wait_time);
       }
-      // 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;
+    );
   }
 
   /// Cancel any running spin* function, causing it to return.
@@ -399,20 +399,9 @@ public:
    * \throws std::runtime_error if there is an issue triggering the guard condition
    */
   RCLCPP_PUBLIC
-  void
+  virtual void
   cancel();
 
-  /// Support dynamic switching of the memory strategy.
-  /**
-   * Switching the memory strategy while the executor is spinning in another threading could have
-   * unintended consequences.
-   * \param[in] memory_strategy Shared pointer to the memory strategy to set.
-   * \throws std::runtime_error if memory_strategy is null
-   */
-  RCLCPP_PUBLIC
-  void
-  set_memory_strategy(memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
-
   /// Returns true if the executor is currently spinning.
   /**
    * This function can be called asynchronously from any thread.
@@ -423,6 +412,14 @@ public:
   is_spinning();
 
 protected:
+  /// Constructor that will not initialize any non-trivial members.
+  /**
+  * This constructor is intended to be used by any derived executor
+  * that explicitly does not want to use the default implementation provided
+  * by this class.
+  */
+  explicit Executor(const std::shared_ptr<rclcpp::Context> & context);
+
   /// Add a node to executor, execute the next available unit of work, and remove the node.
   /**
    * Implementation of spin_node_once using std::chrono::nanoseconds
@@ -434,9 +431,26 @@ protected:
   RCLCPP_PUBLIC
   void
   spin_node_once_nanoseconds(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node,
     std::chrono::nanoseconds timeout);
 
+  /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
+  /**
+   * \sa spin_until_future_complete()
+   * The only difference with spin_until_future_complete() is that the future's
+   * type is obscured through a std::function which lets you wait on it
+   * reguardless of type.
+   *
+   * \param[in] timeout see spin_until_future_complete() for details
+   * \param[in] wait_for_future function to wait on the future and get the
+   *   status after waiting
+   */
+  RCLCPP_PUBLIC
+  virtual FutureReturnCode
+  spin_until_future_complete_impl(
+    std::chrono::nanoseconds timeout,
+    const std::function<std::future_status(std::chrono::nanoseconds wait_time)> & wait_for_future);
+
   /// Collect work and execute available work, optionally within a duration.
   /**
    * Implementation of spin_some and spin_all.
@@ -468,7 +482,7 @@ protected:
   RCLCPP_PUBLIC
   static void
   execute_subscription(
-    rclcpp::SubscriptionBase::SharedPtr subscription);
+    const rclcpp::SubscriptionBase::SharedPtr & subscription);
 
   /// Run timer executable.
   /**
@@ -477,7 +491,7 @@ protected:
    */
   RCLCPP_PUBLIC
   static void
-  execute_timer(rclcpp::TimerBase::SharedPtr timer);
+  execute_timer(const rclcpp::TimerBase::SharedPtr & timer, const std::shared_ptr<void> & data_ptr);
 
   /// Run service server executable.
   /**
@@ -486,7 +500,7 @@ protected:
    */
   RCLCPP_PUBLIC
   static void
-  execute_service(rclcpp::ServiceBase::SharedPtr service);
+  execute_service(const rclcpp::ServiceBase::SharedPtr & service);
 
   /// Run service client executable.
   /**
@@ -495,7 +509,12 @@ protected:
    */
   RCLCPP_PUBLIC
   static void
-  execute_client(rclcpp::ClientBase::SharedPtr client);
+  execute_client(const rclcpp::ClientBase::SharedPtr & client);
+
+  /// Gather all of the waitable entities from associated nodes and callback groups.
+  RCLCPP_PUBLIC
+  void
+  collect_entities();
 
   /// Block until more work becomes avilable or timeout is reached.
   /**
@@ -508,62 +527,6 @@ protected:
   void
   wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// Find node associated with a callback group
-  /**
-   * \param[in] weak_groups_to_nodes map of callback groups to nodes
-   * \param[in] group callback group to find assocatiated node
-   * \return Pointer to associated node if found, else nullptr
-   */
-  RCLCPP_PUBLIC
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-  get_node_by_group(
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    rclcpp::CallbackGroup::SharedPtr group);
-
-  /// Return true if the node has been added to this executor.
-  /**
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \param[in] weak_groups_to_nodes map to nodes to lookup
-   * \return true if the node is associated with the executor, otherwise false
-   */
-  RCLCPP_PUBLIC
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
-
-  /// Find the callback group associated with a timer
-  /**
-   * \param[in] timer Timer to find associated callback group
-   * \return Pointer to callback group node if found, else nullptr
-   */
-  RCLCPP_PUBLIC
-  rclcpp::CallbackGroup::SharedPtr
-  get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
-
-  /// Add a callback group to an executor
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_group_to_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-    bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
-
   /// Check for executable in ready state and populate union structure.
   /**
    * \param[out] any_executable populated union structure of ready executable
@@ -574,33 +537,6 @@ protected:
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
-  /// Check for executable in ready state and populate union structure.
-  /**
-   * This is the implementation of get_next_ready_executable that takes into
-   * account the current state of callback groups' association with nodes and
-   * executors.
-   *
-   * This checks in a particular order for available work:
-   *   * Timers
-   *   * Subscriptions
-   *   * Services
-   *   * Clients
-   *   * Waitable
-   *
-   * If the next executable is not associated with this executor/node pair,
-   * then this method will return false.
-   *
-   * \param[out] any_executable populated union structure of ready executable
-   * \param[in] weak_groups_to_nodes mapping of callback groups to nodes
-   * \return true if an executable was ready and any_executable was populated,
-   *   otherwise false
-   */
-  RCLCPP_PUBLIC
-  bool
-  get_next_ready_executable_from_map(
-    AnyExecutable & any_executable,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
   /// Wait for executable in ready state and populate union structure.
   /**
    * If an executable is ready, it will return immediately, otherwise
@@ -618,39 +554,27 @@ protected:
     AnyExecutable & any_executable,
     std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// Add all callback groups that can be automatically added from associated nodes.
+  /// This function triggers a recollect of all entities that are registered to the executor.
   /**
-   * The executor, before collecting entities, verifies if any callback group from
-   * nodes associated with the executor, which is not already associated to an executor,
-   * can be automatically added to this executor.
-   * This takes care of any callback group that has been added to a node but not explicitly added
-   * to the executor.
-   * It is important to note that in order for the callback groups to be automatically added to an
-   * executor through this function, the node of the callback groups needs to have been added
-   * through the `add_node` method.
+   * Calling this function is thread safe.
+   *
+   * \param[in] notify if true will execute a trigger that will wake up a waiting executor
    */
   RCLCPP_PUBLIC
   virtual void
-  add_callback_groups_from_nodes_associated_to_executor() RCPPUTILS_TSA_REQUIRES(mutex_);
+  handle_updated_entities(bool notify);
 
   /// Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.
   std::atomic_bool spinning;
 
   /// Guard condition for signaling the rmw layer to wake up for special events.
-  rclcpp::GuardCondition interrupt_guard_condition_;
+  std::shared_ptr<rclcpp::GuardCondition> interrupt_guard_condition_;
 
+  /// Guard condition for signaling the rmw layer to wake up for system shutdown.
   std::shared_ptr<rclcpp::GuardCondition> shutdown_guard_condition_;
 
-  /// Wait set for managing entities that the rmw layer waits on.
-  rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
-
-  // Mutex to protect the subsequent memory_strategy_.
   mutable std::mutex mutex_;
 
-  /// The memory strategy: an interface for handling user-defined memory allocation strategies.
-  memory_strategy::MemoryStrategy::SharedPtr
-  memory_strategy_ RCPPUTILS_TSA_PT_GUARDED_BY(mutex_);
-
   /// The context associated with this executor.
   std::shared_ptr<rclcpp::Context> context_;
 
@@ -660,42 +584,37 @@ protected:
   virtual void
   spin_once_impl(std::chrono::nanoseconds timeout);
 
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
+  /// Waitable containing guard conditions controlling the executor flow.
+  /**
+   * This waitable contains the interrupt and shutdown guard condition, as well
+   * as the guard condition associated with each node and callback group.
+   * By default, if any change is detected in the monitored entities, the notify
+   * waitable will awake the executor and rebuild the collections.
+   */
+  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
 
-  typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-      const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::CallbackGroup::WeakPtr>>
-    WeakCallbackGroupsToGuardConditionsMap;
+  std::atomic_bool entities_need_rebuild_;
 
-  /// maps nodes to guard conditions
-  WeakNodesToGuardConditionsMap
-  weak_nodes_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// Collector used to associate executable entities from nodes and guard conditions
+  rclcpp::executors::ExecutorEntitiesCollector collector_;
 
-  /// maps callback groups to guard conditions
-  WeakCallbackGroupsToGuardConditionsMap
-  weak_groups_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// WaitSet to be waited on.
+  rclcpp::WaitSet wait_set_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  std::optional<rclcpp::WaitResult<rclcpp::WaitSet>> wait_result_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
-  /// maps callback groups associated to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_associated_with_executor_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// Hold the current state of the collection being waited on by the waitset
+  rclcpp::executors::ExecutorEntitiesCollection current_collection_ RCPPUTILS_TSA_GUARDED_BY(
+    mutex_);
 
-  /// maps callback groups to nodes associated with executor
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_associated_with_executor_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// maps all callback groups to nodes
-  WeakCallbackGroupsToNodesMap
-  weak_groups_to_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
-  /// nodes that are associated with the executor
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>
-  weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+  /// Hold the current state of the notify waitable being waited on by the waitset
+  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> current_notify_waitable_
+  RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
   /// shutdown callback handle registered to Context
   rclcpp::OnShutdownCallbackHandle shutdown_callback_handle_;
+
+  /// Pointer to implementation
+  std::unique_ptr<ExecutorImplementation> impl_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/executor_options.hpp

@@ -15,6 +15,8 @@
 #ifndef RCLCPP__EXECUTOR_OPTIONS_HPP_
 #define RCLCPP__EXECUTOR_OPTIONS_HPP_
 
+#include <memory>
+
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/memory_strategies.hpp"
@@ -24,18 +26,30 @@
 namespace rclcpp
 {
 
+class ExecutorOptionsImplementation;
+
 /// Options to be passed to the executor constructor.
 struct ExecutorOptions
 {
-  ExecutorOptions()
-  : memory_strategy(rclcpp::memory_strategies::create_default_strategy()),
-    context(rclcpp::contexts::get_global_default_context()),
-    max_conditions(0)
-  {}
+  RCLCPP_PUBLIC
+  ExecutorOptions();
+
+  RCLCPP_PUBLIC
+  virtual ~ExecutorOptions();
+
+  RCLCPP_PUBLIC
+  ExecutorOptions(const ExecutorOptions &);
+
+  RCLCPP_PUBLIC
+  ExecutorOptions & operator=(const ExecutorOptions &);
 
   rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy;
   rclcpp::Context::SharedPtr context;
   size_t max_conditions;
+
+private:
+  /// Pointer to implementation
+  std::unique_ptr<ExecutorOptionsImplementation> impl_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/executors.hpp

@@ -20,7 +20,7 @@
 
 #include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
-#include "rclcpp/executors/static_single_threaded_executor.hpp"
+#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -28,25 +28,95 @@
 namespace rclcpp
 {
 
-/// Create a default single-threaded executor and execute any immediately available work.
-/** \param[in] node_ptr Shared pointer to the node to spin. */
+/**
+ * @brief Create a default single-threaded executor and execute all available work exhaustively.
+ * @param node_ptr Shared pointer to the base interface of the node to spin.
+ * @param max_duration max duration to spin
+ *
+ * This method is deprecated because it can lead to very bad performance if used in a loop:
+ * each call will create a new executor and register the node, which is an expensive operation.
+ * It's recommended to always manually instantiate an executor and call the methods with
+ * the same name on it.
+ * For example:
+ *     SingleThreadedExecutor executor;
+ *     executor.add_node(node_ptr);
+ *     executor.spin_all(max_duration);
+ * If you are using a non-default context, this should be passed to the executor's constructor.
+ */
+[[deprecated("use SingleThreadedExecutor::spin_all instead")]]
 RCLCPP_PUBLIC
 void
-spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+spin_all(
+  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
+  std::chrono::nanoseconds max_duration);
 
+/**
+ * @brief Create a default single-threaded executor and execute all available work exhaustively.
+ * @param node_ptr Shared pointer to the node to spin.
+ * @param max_duration max duration to spin
+ *
+ * This method is deprecated because it can lead to very bad performance if used in a loop:
+ * each call will create a new executor and register the node, which is an expensive operation.
+ * It's recommended to always manually instantiate an executor and call the methods with
+ * the same name on it.
+ * For example:
+ *     SingleThreadedExecutor executor;
+ *     executor.add_node(node_ptr);
+ *     executor.spin_all(max_duration);
+ * If you are using a non-default context, this should be passed to the executor's constructor.
+ */
+[[deprecated("use SingleThreadedExecutor::spin_all instead")]]
 RCLCPP_PUBLIC
 void
-spin_some(rclcpp::Node::SharedPtr node_ptr);
+spin_all(const rclcpp::Node::SharedPtr & node_ptr, std::chrono::nanoseconds max_duration);
+
+/**
+ * @brief Create a default single-threaded executor and execute any immediately available work.
+ * @param node_ptr Shared pointer to the base interface of the node to spin.
+ *
+ * This method is deprecated because it can lead to very bad performance if used in a loop:
+ * each call will create a new executor and register the node, which is an expensive operation.
+ * It's recommended to always manually instantiate an executor and call the methods with
+ * the same name on it.
+ * For example:
+ *     SingleThreadedExecutor executor;
+ *     executor.add_node(node_ptr);
+ *     executor.spin_some();
+ * If you are using a non-default context, this should be passed to the executor's constructor.
+ */
+[[deprecated("use SingleThreadedExecutor::spin_some instead")]]
+RCLCPP_PUBLIC
+void
+spin_some(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr);
+
+/**
+ * @brief Create a default single-threaded executor and execute any immediately available work.
+ * @param node_ptr Shared pointer to the node to spin.
+ *
+ * This method is deprecated because it can lead to very bad performance if used in a loop:
+ * each call will create a new executor and register the node, which is an expensive operation.
+ * It's recommended to always manually instantiate an executor and call the methods with
+ * the same name on it.
+ * For example:
+ *     SingleThreadedExecutor executor;
+ *     executor.add_node(node_ptr);
+ *     executor.spin_some();
+ * If you are using a non-default context, this should be passed to the executor's constructor.
+ */
+[[deprecated("use SingleThreadedExecutor::spin_some instead")]]
+RCLCPP_PUBLIC
+void
+spin_some(const rclcpp::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(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
+spin(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr);
 
 RCLCPP_PUBLIC
 void
-spin(rclcpp::Node::SharedPtr node_ptr);
+spin(const rclcpp::Node::SharedPtr & node_ptr);
 
 namespace executors
 {
@@ -70,7 +140,7 @@ template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::mi
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
@@ -87,7 +157,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
-  std::shared_ptr<NodeT> node_ptr,
+  const std::shared_ptr<NodeT> & node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
@@ -103,11 +173,13 @@ spin_node_until_future_complete(
 template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_until_future_complete(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
+  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::ExecutorOptions options;
+  options.context = node_ptr->get_context();
+  rclcpp::executors::SingleThreadedExecutor executor(options);
   return executors::spin_node_until_future_complete<FutureT>(executor, node_ptr, future, timeout);
 }
 
@@ -115,7 +187,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
   typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_until_future_complete(
-  std::shared_ptr<NodeT> node_ptr,
+  const std::shared_ptr<NodeT> & node_ptr,
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {

rclcpp/include/rclcpp/executors/executor_entities_collection.hpp

@@ -0,0 +1,219 @@
+// Copyright 2023 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__EXECUTORS__EXECUTOR_ENTITIES_COLLECTION_HPP_
+#define RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTION_HPP_
+
+#include <deque>
+#include <functional>
+#include <unordered_map>
+#include <vector>
+
+#include <rclcpp/any_executable.hpp>
+#include <rclcpp/node_interfaces/node_base.hpp>
+#include <rclcpp/callback_group.hpp>
+#include <rclcpp/executors/executor_notify_waitable.hpp>
+#include <rclcpp/visibility_control.hpp>
+#include <rclcpp/wait_result.hpp>
+#include <rclcpp/wait_set.hpp>
+
+namespace rclcpp
+{
+namespace executors
+{
+
+/// Structure to represent a single entity's entry in a collection
+template<typename EntityValueType>
+struct CollectionEntry
+{
+  /// Weak pointer to entity type
+  using EntityWeakPtr = typename EntityValueType::WeakPtr;
+  /// Shared pointer to entity type
+  using EntitySharedPtr = typename EntityValueType::SharedPtr;
+
+  /// The entity
+  EntityWeakPtr entity;
+
+  /// If relevant, the entity's corresponding callback_group
+  rclcpp::CallbackGroup::WeakPtr callback_group;
+};
+
+/// Update a collection based on another collection
+/*
+ * Iterates update_from and update_to to see which entities have been added/removed between
+ * the two collections.
+ *
+ * For each new entry (in update_from, but not in update_to),
+ *   add the entity and fire the on_added callback
+ * For each removed entry (in update_to, but not in update_from),
+ *   remove the entity and fire the on_removed callback.
+ *
+ *  \param[in] update_from The collection representing the next iteration's state
+ *  \param[inout] update_to The collection representing the current iteration's state
+ *  \param[in] on_added Callback fired when a new entity is detected
+ *  \param[in] on_removed Callback fired when an entity is removed
+ */
+template<typename CollectionType>
+void update_entities(
+  const CollectionType & update_from,
+  CollectionType & update_to,
+  std::function<void(const typename CollectionType::EntitySharedPtr &)> on_added,
+  std::function<void(const typename CollectionType::EntitySharedPtr &)> on_removed
+)
+{
+  for (auto it = update_to.begin(); it != update_to.end(); ) {
+    if (update_from.count(it->first) == 0) {
+      auto entity = it->second.entity.lock();
+      if (entity) {
+        on_removed(entity);
+      }
+      it = update_to.erase(it);
+    } else {
+      ++it;
+    }
+  }
+  for (auto it = update_from.begin(); it != update_from.end(); ++it) {
+    if (update_to.count(it->first) == 0) {
+      auto entity = it->second.entity.lock();
+      if (entity) {
+        on_added(entity);
+      }
+      update_to.insert(*it);
+    }
+  }
+}
+
+/// A collection of entities, indexed by their corresponding handles
+template<typename EntityKeyType, typename EntityValueType>
+class EntityCollection
+  : public std::unordered_map<const EntityKeyType *, CollectionEntry<EntityValueType>>
+{
+public:
+  /// Key type of the map
+  using Key = const EntityKeyType *;
+
+  /// Weak pointer to entity type
+  using EntityWeakPtr = typename EntityValueType::WeakPtr;
+
+  /// Shared pointer to entity type
+  using EntitySharedPtr = typename EntityValueType::SharedPtr;
+
+  /// Update this collection based on the contents of another collection
+  /**
+   * Update the internal state of this collection, firing callbacks when entities have been
+   * added or removed.
+   *
+   * \param[in] other Collection to compare to
+   * \param[in] on_added Callback for when entities have been added
+   * \param[in] on_removed Callback for when entities have been removed
+   */
+  void update(
+    const EntityCollection<EntityKeyType, EntityValueType> & other,
+    std::function<void(const EntitySharedPtr &)> on_added,
+    std::function<void(const EntitySharedPtr &)> on_removed)
+  {
+    update_entities(other, *this, on_added, on_removed);
+  }
+};
+
+/// Represent the total set of entities for a single executor
+/**
+ * This allows the entities to be stored from ExecutorEntitiesCollector.
+ * The structure also makes in convenient to re-evaluate when entities have been added or removed.
+ */
+struct ExecutorEntitiesCollection
+{
+  /// Collection type for timer entities
+  using TimerCollection = EntityCollection<rcl_timer_t, rclcpp::TimerBase>;
+
+  /// Collection type for subscription entities
+  using SubscriptionCollection = EntityCollection<rcl_subscription_t, rclcpp::SubscriptionBase>;
+
+  /// Collection type for client entities
+  using ClientCollection = EntityCollection<rcl_client_t, rclcpp::ClientBase>;
+
+  /// Collection type for service entities
+  using ServiceCollection = EntityCollection<rcl_service_t, rclcpp::ServiceBase>;
+
+  /// Collection type for waitable entities
+  using WaitableCollection = EntityCollection<rclcpp::Waitable, rclcpp::Waitable>;
+
+  /// Collection type for guard condition entities
+  using GuardConditionCollection = EntityCollection<rcl_guard_condition_t, rclcpp::GuardCondition>;
+
+  /// Collection of timers currently in use by the executor.
+  TimerCollection timers;
+
+  /// Collection of subscriptions currently in use by the executor.
+  SubscriptionCollection subscriptions;
+
+  /// Collection of clients currently in use by the executor.
+  ClientCollection clients;
+
+  /// Collection of services currently in use by the executor.
+  ServiceCollection services;
+
+  /// Collection of guard conditions currently in use by the executor.
+  GuardConditionCollection guard_conditions;
+
+  /// Collection of waitables currently in use by the executor.
+  WaitableCollection waitables;
+
+  /// Check if the entities collection is empty
+  /**
+   * \return true if all member collections are empty, false otherwise
+  */
+  bool empty() const;
+
+  /// Clear the entities collection
+  void clear();
+
+  /// Remove entities that have expired weak ownership
+  /**
+   * \return The total number of removed entities
+   */
+  size_t remove_expired_entities();
+};
+
+/// Build an entities collection from callback groups
+/**
+ * Iterates a list of callback groups and adds entities from each valid group
+ *
+ * \param[in] callback_groups List of callback groups to check for entities
+ * \param[inout] colletion Entities collection to populate with found entities
+ */
+void
+build_entities_collection(
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> & callback_groups,
+  ExecutorEntitiesCollection & collection);
+
+/// Build a queue of executables ready to be executed
+/**
+ * Iterates a list of entities and adds them to a queue if they are ready.
+ *
+ * \param[in] collection Collection of entities corresponding to the current wait set.
+ * \param[in] wait_result Result of rclcpp::WaitSet::wait corresponding to the collection.
+ * \param[inout] queue of executables to append new ready executables to
+ * \return number of new ready executables
+ */
+size_t
+ready_executables(
+  const ExecutorEntitiesCollection & collection,
+  rclcpp::WaitResult<rclcpp::WaitSet> & wait_result,
+  std::deque<rclcpp::AnyExecutable> & executables
+);
+}  // namespace executors
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTION_HPP_

rclcpp/include/rclcpp/executors/executor_entities_collector.hpp

@@ -0,0 +1,270 @@
+// Copyright 2023 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__EXECUTORS__EXECUTOR_ENTITIES_COLLECTOR_HPP_
+#define RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTOR_HPP_
+
+#include <map>
+#include <memory>
+#include <mutex>
+#include <set>
+#include <vector>
+
+#include "rcpputils/thread_safety_annotations.hpp"
+
+#include <rclcpp/any_executable.hpp>
+#include <rclcpp/node_interfaces/node_base.hpp>
+#include <rclcpp/callback_group.hpp>
+#include <rclcpp/executors/executor_notify_waitable.hpp>
+#include <rclcpp/visibility_control.hpp>
+#include <rclcpp/wait_set.hpp>
+#include <rclcpp/wait_result.hpp>
+
+namespace rclcpp
+{
+namespace executors
+{
+
+/// Class to monitor a set of nodes and callback groups for changes in entity membership
+/**
+ * This is to be used with an executor to track the membership of various nodes, groups,
+ * and entities (timers, subscriptions, clients, services, etc) and report status to the
+ * executor.
+ *
+ * In general, users will add either nodes or callback groups to an executor.
+ * Each node may have callback groups that are automatically associated with executors,
+ * or callback groups that must be manually associated with an executor.
+ *
+ * This object tracks both types of callback groups as well as nodes that have been
+ * previously added to the executor.
+ * When a new callback group is added/removed or new entities are added/removed, the
+ * corresponding node or callback group will signal this to the executor so that the
+ * entity collection may be rebuilt according to that executor's implementation.
+ *
+ */
+class ExecutorEntitiesCollector
+{
+public:
+  /// Constructor
+  /**
+   * \param[in] notify_waitable Waitable that is used to signal to the executor
+   *   when nodes or callback groups have been added or removed.
+   */
+  RCLCPP_PUBLIC
+  explicit ExecutorEntitiesCollector(
+    const std::shared_ptr<ExecutorNotifyWaitable> & notify_waitable);
+
+  /// Destructor
+  RCLCPP_PUBLIC
+  ~ExecutorEntitiesCollector();
+
+  /// Indicate if the entities collector has pending additions or removals.
+  /**
+   * \return true if there are pending additions or removals
+   */
+  bool has_pending() const;
+
+  /// Add a node to the entity collector
+  /**
+   * \param[in] node_ptr a shared pointer that points to a node base interface
+   * \throw std::runtime_error if the node is associated with an executor
+   */
+  RCLCPP_PUBLIC
+  void
+  add_node(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr);
+
+  /// Remove a node from the entity collector
+  /**
+   * \param[in] node_ptr a shared pointer that points to a node base interface
+   * \throw std::runtime_error if the node is associated with an executor
+   * \throw std::runtime_error if the node is associated with this executor
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_node(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_ptr);
+
+  /// Add a callback group to the entity collector
+  /**
+   * \param[in] group_ptr a shared pointer that points to a callback group
+   * \throw std::runtime_error if the callback_group is associated with an executor
+   */
+  RCLCPP_PUBLIC
+  void
+  add_callback_group(const rclcpp::CallbackGroup::SharedPtr & group_ptr);
+
+  /// Remove a callback group from the entity collector
+  /**
+   * \param[in] group_ptr a shared pointer that points to a callback group
+   * \throw std::runtime_error if the callback_group is not associated with an executor
+   * \throw std::runtime_error if the callback_group is not associated with this executor
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_callback_group(const rclcpp::CallbackGroup::SharedPtr & group_ptr);
+
+  /// Get all callback groups known to this entity collector
+  /**
+   * This will include manually added and automatically added (node associated) groups
+   * \return vector of all callback groups
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::CallbackGroup::WeakPtr>
+  get_all_callback_groups() const;
+
+  /// Get manually-added callback groups known to this entity collector
+  /**
+   * This will include callback groups that have been added via add_callback_group
+   * \return vector of manually-added callback groups
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::CallbackGroup::WeakPtr>
+  get_manually_added_callback_groups() const;
+
+  /// Get automatically-added callback groups known to this entity collector
+  /**
+   * This will include callback groups that are associated with nodes added via add_node
+   * \return vector of automatically-added callback groups
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::CallbackGroup::WeakPtr>
+  get_automatically_added_callback_groups() const;
+
+  /// Update the underlying collections
+  /**
+   * This will prune nodes and callback groups that are no longer valid as well
+   * as add new callback groups from any associated nodes.
+   */
+  RCLCPP_PUBLIC
+  void
+  update_collections();
+
+protected:
+  using NodeCollection = std::set<
+    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
+    std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>;
+
+  using CallbackGroupCollection = std::set<
+    rclcpp::CallbackGroup::WeakPtr,
+    std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
+
+  using WeakNodesToGuardConditionsMap = std::map<
+    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
+    rclcpp::GuardCondition::WeakPtr,
+    std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>;
+
+  using WeakGroupsToGuardConditionsMap = std::map<
+    rclcpp::CallbackGroup::WeakPtr,
+    rclcpp::GuardCondition::WeakPtr,
+    std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
+
+  /// Implementation of removing a node from the collector.
+  /**
+   * This will disassociate the node from the collector and remove any
+   * automatically-added callback groups
+   *
+   * This takes and returns an iterator so it may be used as:
+   *
+   * it = remove_weak_node(it);
+   *
+   * \param[in] weak_node iterator to the weak node to be removed
+   * \return Valid updated iterator in the same collection
+   */
+  RCLCPP_PUBLIC
+  NodeCollection::iterator
+  remove_weak_node(NodeCollection::iterator weak_node) RCPPUTILS_TSA_REQUIRES(mutex_);
+
+  /// Implementation of removing a callback group from the collector.
+  /**
+   * This will disassociate the callback group from the collector
+   *
+   * This takes and returns an iterator so it may be used as:
+   *
+   * it = remove_weak_callback_group(it);
+   *
+   * \param[in] weak_group_it iterator to the weak group to be removed
+   * \param[in] collection the collection to remove the group from
+   *   (manually or automatically added)
+   * \return Valid updated iterator in the same collection
+   */
+  RCLCPP_PUBLIC
+  CallbackGroupCollection::iterator
+  remove_weak_callback_group(
+    CallbackGroupCollection::iterator weak_group_it,
+    CallbackGroupCollection & collection) RCPPUTILS_TSA_REQUIRES(mutex_);
+
+  /// Implementation of adding a callback group
+  /**
+   * \param[in] group_ptr the group to add
+   * \param[in] collection the collection to add the group to
+   */
+  RCLCPP_PUBLIC
+  void
+  add_callback_group_to_collection(
+    const rclcpp::CallbackGroup::SharedPtr & group_ptr,
+    CallbackGroupCollection & collection)  RCPPUTILS_TSA_REQUIRES(mutex_);
+
+  /// Iterate over queued added/remove nodes and callback_groups
+  RCLCPP_PUBLIC
+  void
+  process_queues() RCPPUTILS_TSA_REQUIRES(mutex_);
+
+  /// Check a collection of nodes and add any new callback_groups that
+  /// are set to be automatically associated via the node.
+  RCLCPP_PUBLIC
+  void
+  add_automatically_associated_callback_groups(
+    const NodeCollection & nodes_to_check) RCPPUTILS_TSA_REQUIRES(mutex_);
+
+  /// Check all nodes and group for expired weak pointers and remove them.
+  RCLCPP_PUBLIC
+  void
+  prune_invalid_nodes_and_groups() RCPPUTILS_TSA_REQUIRES(mutex_);
+
+  /// mutex to protect collections and pending queues
+  mutable std::mutex mutex_;
+
+  /// Callback groups that were added via `add_callback_group`
+  CallbackGroupCollection manually_added_groups_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// Callback groups that were added by their association with added nodes
+  CallbackGroupCollection automatically_added_groups_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// nodes that are associated with the executor
+  NodeCollection weak_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// Track guard conditions associated with added nodes
+  WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// Track guard conditions associated with added callback groups
+  WeakGroupsToGuardConditionsMap weak_groups_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// nodes that have been added since the last update.
+  NodeCollection pending_added_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// nodes that have been removed since the last update.
+  NodeCollection pending_removed_nodes_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// callback groups that have been added since the last update.
+  CallbackGroupCollection pending_manually_added_groups_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// callback groups that have been removed since the last update.
+  CallbackGroupCollection pending_manually_removed_groups_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
+  /// Waitable to add guard conditions to
+  std::shared_ptr<ExecutorNotifyWaitable> notify_waitable_;
+};
+}  // namespace executors
+}  // namespace rclcpp
+//
+#endif  // RCLCPP__EXECUTORS__EXECUTOR_ENTITIES_COLLECTOR_HPP_

rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp

@@ -0,0 +1,189 @@
+// Copyright 2023 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__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_
+#define RCLCPP__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_
+
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <set>
+#include <vector>
+
+#include "rclcpp/guard_condition.hpp"
+#include "rclcpp/waitable.hpp"
+
+namespace rclcpp
+{
+namespace executors
+{
+
+/// Maintain a collection of guard conditions from associated nodes and callback groups
+/// to signal to the executor when associated entities have changed.
+class ExecutorNotifyWaitable : public rclcpp::Waitable
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(ExecutorNotifyWaitable)
+
+  // Constructor
+  /**
+   * \param[in] on_execute_callback Callback to execute when one of the conditions
+   *   of this waitable has signaled the wait_set.
+   */
+  RCLCPP_PUBLIC
+  explicit ExecutorNotifyWaitable(
+    const std::function<void(void)> & on_execute_callback = {},
+    const rclcpp::Context::SharedPtr & context =
+    rclcpp::contexts::get_global_default_context());
+
+  // Destructor
+  RCLCPP_PUBLIC
+  ~ExecutorNotifyWaitable() override = default;
+
+  RCLCPP_PUBLIC
+  ExecutorNotifyWaitable(ExecutorNotifyWaitable & other);
+
+  RCLCPP_PUBLIC
+  ExecutorNotifyWaitable & operator=(ExecutorNotifyWaitable & other);
+
+  /// Add conditions to the wait set
+  /**
+   * \param[inout] wait_set structure that conditions will be added to
+   */
+  RCLCPP_PUBLIC
+  void
+  add_to_wait_set(rcl_wait_set_t & wait_set) override;
+
+  /// Check conditions against the wait set
+  /**
+   * \param[inout] wait_set structure that internal elements will be checked against.
+   * \return true if this waitable is ready to be executed, false otherwise.
+   */
+  RCLCPP_PUBLIC
+  bool
+  is_ready(const rcl_wait_set_t & wait_set) override;
+
+  /// Perform work associated with the waitable.
+  /**
+   * This will call the callback provided in the constructor.
+   * \param[in] data Data to be use for the execute, if available, else nullptr.
+   */
+  RCLCPP_PUBLIC
+  void
+  execute(const std::shared_ptr<void> & data) override;
+
+  /// Retrieve data to be used in the next execute call.
+  /**
+   * \return If available, data to be used, otherwise nullptr
+   */
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  take_data() override;
+
+  /// Take the data from an entity ID so that it can be consumed with `execute`.
+  /**
+   * \param[in] id ID of the entity to take data from.
+   * \return If available, data to be used, otherwise nullptr
+   * \sa rclcpp::Waitable::take_data_by_entity_id
+   */
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  take_data_by_entity_id(size_t id) override;
+
+  /// Set a callback to be called whenever the waitable becomes ready.
+  /**
+   * \param[in] callback callback to set
+   * \sa rclcpp::Waitable::set_on_ready_callback
+   */
+  RCLCPP_PUBLIC
+  void
+  set_on_ready_callback(std::function<void(size_t, int)> callback) override;
+
+  /// Add a guard condition to be waited on.
+  /**
+   * \param[in] guard_condition The guard condition to add.
+   */
+  RCLCPP_PUBLIC
+  void
+  add_guard_condition(const rclcpp::GuardCondition::WeakPtr & guard_condition);
+
+  /// Unset any callback registered via set_on_ready_callback.
+  /**
+   * \sa rclcpp::Waitable::clear_on_ready_callback
+   */
+  RCLCPP_PUBLIC
+  void
+  clear_on_ready_callback() override;
+
+  /// Set a new callback to be called whenever this waitable is executed.
+  /**
+   * \param[in] on_execute_callback The new callback
+   */
+  RCLCPP_PUBLIC
+  void
+  set_execute_callback(std::function<void(void)> on_execute_callback);
+
+  /// Remove a guard condition from being waited on.
+  /**
+   * \param[in] weak_guard_condition The guard condition to remove.
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_guard_condition(const rclcpp::GuardCondition::WeakPtr & weak_guard_condition);
+
+  /// Get the number of ready guard_conditions
+  /**
+   * \return The number of guard_conditions associated with the Waitable.
+   */
+  RCLCPP_PUBLIC
+  size_t
+  get_number_of_ready_guard_conditions() override;
+
+  /// Returns the number of used Timers
+  /**
+   * Will always return an empty vector.
+   */
+  RCLCPP_PUBLIC
+  std::vector<std::shared_ptr<rclcpp::TimerBase>>
+  get_timers() const override;
+
+private:
+  /// Callback to run when waitable executes
+  std::function<void(void)> execute_callback_;
+
+  /// Mutex to procetect the guard conditions
+  std::mutex guard_condition_mutex_;
+  /// Mutex to protect the execute callback
+  std::mutex execute_mutex_;
+
+  std::function<void(size_t)> on_ready_callback_;
+
+  /// The collection of guard conditions to be waited on.
+  std::set<rclcpp::GuardCondition::SharedPtr> notify_guard_conditions_;
+
+  /// The indixes were our guard conditions were stored in the
+  /// rcl waitset
+  std::vector<size_t> idxs_of_added_guard_condition_;
+
+  /// set to true, if we got a pending trigger
+  bool needs_processing = false;
+
+  /// A guard condition needed to generate wakeups
+  rclcpp::GuardCondition::SharedPtr guard_condition_;
+};
+
+}  // namespace executors
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXECUTORS__EXECUTOR_NOTIFY_WAITABLE_HPP_

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -1,357 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXECUTORS__STATIC_EXECUTOR_ENTITIES_COLLECTOR_HPP_
-#define RCLCPP__EXECUTORS__STATIC_EXECUTOR_ENTITIES_COLLECTOR_HPP_
-
-#include <chrono>
-#include <list>
-#include <map>
-#include <memory>
-#include <vector>
-
-#include "rcl/guard_condition.h"
-#include "rcl/wait.h"
-
-#include "rclcpp/experimental/executable_list.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/memory_strategy.hpp"
-#include "rclcpp/visibility_control.hpp"
-#include "rclcpp/waitable.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
-
-class StaticExecutorEntitiesCollector final
-  : public rclcpp::Waitable,
-  public std::enable_shared_from_this<StaticExecutorEntitiesCollector>
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(StaticExecutorEntitiesCollector)
-
-  // Constructor
-  RCLCPP_PUBLIC
-  StaticExecutorEntitiesCollector() = default;
-
-  // Destructor
-  RCLCPP_PUBLIC
-  ~StaticExecutorEntitiesCollector();
-
-  /// Initialize StaticExecutorEntitiesCollector
-  /**
-   * \param p_wait_set A reference to the wait set to be used in the executor
-   * \param memory_strategy Shared pointer to the memory strategy to set.
-   * \throws std::runtime_error if memory strategy is null
-   */
-  RCLCPP_PUBLIC
-  void
-  init(
-    rcl_wait_set_t * p_wait_set,
-    rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy);
-
-  /// Finalize StaticExecutorEntitiesCollector to clear resources
-  RCLCPP_PUBLIC
-  bool
-  is_init() {return initialized_;}
-
-  RCLCPP_PUBLIC
-  void
-  fini();
-
-  /// Execute the waitable.
-  RCLCPP_PUBLIC
-  void
-  execute(std::shared_ptr<void> & data) override;
-
-  /// Take the data so that it can be consumed with `execute`.
-  /**
-   * For `StaticExecutorEntitiesCollector`, this always return `nullptr`.
-   * \sa rclcpp::Waitable::take_data()
-   */
-  RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data() override;
-
-  /// Function to add_handles_to_wait_set and wait for work and
-  /**
-   * block until the wait set is ready or until the timeout has been exceeded.
-   * \throws std::runtime_error if wait set couldn't be cleared or filled.
-   * \throws any rcl errors from rcl_wait, \see rclcpp::exceptions::throw_from_rcl_error()
-   */
-  RCLCPP_PUBLIC
-  void
-  refresh_wait_set(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
-
-  /**
-   * \throws std::runtime_error if it couldn't add guard condition to wait set
-   */
-  RCLCPP_PUBLIC
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
-
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_ready_guard_conditions() override;
-
-  /// Add a callback group to an executor.
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /// Add a callback group to an executor.
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   * \return boolean whether the node from the callback group is new
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group_from_map
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /**
-   * \see rclcpp::Executor::add_node()
-   * \throw std::runtime_error if node was already added
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /**
-   * \see rclcpp::Executor::remove_node()
-   * \throw std::runtime_error if no guard condition is associated with node.
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_manually_added_callback_groups()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes();
-
-  /// Complete all available queued work without blocking.
-  /**
-   * This function checks if after the guard condition was triggered
-   * (or a spurious wakeup happened) we are really ready to execute
-   * i.e. re-collect entities
-   */
-  RCLCPP_PUBLIC
-  bool
-  is_ready(rcl_wait_set_t * wait_set) override;
-
-  /// Return number of timers
-  /**
-   * \return number of timers
-   */
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_timers() {return exec_list_.number_of_timers;}
-
-  /// Return number of subscriptions
-  /**
-   * \return number of subscriptions
-   */
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_subscriptions() {return exec_list_.number_of_subscriptions;}
-
-  /// Return number of services
-  /**
-   * \return number of services
-   */
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_services() {return exec_list_.number_of_services;}
-
-  /// Return number of clients
-  /**
-   * \return number of clients
-   */
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_clients() {return exec_list_.number_of_clients;}
-
-  /// Return number of waitables
-  /**
-   * \return number of waitables
-   */
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_waitables() {return exec_list_.number_of_waitables;}
-
-  /** Return a SubscritionBase Sharedptr by index.
-   * \param[in] i The index of the SubscritionBase
-   * \return a SubscritionBase shared pointer
-   * \throws std::out_of_range if the argument is higher than the size of the structrue.
-   */
-  RCLCPP_PUBLIC
-  rclcpp::SubscriptionBase::SharedPtr
-  get_subscription(size_t i) {return exec_list_.subscription[i];}
-
-  /** Return a TimerBase Sharedptr by index.
-   * \param[in] i The index of the TimerBase
-   * \return a TimerBase shared pointer
-   * \throws std::out_of_range if the argument is higher than the size.
-   */
-  RCLCPP_PUBLIC
-  rclcpp::TimerBase::SharedPtr
-  get_timer(size_t i) {return exec_list_.timer[i];}
-
-  /** Return a ServiceBase Sharedptr by index.
-   * \param[in] i The index of the ServiceBase
-   * \return a ServiceBase shared pointer
-   * \throws std::out_of_range if the argument is higher than the size.
-   */
-  RCLCPP_PUBLIC
-  rclcpp::ServiceBase::SharedPtr
-  get_service(size_t i) {return exec_list_.service[i];}
-
-  /** Return a ClientBase Sharedptr by index
-   * \param[in] i The index of the ClientBase
-   * \return a ClientBase shared pointer
-   * \throws std::out_of_range if the argument is higher than the size.
-   */
-  RCLCPP_PUBLIC
-  rclcpp::ClientBase::SharedPtr
-  get_client(size_t i) {return exec_list_.client[i];}
-
-  /** Return a Waitable Sharedptr by index
-   * \param[in] i The index of the Waitable
-   * \return a Waitable shared pointer
-   * \throws std::out_of_range if the argument is higher than the size.
-   */
-  RCLCPP_PUBLIC
-  rclcpp::Waitable::SharedPtr
-  get_waitable(size_t i) {return exec_list_.waitable[i];}
-
-private:
-  /// Function to reallocate space for entities in the wait set.
-  /**
-   * \throws std::runtime_error if wait set couldn't be cleared or resized.
-   */
-  void
-  prepare_wait_set();
-
-  void
-  fill_executable_list();
-
-  void
-  fill_memory_strategy();
-
-  /// Return true if the node belongs to the collector
-  /**
-   * \param[in] node_ptr a node base interface shared pointer
-   * \param[in] weak_groups_to_nodes map to nodes to lookup
-   * \return boolean whether a node belongs the collector
-   */
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
-
-  /// Add all callback groups that can be automatically added by any executor
-  /// and is not already associated with an executor from nodes
-  /// that are associated with executor
-  /**
-   * \see rclcpp::Executor::add_callback_groups_from_nodes_associated_to_executor()
-   */
-  void
-  add_callback_groups_from_nodes_associated_to_executor();
-
-  void
-  fill_executable_list_from_map(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /// Memory strategy: an interface for handling user-defined memory allocation strategies.
-  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
-
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_;
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
-
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-  WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;
-
-  /// List of weak nodes registered in the static executor
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
-
-  // Mutex to protect vector of new nodes.
-  std::mutex new_nodes_mutex_;
-  std::vector<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> new_nodes_;
-
-  /// Wait set for managing entities that the rmw layer waits on.
-  rcl_wait_set_t * p_wait_set_ = nullptr;
-
-  /// Executable list: timers, subscribers, clients, services and waitables
-  rclcpp::experimental::ExecutableList exec_list_;
-
-  /// Bool to check if the entities collector has been initialized
-  bool initialized_ = false;
-};
-
-}  // namespace executors
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTORS__STATIC_EXECUTOR_ENTITIES_COLLECTOR_HPP_

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -1,223 +0,0 @@
-// Copyright 2019 Nobleo Technology
-//
-// 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__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
-#define RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
-
-#include <chrono>
-#include <cassert>
-#include <cstdlib>
-#include <memory>
-#include <vector>
-#include <string>
-
-#include "rmw/rmw.h"
-
-#include "rclcpp/executor.hpp"
-#include "rclcpp/executors/static_executor_entities_collector.hpp"
-#include "rclcpp/experimental/executable_list.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/memory_strategies.hpp"
-#include "rclcpp/node.hpp"
-#include "rclcpp/rate.hpp"
-#include "rclcpp/utilities.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-
-/// Static executor implementation
-/**
- * This executor is a static version of the original single threaded executor.
- * It's static because it doesn't reconstruct the executable list for every iteration.
- * All nodes, callbackgroups, timers, subscriptions etc. are created before
- * spin() is called, and modified only when an entity is added/removed to/from a node.
- *
- * To run this executor instead of SingleThreadedExecutor replace:
- * rclcpp::executors::SingleThreadedExecutor exec;
- * by
- * rclcpp::executors::StaticSingleThreadedExecutor exec;
- * in your source code and spin node(s) in the following way:
- * exec.add_node(node);
- * exec.spin();
- * exec.remove_node(node);
- */
-class StaticSingleThreadedExecutor : public rclcpp::Executor
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(StaticSingleThreadedExecutor)
-
-  /// Default constructor. See the default constructor for Executor.
-  RCLCPP_PUBLIC
-  explicit StaticSingleThreadedExecutor(
-    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
-
-  /// Default destrcutor.
-  RCLCPP_PUBLIC
-  virtual ~StaticSingleThreadedExecutor();
-
-  /// Static executor implementation of spin.
-  /**
-   * This function will block until work comes in, execute it, and keep blocking.
-   * It will only be interrupted by a CTRL-C (managed by the global signal handler).
-   * \throws std::runtime_error when spin() called while already spinning
-   */
-  RCLCPP_PUBLIC
-  void
-  spin() override;
-
-  /// Static executor implementation of spin some
-  /**
-   * This non-blocking function will execute entities that
-   * were ready when this API was called, until timeout or no
-   * more work available. Entities that got ready while
-   * executing work, won't be taken into account here.
-   *
-   * Example:
-   *   while(condition) {
-   *     spin_some();
-   *     sleep(); // User should have some sync work or
-   *              // sleep to avoid a 100% CPU usage
-   *   }
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override;
-
-  /// Static executor implementation of spin all
-  /**
-   * This non-blocking function will execute entities until timeout (must be >= 0)
-   * or no more work available.
-   * If timeout is `0`, potentially it blocks forever until no more work is available.
-   * If new entities get ready while executing work available, they will be executed
-   * as long as the timeout hasn't expired.
-   *
-   * Example:
-   *   while(condition) {
-   *     spin_all();
-   *     sleep(); // User should have some sync work or
-   *              // sleep to avoid a 100% CPU usage
-   *   }
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_all(std::chrono::nanoseconds max_duration) override;
-
-  /// Add a callback group to an executor.
-  /**
-   * \sa rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Remove callback group from the executor
-  /**
-   * \sa rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    bool notify = true) override;
-
-  /// Add a node to the executor.
-  /**
-   * \sa rclcpp::Executor::add_node
-   */
-  RCLCPP_PUBLIC
-  void
-  add_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  /**
-   * \sa rclcpp::StaticSingleThreadedExecutor::add_node
-   */
-  RCLCPP_PUBLIC
-  void
-  add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
-
-  /// Remove a node from the executor.
-  /**
-   * \sa rclcpp::Executor::remove_node
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  /**
-   * \sa rclcpp::Executor::remove_node
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups() override;
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_manually_added_callback_groups()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups() override;
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes() override;
-
-protected:
-  /**
-   * @brief Executes ready executables from wait set.
-   * @param spin_once if true executes only the first ready executable.
-   * @return true if any executable was ready.
-   */
-  RCLCPP_PUBLIC
-  bool
-  execute_ready_executables(bool spin_once = false);
-
-  RCLCPP_PUBLIC
-  void
-  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
-
-  RCLCPP_PUBLIC
-  void
-  spin_once_impl(std::chrono::nanoseconds timeout) override;
-
-private:
-  RCLCPP_DISABLE_COPY(StaticSingleThreadedExecutor)
-
-  StaticExecutorEntitiesCollector::SharedPtr entities_collector_;
-};
-
-}  // namespace executors
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_

rclcpp/include/rclcpp/experimental/buffers/buffer_implementation_base.hpp

@@ -15,6 +15,8 @@
 #ifndef RCLCPP__EXPERIMENTAL__BUFFERS__BUFFER_IMPLEMENTATION_BASE_HPP_
 #define RCLCPP__EXPERIMENTAL__BUFFERS__BUFFER_IMPLEMENTATION_BASE_HPP_
 
+#include <vector>
+
 namespace rclcpp
 {
 namespace experimental
@@ -31,8 +33,11 @@ public:
   virtual BufferT dequeue() = 0;
   virtual void enqueue(BufferT request) = 0;
 
+  virtual std::vector<BufferT> get_all_data() = 0;
+
   virtual void clear() = 0;
   virtual bool has_data() const = 0;
+  virtual size_t available_capacity() const = 0;
 };
 
 }  // namespace buffers

rclcpp/include/rclcpp/experimental/buffers/intra_process_buffer.hpp

@@ -19,11 +19,13 @@
 #include <stdexcept>
 #include <type_traits>
 #include <utility>
+#include <vector>
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/experimental/buffers/buffer_implementation_base.hpp"
 #include "rclcpp/macros.hpp"
+#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -43,6 +45,7 @@ public:
 
   virtual bool has_data() const = 0;
   virtual bool use_take_shared_method() const = 0;
+  virtual size_t available_capacity() const = 0;
 };
 
 template<
@@ -64,6 +67,9 @@ public:
 
   virtual MessageSharedPtr consume_shared() = 0;
   virtual MessageUniquePtr consume_unique() = 0;
+
+  virtual std::vector<MessageSharedPtr> get_all_data_shared() = 0;
+  virtual std::vector<MessageUniquePtr> get_all_data_unique() = 0;
 };
 
 template<
@@ -94,6 +100,10 @@ public:
 
     buffer_ = std::move(buffer_impl);
 
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_buffer_to_ipb,
+      static_cast<const void *>(buffer_.get()),
+      static_cast<const void *>(this));
     if (!allocator) {
       message_allocator_ = std::make_shared<MessageAlloc>();
     } else {
@@ -123,6 +133,16 @@ public:
     return consume_unique_impl<BufferT>();
   }
 
+  std::vector<MessageSharedPtr> get_all_data_shared() override
+  {
+    return get_all_data_shared_impl();
+  }
+
+  std::vector<MessageUniquePtr> get_all_data_unique() override
+  {
+    return get_all_data_unique_impl();
+  }
+
   bool has_data() const override
   {
     return buffer_->has_data();
@@ -138,6 +158,11 @@ public:
     return std::is_same<BufferT, MessageSharedPtr>::value;
   }
 
+  size_t available_capacity() const override
+  {
+    return buffer_->available_capacity();
+  }
+
 private:
   std::unique_ptr<BufferImplementationBase<BufferT>> buffer_;
 
@@ -232,6 +257,71 @@ private:
   {
     return buffer_->dequeue();
   }
+
+  // MessageSharedPtr to MessageSharedPtr
+  template<typename T = BufferT>
+  typename std::enable_if<
+    std::is_same<T, MessageSharedPtr>::value,
+    std::vector<MessageSharedPtr>
+  >::type
+  get_all_data_shared_impl()
+  {
+    return buffer_->get_all_data();
+  }
+
+  // MessageUniquePtr to MessageSharedPtr
+  template<typename T = BufferT>
+  typename std::enable_if<
+    std::is_same<T, MessageUniquePtr>::value,
+    std::vector<MessageSharedPtr>
+  >::type
+  get_all_data_shared_impl()
+  {
+    std::vector<MessageSharedPtr> result;
+    auto uni_ptr_vec = buffer_->get_all_data();
+    result.reserve(uni_ptr_vec.size());
+    for (MessageUniquePtr & uni_ptr : uni_ptr_vec) {
+      result.emplace_back(std::move(uni_ptr));
+    }
+    return result;
+  }
+
+  // MessageSharedPtr to MessageUniquePtr
+  template<typename T = BufferT>
+  typename std::enable_if<
+    std::is_same<T, MessageSharedPtr>::value,
+    std::vector<MessageUniquePtr>
+  >::type
+  get_all_data_unique_impl()
+  {
+    std::vector<MessageUniquePtr> result;
+    auto shared_ptr_vec = buffer_->get_all_data();
+    result.reserve(shared_ptr_vec.size());
+    for (MessageSharedPtr shared_msg : shared_ptr_vec) {
+      MessageUniquePtr unique_msg;
+      MessageDeleter * deleter = std::get_deleter<MessageDeleter, const MessageT>(shared_msg);
+      auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
+      MessageAllocTraits::construct(*message_allocator_.get(), ptr, *shared_msg);
+      if (deleter) {
+        unique_msg = MessageUniquePtr(ptr, *deleter);
+      } else {
+        unique_msg = MessageUniquePtr(ptr);
+      }
+      result.push_back(std::move(unique_msg));
+    }
+    return result;
+  }
+
+  // MessageUniquePtr to MessageUniquePtr
+  template<typename T = BufferT>
+  typename std::enable_if<
+    std::is_same<T, MessageUniquePtr>::value,
+    std::vector<MessageUniquePtr>
+  >::type
+  get_all_data_unique_impl()
+  {
+    return buffer_->get_all_data();
+  }
 };
 
 }  // namespace buffers

rclcpp/include/rclcpp/experimental/buffers/ring_buffer_implementation.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__EXPERIMENTAL__BUFFERS__RING_BUFFER_IMPLEMENTATION_HPP_
 #define RCLCPP__EXPERIMENTAL__BUFFERS__RING_BUFFER_IMPLEMENTATION_HPP_
 
+#include <memory>
 #include <mutex>
 #include <stdexcept>
 #include <utility>
@@ -25,6 +26,7 @@
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -51,6 +53,10 @@ public:
     if (capacity == 0) {
       throw std::invalid_argument("capacity must be a positive, non-zero value");
     }
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_construct_ring_buffer,
+      static_cast<const void *>(this),
+      capacity_);
   }
 
   virtual ~RingBufferImplementation() {}
@@ -61,12 +67,18 @@ public:
    *
    * \param request the element to be stored in the ring buffer
    */
-  void enqueue(BufferT request)
+  void enqueue(BufferT request) override
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
     write_index_ = next_(write_index_);
     ring_buffer_[write_index_] = std::move(request);
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_ring_buffer_enqueue,
+      static_cast<const void *>(this),
+      write_index_,
+      size_ + 1,
+      is_full_());
 
     if (is_full_()) {
       read_index_ = next_(read_index_);
@@ -81,7 +93,7 @@ public:
    *
    * \return the element that is being removed from the ring buffer
    */
-  BufferT dequeue()
+  BufferT dequeue() override
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
@@ -90,6 +102,11 @@ public:
     }
 
     auto request = std::move(ring_buffer_[read_index_]);
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_ring_buffer_dequeue,
+      static_cast<const void *>(this),
+      read_index_,
+      size_ - 1);
     read_index_ = next_(read_index_);
 
     size_--;
@@ -97,6 +114,17 @@ public:
     return request;
   }
 
+  /// Get all the elements from the ring buffer
+  /**
+   * This member function is thread-safe.
+   *
+   * \return a vector containing all the elements from the ring buffer
+   */
+  std::vector<BufferT> get_all_data() override
+  {
+    return get_all_data_impl();
+  }
+
   /// Get the next index value for the ring buffer
   /**
    * This member function is thread-safe.
@@ -116,7 +144,7 @@ public:
    *
    * \return `true` if there is data and `false` otherwise
    */
-  inline bool has_data() const
+  inline bool has_data() const override
   {
     std::lock_guard<std::mutex> lock(mutex_);
     return has_data_();
@@ -135,7 +163,24 @@ public:
     return is_full_();
   }
 
-  void clear() {}
+  /// Get the remaining capacity to store messages
+  /**
+   * This member function is thread-safe.
+   *
+   * \return the number of free capacity for new messages
+   */
+  size_t available_capacity() const override
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    return available_capacity_();
+  }
+
+  void clear() override
+  {
+    TRACETOOLS_TRACEPOINT(rclcpp_ring_buffer_clear, static_cast<const void *>(this));
+    std::lock_guard<std::mutex> lock(mutex_);
+    clear_();
+  }
 
 private:
   /// Get the next index value for the ring buffer
@@ -173,7 +218,95 @@ private:
     return size_ == capacity_;
   }
 
-  size_t capacity_;
+  /// Get the remaining capacity to store messages
+  /**
+   * This member function is not thread-safe.
+   *
+   * \return the number of free capacity for new messages
+   */
+  inline size_t available_capacity_() const
+  {
+    return capacity_ - size_;
+  }
+
+  inline void clear_()
+  {
+    ring_buffer_.clear();
+    size_ = 0;
+    read_index_ = 0;
+    write_index_ = capacity_ - 1;
+  }
+
+  /// Traits for checking if a type is std::unique_ptr
+  template<typename ...>
+  struct is_std_unique_ptr final : std::false_type {};
+  template<class T, typename ... Args>
+  struct is_std_unique_ptr<std::unique_ptr<T, Args...>> final : std::true_type
+  {
+    typedef T Ptr_type;
+  };
+
+  /// Get all the elements from the ring buffer
+  /**
+   * This member function is thread-safe.
+   * Two versions for the implementation of the function.
+   * One for buffer containing unique_ptr and the other for other types
+   *
+   * \return a vector containing all the elements from the ring buffer
+   */
+  template<typename T = BufferT, std::enable_if_t<is_std_unique_ptr<T>::value &&
+    std::is_copy_constructible<
+      typename is_std_unique_ptr<T>::Ptr_type
+    >::value,
+    void> * = nullptr>
+  std::vector<BufferT> get_all_data_impl()
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    std::vector<BufferT> result_vtr;
+    result_vtr.reserve(size_);
+    for (size_t id = 0; id < size_; ++id) {
+      const auto & elem(ring_buffer_[(read_index_ + id) % capacity_]);
+      if (elem != nullptr) {
+        result_vtr.emplace_back(new typename is_std_unique_ptr<T>::Ptr_type(
+          *elem));
+      } else {
+        result_vtr.emplace_back(nullptr);
+      }
+    }
+    return result_vtr;
+  }
+
+  template<typename T = BufferT, std::enable_if_t<
+      std::is_copy_constructible<T>::value, void> * = nullptr>
+  std::vector<BufferT> get_all_data_impl()
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    std::vector<BufferT> result_vtr;
+    result_vtr.reserve(size_);
+    for (size_t id = 0; id < size_; ++id) {
+      result_vtr.emplace_back(ring_buffer_[(read_index_ + id) % capacity_]);
+    }
+    return result_vtr;
+  }
+
+  template<typename T = BufferT, std::enable_if_t<!is_std_unique_ptr<T>::value &&
+    !std::is_copy_constructible<T>::value, void> * = nullptr>
+  std::vector<BufferT> get_all_data_impl()
+  {
+    throw std::logic_error("Underlined type results in invalid get_all_data_impl()");
+    return {};
+  }
+
+  template<typename T = BufferT, std::enable_if_t<is_std_unique_ptr<T>::value &&
+    !std::is_copy_constructible<typename is_std_unique_ptr<T>::Ptr_type>::value,
+    void> * = nullptr>
+  std::vector<BufferT> get_all_data_impl()
+  {
+    throw std::logic_error("Underlined type in unique_ptr results in invalid get_all_data_impl()");
+    return {};
+  }
+
+  const size_t capacity_;
 
   std::vector<BufferT> ring_buffer_;
 

rclcpp/include/rclcpp/experimental/create_intra_process_buffer.hpp

@@ -82,10 +82,9 @@ create_intra_process_buffer(
 
         break;
       }
-    default:
+    case IntraProcessBufferType::CallbackDefault:
       {
-        throw std::runtime_error("Unrecognized IntraProcessBufferType value");
-        break;
+        throw std::runtime_error("IntraProcessBufferType::CallbackDefault is not allowed");
       }
   }
 

rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor.hpp

@@ -0,0 +1,211 @@
+// Copyright 2023 iRobot Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_
+#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_
+
+#include <atomic>
+#include <chrono>
+#include <memory>
+#include <vector>
+
+#include "rclcpp/executor.hpp"
+#include "rclcpp/executors/executor_entities_collection.hpp"
+#include "rclcpp/executors/executor_entities_collector.hpp"
+#include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"
+#include "rclcpp/experimental/executors/events_executor/events_queue.hpp"
+#include "rclcpp/experimental/executors/events_executor/simple_events_queue.hpp"
+#include "rclcpp/experimental/timers_manager.hpp"
+#include "rclcpp/node.hpp"
+
+namespace rclcpp
+{
+namespace experimental
+{
+namespace executors
+{
+
+/// Events executor implementation
+/**
+ * This executor uses an events queue and a timers manager to execute entities from its
+ * associated nodes and callback groups.
+ * ROS 2 entities allow to set callback functions that are invoked when the entity is triggered
+ * or has work to do. The events-executor sets these callbacks such that they push an
+ * event into its queue.
+ *
+ * This executor tries to reduce as much as possible the amount of maintenance operations.
+ * This allows to use customized `EventsQueue` classes to achieve different goals such
+ * as very low CPU usage, bounded memory requirement, determinism, etc.
+ *
+ * The executor uses a weak ownership model and it locks entities only while executing
+ * their related events.
+ *
+ * To run this executor:
+ * rclcpp::experimental::executors::EventsExecutor executor;
+ * executor.add_node(node);
+ * executor.spin();
+ * executor.remove_node(node);
+ */
+class EventsExecutor : public rclcpp::Executor
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutor)
+
+  /// Default constructor. See the default constructor for Executor.
+  /**
+   * \param[in] options Options used to configure the executor.
+   * \param[in] events_queue The queue used to store events.
+   * \param[in] execute_timers_separate_thread If true, timers are executed in a separate
+   * thread. If false, timers are executed in the same thread as all other entities.
+   */
+  RCLCPP_PUBLIC
+  EventsExecutor(
+    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions(),
+    rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue = std::make_unique<
+      rclcpp::experimental::executors::SimpleEventsQueue>(),
+    bool execute_timers_separate_thread = false);
+
+  /// Default destructor.
+  RCLCPP_PUBLIC
+  virtual ~EventsExecutor();
+
+  /// Events executor implementation of spin.
+  /**
+   * This function will block until work comes in, execute it, and keep blocking.
+   * It will only be interrupted by a CTRL-C (managed by the global signal handler).
+   * \throws std::runtime_error when spin() called while already spinning
+   */
+  RCLCPP_PUBLIC
+  void
+  spin() override;
+
+  /// Events executor implementation of spin some
+  /**
+   * This non-blocking function will execute the timers and events
+   * that were ready when this API was called, until timeout or no
+   * more work available. New ready-timers/events arrived while
+   * executing work, won't be taken into account here.
+   *
+   * Example:
+   *   while(condition) {
+   *     spin_some();
+   *     sleep(); // User should have some sync work or
+   *              // sleep to avoid a 100% CPU usage
+   *   }
+   */
+  RCLCPP_PUBLIC
+  void
+  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override;
+
+  /// Events executor implementation of spin all
+  /**
+   * This non-blocking function will execute timers and events
+   * until timeout or no more work available. If new ready-timers/events
+   * arrive while executing work available, they will be executed
+   * as long as the timeout hasn't expired.
+   *
+   * Example:
+   *   while(condition) {
+   *     spin_all();
+   *     sleep(); // User should have some sync work or
+   *              // sleep to avoid a 100% CPU usage
+   *   }
+   */
+  RCLCPP_PUBLIC
+  void
+  spin_all(std::chrono::nanoseconds max_duration) override;
+
+protected:
+  /// Internal implementation of spin_once
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout) override;
+
+  /// Internal implementation of spin_some
+  RCLCPP_PUBLIC
+  void
+  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
+
+  /// Collect entities from callback groups and refresh the current collection with them
+  RCLCPP_PUBLIC
+  void
+  handle_updated_entities(bool notify) override;
+
+private:
+  RCLCPP_DISABLE_COPY(EventsExecutor)
+
+  /// Execute a provided executor event if its associated entities are available
+  void
+  execute_event(const ExecutorEvent & event);
+
+  /// Rebuilds the executor's notify waitable, as we can't use the one built in the base class
+  void
+  setup_notify_waitable();
+
+  /// Refresh the current collection using the provided new_collection
+  void
+  refresh_current_collection(const rclcpp::executors::ExecutorEntitiesCollection & new_collection);
+
+  /// Create a listener callback function for the provided entity
+  std::function<void(size_t)>
+  create_entity_callback(void * entity_key, ExecutorEventType type);
+
+  /// Create a listener callback function for the provided waitable entity
+  std::function<void(size_t, int)>
+  create_waitable_callback(const rclcpp::Waitable * waitable_id);
+
+  /// Utility to add the notify waitable to an entities collection
+  void
+  add_notify_waitable_to_collection(
+    rclcpp::executors::ExecutorEntitiesCollection::WaitableCollection & collection);
+
+  /// Searches for the provided entity_id in the collection and returns the entity if valid
+  template<typename CollectionType>
+  typename CollectionType::EntitySharedPtr
+  retrieve_entity(typename CollectionType::Key entity_id, CollectionType & collection)
+  {
+    // Note: we lock the mutex because we assume that you are trying to get an element from the
+    // current collection... If there will be a use-case to retrieve elements also from other
+    // collections, we can move the mutex back to the calling codes.
+    std::lock_guard<std::mutex> guard(mutex_);
+
+    // Check if the entity_id is in the collection
+    auto it = collection.find(entity_id);
+    if (it == collection.end()) {
+      return nullptr;
+    }
+
+    // Check if the entity associated with the entity_id is valid
+    // and remove it from the collection if it isn't
+    auto entity = it->second.entity.lock();
+    if (!entity) {
+      collection.erase(it);
+    }
+
+    // Return the retrieved entity (this can be a nullptr if the entity was not valid)
+    return entity;
+  }
+
+  /// Queue where entities can push events
+  rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue_;
+
+  /// Timers manager used to track and/or execute associated timers
+  std::shared_ptr<rclcpp::experimental::TimersManager> timers_manager_;
+};
+
+}  // namespace executors
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_

rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp

@@ -0,0 +1,49 @@
+// Copyright 2023 iRobot Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_EVENT_TYPES_HPP_
+#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_EVENT_TYPES_HPP_
+
+#include <memory>
+
+namespace rclcpp
+{
+namespace experimental
+{
+namespace executors
+{
+
+enum ExecutorEventType
+{
+  CLIENT_EVENT,
+  SUBSCRIPTION_EVENT,
+  SERVICE_EVENT,
+  TIMER_EVENT,
+  WAITABLE_EVENT
+};
+
+struct ExecutorEvent
+{
+  const void * entity_key;
+  std::shared_ptr<void> data;
+  int waitable_data;
+  ExecutorEventType type;
+  size_t num_events;
+};
+
+}  // namespace executors
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_EVENT_TYPES_HPP_

rclcpp/include/rclcpp/experimental/executors/events_executor/events_queue.hpp

@@ -0,0 +1,100 @@
+// Copyright 2023 iRobot Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_QUEUE_HPP_
+#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_QUEUE_HPP_
+
+#include <queue>
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+#include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"
+
+namespace rclcpp
+{
+namespace experimental
+{
+namespace executors
+{
+
+/**
+ * @brief This abstract class can be used to implement different types of queues
+ * where `ExecutorEvent` can be stored.
+ * The derived classes should choose which underlying container to use and
+ * the strategy for pushing and popping events.
+ * For example a queue implementation may be bounded or unbounded and have
+ * different pruning strategies.
+ * Implementations may or may not check the validity of events and decide how to handle
+ * the situation where an event is not valid anymore (e.g. a subscription history cache overruns)
+ */
+class EventsQueue
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(EventsQueue)
+
+  RCLCPP_PUBLIC
+  EventsQueue() = default;
+
+  /**
+   * @brief Destruct the object.
+   */
+  RCLCPP_PUBLIC
+  virtual ~EventsQueue() = default;
+
+  /**
+   * @brief push event into the queue
+   * @param event The event to push into the queue
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  enqueue(const rclcpp::experimental::executors::ExecutorEvent & event) = 0;
+
+  /**
+   * @brief Extracts an event from the queue, eventually waiting until timeout
+   * if none is available.
+   * @return true if event has been found, false if timeout
+   */
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  dequeue(
+    rclcpp::experimental::executors::ExecutorEvent & event,
+    std::chrono::nanoseconds timeout = std::chrono::nanoseconds::max()) = 0;
+
+  /**
+   * @brief Test whether queue is empty
+   * @return true if the queue's size is 0, false otherwise.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  empty() const = 0;
+
+  /**
+   * @brief Returns the number of elements in the queue.
+   * @return the number of elements in the queue.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  size() const = 0;
+};
+
+}  // namespace executors
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_QUEUE_HPP_

rclcpp/include/rclcpp/experimental/executors/events_executor/simple_events_queue.hpp

@@ -0,0 +1,134 @@
+// Copyright 2023 iRobot Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__SIMPLE_EVENTS_QUEUE_HPP_
+#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__SIMPLE_EVENTS_QUEUE_HPP_
+
+#include <condition_variable>
+#include <mutex>
+#include <queue>
+#include <utility>
+
+#include "rclcpp/experimental/executors/events_executor/events_queue.hpp"
+
+namespace rclcpp
+{
+namespace experimental
+{
+namespace executors
+{
+
+/**
+ * @brief This class implements an EventsQueue as a simple wrapper around a std::queue.
+ * It does not perform any checks about the size of queue, which can grow
+ * unbounded without being pruned.
+ * The simplicity of this implementation makes it suitable for optimizing CPU usage.
+ */
+class SimpleEventsQueue : public EventsQueue
+{
+public:
+  RCLCPP_PUBLIC
+  ~SimpleEventsQueue() override = default;
+
+  /**
+   * @brief enqueue event into the queue
+   * Thread safe
+   * @param event The event to enqueue into the queue
+   */
+  RCLCPP_PUBLIC
+  void
+  enqueue(const rclcpp::experimental::executors::ExecutorEvent & event) override
+  {
+    rclcpp::experimental::executors::ExecutorEvent single_event = event;
+    single_event.num_events = 1;
+    {
+      std::unique_lock<std::mutex> lock(mutex_);
+      for (size_t ev = 0; ev < event.num_events; ev++) {
+        event_queue_.push(single_event);
+      }
+    }
+    events_queue_cv_.notify_one();
+  }
+
+  /**
+   * @brief waits for an event until timeout, gets a single event
+   * Thread safe
+   * @return true if event, false if timeout
+   */
+  RCLCPP_PUBLIC
+  bool
+  dequeue(
+    rclcpp::experimental::executors::ExecutorEvent & event,
+    std::chrono::nanoseconds timeout = std::chrono::nanoseconds::max()) override
+  {
+    std::unique_lock<std::mutex> lock(mutex_);
+
+    // Initialize to true because it's only needed if we have a valid timeout
+    bool has_data = true;
+    if (timeout != std::chrono::nanoseconds::max()) {
+      has_data =
+        events_queue_cv_.wait_for(lock, timeout, [this]() {return !event_queue_.empty();});
+    } else {
+      events_queue_cv_.wait(lock, [this]() {return !event_queue_.empty();});
+    }
+
+    if (has_data) {
+      event = event_queue_.front();
+      event_queue_.pop();
+      return true;
+    }
+
+    return false;
+  }
+
+  /**
+   * @brief Test whether queue is empty
+   * Thread safe
+   * @return true if the queue's size is 0, false otherwise.
+   */
+  RCLCPP_PUBLIC
+  bool
+  empty() const override
+  {
+    std::unique_lock<std::mutex> lock(mutex_);
+    return event_queue_.empty();
+  }
+
+  /**
+   * @brief Returns the number of elements in the queue.
+   * Thread safe
+   * @return the number of elements in the queue.
+   */
+  RCLCPP_PUBLIC
+  size_t
+  size() const override
+  {
+    std::unique_lock<std::mutex> lock(mutex_);
+    return event_queue_.size();
+  }
+
+private:
+  // The underlying queue implementation
+  std::queue<rclcpp::experimental::executors::ExecutorEvent> event_queue_;
+  // Mutex to protect read/write access to the queue
+  mutable std::mutex mutex_;
+  // Variable used to notify when an event is added to the queue
+  std::condition_variable events_queue_cv_;
+};
+
+}  // namespace executors
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__SIMPLE_EVENTS_QUEUE_HPP_

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -19,6 +19,7 @@
 
 #include <shared_mutex>
 
+#include <algorithm>
 #include <iterator>
 #include <memory>
 #include <stdexcept>
@@ -28,6 +29,7 @@
 #include <typeinfo>
 
 #include "rclcpp/allocator/allocator_deleter.hpp"
+#include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
 #include "rclcpp/experimental/ros_message_intra_process_buffer.hpp"
 #include "rclcpp/experimental/subscription_intra_process.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
@@ -112,9 +114,41 @@ public:
    * \param subscription the SubscriptionIntraProcess to register.
    * \return an unsigned 64-bit integer which is the subscription's unique id.
    */
-  RCLCPP_PUBLIC
+  template<
+    typename ROSMessageType,
+    typename Alloc = std::allocator<ROSMessageType>
+  >
   uint64_t
-  add_subscription(rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription);
+  add_subscription(
+    const rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr & subscription)
+  {
+    std::unique_lock<std::shared_timed_mutex> lock(mutex_);
+
+    uint64_t sub_id = IntraProcessManager::get_next_unique_id();
+
+    subscriptions_[sub_id] = subscription;
+
+    // adds the subscription id to all the matchable publishers
+    for (auto & pair : publishers_) {
+      auto publisher = pair.second.lock();
+      if (!publisher) {
+        continue;
+      }
+      if (can_communicate(publisher, subscription)) {
+        uint64_t pub_id = pair.first;
+        insert_sub_id_for_pub(sub_id, pub_id, subscription->use_take_shared_method());
+        if (publisher->is_durability_transient_local() &&
+          subscription->is_durability_transient_local())
+        {
+          do_transient_local_publish<ROSMessageType, Alloc>(
+            pub_id, sub_id,
+            subscription->use_take_shared_method());
+        }
+      }
+    }
+
+    return sub_id;
+  }
 
   /// Unregister a subscription using the subscription's unique id.
   /**
@@ -131,14 +165,21 @@ public:
    * This method stores the publisher intra process object, together with
    * the information of its wrapped publisher (i.e. topic name and QoS).
    *
+   * If the publisher's durability is transient local, its buffer pointer should
+   * be passed and the method will store it as well.
+   *
    * In addition this generates a unique intra process id for the publisher.
    *
    * \param publisher publisher to be registered with the manager.
+   * \param buffer publisher's buffer to be stored if its duability is transient local.
    * \return an unsigned 64-bit integer which is the publisher's unique id.
    */
   RCLCPP_PUBLIC
   uint64_t
-  add_publisher(rclcpp::PublisherBase::SharedPtr publisher);
+  add_publisher(
+    const rclcpp::PublisherBase::SharedPtr & publisher,
+    const rclcpp::experimental::buffers::IntraProcessBufferBase::SharedPtr & buffer =
+    rclcpp::experimental::buffers::IntraProcessBufferBase::SharedPtr());
 
   /// Unregister a publisher using the publisher's unique id.
   /**
@@ -214,7 +255,8 @@ public:
       // So this case is equivalent to all the buffers requiring ownership
 
       // Merge the two vector of ids into a unique one
-      std::vector<uint64_t> concatenated_vector(sub_ids.take_shared_subscriptions);
+      std::vector<uint64_t> concatenated_vector(
+        sub_ids.take_shared_subscriptions.begin(), sub_ids.take_shared_subscriptions.end());
       concatenated_vector.insert(
         concatenated_vector.end(),
         sub_ids.take_ownership_subscriptions.begin(),
@@ -292,6 +334,34 @@ public:
     }
   }
 
+  template<
+    typename MessageT,
+    typename Alloc,
+    typename Deleter,
+    typename ROSMessageType>
+  void
+  add_shared_msg_to_buffer(
+    std::shared_ptr<const MessageT> message,
+    uint64_t subscription_id)
+  {
+    add_shared_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(message, {subscription_id});
+  }
+
+  template<
+    typename MessageT,
+    typename Alloc,
+    typename Deleter,
+    typename ROSMessageType>
+  void
+  add_owned_msg_to_buffer(
+    std::unique_ptr<MessageT, Deleter> message,
+    uint64_t subscription_id,
+    typename allocator::AllocRebind<MessageT, Alloc>::allocator_type & allocator)
+  {
+    add_owned_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
+      std::move(message), {subscription_id}, allocator);
+  }
+
   /// Return true if the given rmw_gid_t matches any stored Publishers.
   RCLCPP_PUBLIC
   bool
@@ -306,6 +376,11 @@ public:
   rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr
   get_subscription_intra_process(uint64_t intra_process_subscription_id);
 
+  /// Return the lowest available capacity for all subscription buffers for a publisher id.
+  RCLCPP_PUBLIC
+  size_t
+  lowest_available_capacity(const uint64_t intra_process_publisher_id) const;
+
 private:
   struct SplittedSubscriptions
   {
@@ -313,15 +388,61 @@ private:
     std::vector<uint64_t> take_ownership_subscriptions;
   };
 
+  /// Hash function for rmw_gid_t to enable use in unordered_map
+  struct rmw_gid_hash
+  {
+    std::size_t operator()(const rmw_gid_t & gid) const noexcept
+    {
+      // Using the FNV-1a hash algorithm on the gid data
+      constexpr std::size_t FNV_prime = 1099511628211u;
+      std::size_t result = 14695981039346656037u;
+
+      for (std::size_t i = 0; i < RMW_GID_STORAGE_SIZE; ++i) {
+        result ^= gid.data[i];
+        result *= FNV_prime;
+      }
+      return result;
+    }
+  };
+
+  /// Equality comparison for rmw_gid_t to enable use in unordered_map
+  struct rmw_gid_equal
+  {
+    bool operator()(const rmw_gid_t & lhs, const rmw_gid_t & rhs) const noexcept
+    {
+      // Compare the data bytes only.
+      // implementation_identifier pointer comparison is not used here because
+      // intra-process communication is always within the same process and RMW,
+      // and pointer comparison is fragile across dynamically loaded components.
+      return std::equal(
+        std::begin(lhs.data),
+        std::end(lhs.data),
+        std::begin(rhs.data));
+    }
+  };
+
   using SubscriptionMap =
     std::unordered_map<uint64_t, rclcpp::experimental::SubscriptionIntraProcessBase::WeakPtr>;
 
   using PublisherMap =
     std::unordered_map<uint64_t, rclcpp::PublisherBase::WeakPtr>;
 
+  using PublisherBufferMap =
+    std::unordered_map<uint64_t, rclcpp::experimental::buffers::IntraProcessBufferBase::WeakPtr>;
+
   using PublisherToSubscriptionIdsMap =
     std::unordered_map<uint64_t, SplittedSubscriptions>;
 
+  /// Structure to store publisher information in GID lookup map
+  struct PublisherInfo
+  {
+    uint64_t pub_id;
+    rclcpp::PublisherBase::WeakPtr publisher;
+  };
+
+  using GidToPublisherInfoMap =
+    std::unordered_map<rmw_gid_t, PublisherInfo, rmw_gid_hash, rmw_gid_equal>;
+
   RCLCPP_PUBLIC
   static
   uint64_t
@@ -334,8 +455,56 @@ private:
   RCLCPP_PUBLIC
   bool
   can_communicate(
-    rclcpp::PublisherBase::SharedPtr pub,
-    rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr sub) const;
+    const rclcpp::PublisherBase::SharedPtr & pub,
+    const rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr & sub) const;
+
+  template<
+    typename ROSMessageType,
+    typename Alloc = std::allocator<ROSMessageType>
+  >
+  void do_transient_local_publish(
+    const uint64_t pub_id, const uint64_t sub_id,
+    const bool use_take_shared_method)
+  {
+    using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, Alloc>;
+    using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
+    using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
+
+    auto publisher_buffer = publisher_buffers_[pub_id].lock();
+    if (!publisher_buffer) {
+      throw std::runtime_error("publisher buffer has unexpectedly gone out of scope");
+    }
+    auto buffer = std::dynamic_pointer_cast<
+      rclcpp::experimental::buffers::IntraProcessBuffer<
+        ROSMessageType,
+        ROSMessageTypeAllocator,
+        ROSMessageTypeDeleter
+      >
+      >(publisher_buffer);
+    if (!buffer) {
+      throw std::runtime_error(
+              "failed to dynamic cast publisher's IntraProcessBufferBase to "
+              "IntraProcessBuffer<ROSMessageType,ROSMessageTypeAllocator,"
+              "ROSMessageTypeDeleter> which can happen when the publisher and "
+              "subscription use different allocator types, which is not supported");
+    }
+    if (use_take_shared_method) {
+      auto data_vec = buffer->get_all_data_shared();
+      for (auto shared_data : data_vec) {
+        this->template add_shared_msg_to_buffer<
+          ROSMessageType, ROSMessageTypeAllocator, ROSMessageTypeDeleter, ROSMessageType>(
+          shared_data, sub_id);
+      }
+    } else {
+      auto data_vec = buffer->get_all_data_unique();
+      for (auto & owned_data : data_vec) {
+        auto allocator = ROSMessageTypeAllocator();
+        this->template add_owned_msg_to_buffer<
+          ROSMessageType, ROSMessageTypeAllocator, ROSMessageTypeDeleter, ROSMessageType>(
+          std::move(owned_data), sub_id, allocator);
+      }
+    }
+  }
 
   template<
     typename MessageT,
@@ -462,7 +631,7 @@ private:
           auto ptr = MessageAllocTraits::allocate(allocator, 1);
           MessageAllocTraits::construct(allocator, ptr, *message);
 
-          subscription->provide_intra_process_data(std::move(MessageUniquePtr(ptr, deleter)));
+          subscription->provide_intra_process_data(MessageUniquePtr(ptr, deleter));
         }
 
         continue;
@@ -481,13 +650,13 @@ private:
                 "subscription use different allocator types, which is not supported");
       }
 
-      if constexpr (rclcpp::TypeAdapter<MessageT>::is_specialized::value) {
+      if constexpr (rclcpp::TypeAdapter<MessageT, ROSMessageType>::is_specialized::value) {
         ROSMessageTypeAllocator ros_message_alloc(allocator);
-        auto ptr = ros_message_alloc.allocate(1);
-        ros_message_alloc.construct(ptr);
+        auto ptr = ROSMessageTypeAllocatorTraits::allocate(ros_message_alloc, 1);
+        ROSMessageTypeAllocatorTraits::construct(ros_message_alloc, ptr);
         ROSMessageTypeDeleter deleter;
         allocator::set_allocator_for_deleter(&deleter, &allocator);
-        rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*message, *ptr);
+        rclcpp::TypeAdapter<MessageT, ROSMessageType>::convert_to_ros_message(*message, *ptr);
         auto ros_msg = std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, deleter);
         ros_message_subscription->provide_intra_process_message(std::move(ros_msg));
       } else {
@@ -505,7 +674,7 @@ private:
             MessageAllocTraits::construct(allocator, ptr, *message);
 
             ros_message_subscription->provide_intra_process_message(
-              std::move(MessageUniquePtr(ptr, deleter)));
+              MessageUniquePtr(ptr, deleter));
           }
         }
       }
@@ -515,8 +684,11 @@ private:
   PublisherToSubscriptionIdsMap pub_to_subs_;
   SubscriptionMap subscriptions_;
   PublisherMap publishers_;
+  PublisherBufferMap publisher_buffers_;
 
   mutable std::shared_timed_mutex mutex_;
+
+  GidToPublisherInfoMap gid_to_publisher_info_;
 };
 
 }  // namespace experimental

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -87,7 +87,7 @@ public:
       buffer_type),
     any_callback_(callback)
   {
-    TRACEPOINT(
+    TRACETOOLS_TRACEPOINT(
       rclcpp_subscription_callback_added,
       static_cast<const void *>(this),
       static_cast<const void *>(&any_callback_));
@@ -101,6 +101,23 @@ public:
 
   virtual ~SubscriptionIntraProcess() = default;
 
+  void
+  add_to_wait_set(rcl_wait_set_t & wait_set) override
+  {
+    // This block is necessary when the guard condition wakes the wait set, but
+    // the intra process waitable was not handled before the wait set is waited
+    // on again.
+    // Basically we're keeping the guard condition triggered so long as there is
+    // data in the buffer.
+    if (this->buffer_->has_data()) {
+      // If there is data still to be processed, indicate to the
+      // executor or waitset by triggering the guard condition.
+      this->trigger_guard_condition();
+    }
+    // Let the parent classes handle the rest of the work:
+    return SubscriptionIntraProcessBufferT::add_to_wait_set(wait_set);
+  }
+
   std::shared_ptr<void>
   take_data() override
   {
@@ -118,6 +135,13 @@ public:
         return nullptr;
       }
     }
+
+    if (this->buffer_->has_data()) {
+      // If there is data still to be processed, indicate to the
+      // executor or waitset by triggering the guard condition.
+      this->trigger_guard_condition();
+    }
+
     return std::static_pointer_cast<void>(
       std::make_shared<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
         std::pair<ConstMessageSharedPtr, MessageUniquePtr>(
@@ -125,25 +149,47 @@ public:
     );
   }
 
-  void execute(std::shared_ptr<void> & data) override
+  void execute(const std::shared_ptr<void> & data) override
   {
     execute_impl<SubscribedType>(data);
   }
 
+  /// Disable callbacks from being called
+  /**
+    * This method will block, until any subscription's callbacks currently being executed are
+    * finished.
+    * This method is thread safe, and provides a safe way to atomically disable the callbacks.
+    */
+  void disable_callbacks() override
+  {
+    SubscriptionIntraProcessBase::disable_callbacks();
+    any_callback_.disable();
+  }
+
+  /// Enable the callbacks to be called
+  /**
+    * This method is thread safe, and provides a safe way to atomically enable the callbacks
+    * in a multithreaded environment.
+    */
+  void enable_callbacks() override
+  {
+    SubscriptionIntraProcessBase::enable_callbacks();
+    any_callback_.enable();
+  }
+
 protected:
   template<typename T>
   typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl(std::shared_ptr<void> & data)
+  execute_impl(const std::shared_ptr<void> &)
   {
-    (void)data;
     throw std::runtime_error("Subscription intra-process can't handle serialized messages");
   }
 
   template<class T>
   typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl(std::shared_ptr<void> & data)
+  execute_impl(const std::shared_ptr<void> & data)
   {
-    if (!data) {
+    if (nullptr == data) {
       return;
     }
 

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -19,6 +19,7 @@
 #include <memory>
 #include <mutex>
 #include <string>
+#include <vector>
 
 #include "rcl/wait.h"
 #include "rmw/impl/cpp/demangle.hpp"
@@ -60,23 +61,47 @@ public:
 
   RCLCPP_PUBLIC
   void
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
+  add_to_wait_set(rcl_wait_set_t & wait_set) override;
+
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  available_capacity() const = 0;
+
+  RCLCPP_PUBLIC
+  bool
+  is_durability_transient_local() const;
 
   bool
-  is_ready(rcl_wait_set_t * wait_set) override = 0;
+  is_ready(const rcl_wait_set_t & wait_set) override = 0;
 
   std::shared_ptr<void>
   take_data() override = 0;
 
   std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override
+  take_data_by_entity_id([[maybe_unused]] size_t id) override
   {
-    (void)id;
     return take_data();
   }
 
   void
-  execute(std::shared_ptr<void> & data) override = 0;
+  execute(const std::shared_ptr<void> & data) override = 0;
+
+  /// Disable callbacks from being called
+  /**
+   * This function temporary disable on_new_message_callback to prevent it from being called.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void disable_callbacks();
+
+  /// Enable the callbacks to be called
+  /**
+    * This function enable the on_new_message_callback if it was previously set.
+    */
+  RCLCPP_PUBLIC
+  virtual
+  void enable_callbacks();
 
   virtual
   bool
@@ -149,7 +174,7 @@ public:
         }
       };
 
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
     on_new_message_callback_ = new_callback;
 
     if (unread_count_ > 0) {
@@ -167,13 +192,21 @@ public:
   void
   clear_on_ready_callback() override
   {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    std::lock_guard<std::recursive_mutex> lock(on_new_message_callback_mutex_);
     on_new_message_callback_ = nullptr;
   }
 
+  RCLCPP_PUBLIC
+  std::vector<std::shared_ptr<rclcpp::TimerBase>>
+  get_timers() const override
+  {
+    return {};
+  }
+
 protected:
-  std::recursive_mutex callback_mutex_;
+  std::recursive_mutex on_new_message_callback_mutex_;
   std::function<void(size_t)> on_new_message_callback_ {nullptr};
+  bool on_new_message_callback_disabled_{false};
   size_t unread_count_{0};
   rclcpp::GuardCondition gc_;
 
@@ -183,11 +216,13 @@ protected:
   void
   invoke_on_new_message()
   {
-    std::lock_guard<std::recursive_mutex> lock(this->callback_mutex_);
-    if (this->on_new_message_callback_) {
-      this->on_new_message_callback_(1);
-    } else {
-      this->unread_count_++;
+    std::lock_guard<std::recursive_mutex> lock(this->on_new_message_callback_mutex_);
+    if (!on_new_message_callback_disabled_) {
+      if (this->on_new_message_callback_) {
+        this->on_new_message_callback_(1);
+      } else {
+        this->unread_count_++;
+      }
     }
   }
 

rclcpp/include/rclcpp/experimental/subscription_intra_process_buffer.hpp

@@ -30,6 +30,9 @@
 #include "rclcpp/experimental/ros_message_intra_process_buffer.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
+#include "rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp"
+
+#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -91,12 +94,24 @@ public:
       buffer_type,
       qos_profile,
       std::make_shared<Alloc>(subscribed_type_allocator_));
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_ipb_to_subscription,
+      static_cast<const void *>(buffer_.get()),
+      static_cast<const void *>(this));
+  }
+
+  void
+  add_to_wait_set(rcl_wait_set_t & wait_set) override
+  {
+    if (this->buffer_->has_data()) {
+      this->trigger_guard_condition();
+    }
+    detail::add_guard_condition_to_rcl_wait_set(wait_set, this->gc_);
   }
 
   bool
-  is_ready(rcl_wait_set_t * wait_set) override
+  is_ready([[maybe_unused]] const rcl_wait_set_t & wait_set) override
   {
-    (void) wait_set;
     return buffer_->has_data();
   }
 
@@ -163,6 +178,11 @@ public:
     return buffer_->use_take_shared_method();
   }
 
+  size_t available_capacity() const override
+  {
+    return buffer_->available_capacity();
+  }
+
 protected:
   void
   trigger_guard_condition() override

rclcpp/include/rclcpp/experimental/timers_manager.hpp

@@ -0,0 +1,558 @@
+// Copyright 2023 iRobot Corporation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__TIMERS_MANAGER_HPP_
+#define RCLCPP__EXPERIMENTAL__TIMERS_MANAGER_HPP_
+
+#include <algorithm>
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <optional>
+#include <thread>
+#include <utility>
+#include <vector>
+#include "rclcpp/context.hpp"
+#include "rclcpp/timer.hpp"
+
+namespace rclcpp
+{
+namespace experimental
+{
+
+/**
+ * @brief This class provides a way for storing and executing timer objects.
+ * It provides APIs to suit the needs of different applications and execution models.
+ * All public APIs provided by this class are thread-safe.
+ *
+ * Timers management
+ * This class provides APIs to add/remove timers to/from an internal storage.
+ * It keeps a list of weak pointers from added timers, and locks them only when
+ * they need to be executed or modified.
+ * Timers are kept ordered in a binary-heap priority queue.
+ * Calls to add/remove APIs will temporarily block the execution of the timers and
+ * will require to reorder the internal priority queue.
+ * Because of this, they have a not-negligible impact on the performance.
+ *
+ * Timers execution
+ * The most efficient use of this class consists in letting a TimersManager object
+ * to spawn a thread where timers are monitored and optionally executed.
+ * This can be controlled via the `start` and `stop` methods.
+ * Ready timers can either be executed or an on_ready_callback can be used to notify
+ * other entities that they are ready and need to be executed.
+ * Other APIs allow to directly execute a given timer.
+ *
+ * This class assumes that the `execute_callback()` API of the stored timers is never
+ * called by other entities, but it can only be called from here.
+ * If this assumption is not respected, the heap property may be invalidated,
+ * so timers may be executed out of order, without this object noticing it.
+ *
+ */
+class TimersManager
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimersManager)
+
+  /**
+   * @brief Construct a new TimersManager object
+   *
+   * @param context custom context to be used.
+   * Shared ownership of the context is held until destruction.
+   * @param on_ready_callback The timers on ready callback. The presence of this function
+   * indicates what to do when the TimersManager is running and a timer becomes ready.
+   * The TimersManager is considered "running" when the `start` method has been called.
+   * If it's callable, it will be invoked instead of the timer callback.
+   * If it's not callable, then the TimersManager will
+   * directly execute timers when they are ready.
+   * All the methods that execute a given timer (e.g. `execute_head_timer`
+   * or `execute_ready_timer`) without the TimersManager being `running`, i.e.
+   * without actually explicitly waiting for the timer to become ready, will ignore this
+   * callback.
+   */
+  RCLCPP_PUBLIC
+  TimersManager(
+    std::shared_ptr<rclcpp::Context> context,
+    std::function<void(const rclcpp::TimerBase *,
+    const std::shared_ptr<void> &)> on_ready_callback = nullptr);
+
+  /**
+   * @brief Destruct the TimersManager object making sure to stop thread and release memory.
+   */
+  RCLCPP_PUBLIC
+  ~TimersManager();
+
+  /**
+   * @brief Adds a new timer to the storage, maintaining weak ownership of it.
+   * Function is thread safe and it can be called regardless of the state of the timers thread.
+   *
+   * @param timer the timer to add.
+   * @throws std::invalid_argument if timer is a nullptr.
+   */
+  RCLCPP_PUBLIC
+  void add_timer(const rclcpp::TimerBase::SharedPtr & timer);
+
+  /**
+   * @brief Remove a single timer from the object storage.
+   * Will do nothing if the timer was not being stored here.
+   * Function is thread safe and it can be called regardless of the state of the timers thread.
+   *
+   * @param timer the timer to remove.
+   */
+  RCLCPP_PUBLIC
+  void remove_timer(const rclcpp::TimerBase::SharedPtr & timer);
+
+  /**
+   * @brief Remove all the timers stored in the object.
+   * Function is thread safe and it can be called regardless of the state of the timers thread.
+   */
+  RCLCPP_PUBLIC
+  void clear();
+
+  /**
+   * @brief Starts a thread that takes care of executing the timers stored in this object.
+   * Function will throw an error if the timers thread was already running.
+   */
+  RCLCPP_PUBLIC
+  void start();
+
+  /**
+   * @brief Stops the timers thread.
+   * Will do nothing if the timer thread was not running.
+   */
+  RCLCPP_PUBLIC
+  void stop();
+
+  /**
+   * @brief Get the number of timers that are currently ready.
+   * This function is thread safe.
+   *
+   * @return size_t number of ready timers.
+   * @throws std::runtime_error if the timers thread was already running.
+   */
+  RCLCPP_PUBLIC
+  size_t get_number_ready_timers();
+
+  /**
+   * @brief Executes head timer if ready.
+   * This function is thread safe.
+   * This function will try to execute the timer callback regardless of whether
+   * the TimersManager on_ready_callback was passed during construction.
+   *
+   * @return true if head timer was ready.
+   * @throws std::runtime_error if the timers thread was already running.
+   */
+  RCLCPP_PUBLIC
+  bool execute_head_timer();
+
+  /**
+   * @brief Executes timer identified by its ID.
+   * This function is thread safe.
+   * This function will try to execute the timer callback regardless of whether
+   * the TimersManager on_ready_callback was passed during construction.
+   *
+   * @param timer_id the timer ID of the timer to execute
+   * @param data internal data of the timer
+   */
+  RCLCPP_PUBLIC
+  void execute_ready_timer(const rclcpp::TimerBase * timer_id, const std::shared_ptr<void> & data);
+
+  /**
+   * @brief Get the amount of time before the next timer triggers.
+   * This function is thread safe.
+   *
+   * @return std::optional<std::chrono::nanoseconds> to wait,
+   * the returned value could be negative if the timer is already expired
+   * or std::chrono::nanoseconds::max() if there are no timers stored in the object.
+   * If the head timer was cancelled, then this will return a nullopt.
+   * @throws std::runtime_error if the timers thread was already running.
+   */
+  RCLCPP_PUBLIC
+  std::optional<std::chrono::nanoseconds> get_head_timeout();
+
+private:
+  RCLCPP_DISABLE_COPY(TimersManager)
+
+  using TimerPtr = rclcpp::TimerBase::SharedPtr;
+  using WeakTimerPtr = rclcpp::TimerBase::WeakPtr;
+
+  // Forward declaration
+  class TimersHeap;
+
+  /**
+   * @brief This class allows to store weak pointers to timers in a heap-like data structure.
+   * The root of the heap is the timer that triggers first.
+   * Since this class uses weak ownership, it is not guaranteed that it represents a valid heap
+   * at any point in time as timers could go out of scope, thus invalidating it.
+   * The "validate_and_lock" API allows to restore the heap property and also returns a locked version
+   * of the timers heap.
+   * This class is not thread safe and requires external mutexes to protect its usage.
+   */
+  class WeakTimersHeap
+  {
+public:
+    /**
+     * @brief Add a new timer to the heap. After the addition, the heap property is enforced.
+     *
+     * @param timer new timer to add.
+     * @return true if timer has been added, false if it was already there.
+     */
+    bool add_timer(TimerPtr timer)
+    {
+      TimersHeap locked_heap = this->validate_and_lock();
+      bool added = locked_heap.add_timer(std::move(timer));
+
+      if (added) {
+        // Re-create the weak heap with the new timer added
+        this->store(locked_heap);
+      }
+
+      return added;
+    }
+
+    /**
+     * @brief Remove a timer from the heap. After the removal, the heap property is enforced.
+     *
+     * @param timer timer to remove.
+     * @return true if timer has been removed, false if it was not there.
+     */
+    bool remove_timer(TimerPtr timer)
+    {
+      TimersHeap locked_heap = this->validate_and_lock();
+      bool removed = locked_heap.remove_timer(std::move(timer));
+
+      if (removed) {
+        // Re-create the weak heap with the timer removed
+        this->store(locked_heap);
+      }
+
+      return removed;
+    }
+
+    /**
+     * @brief Retrieve the timer identified by the key
+     * @param timer_id The ID of the timer to retrieve.
+     * @return TimerPtr if there's a timer associated with the ID, nullptr otherwise
+     */
+    TimerPtr get_timer(const rclcpp::TimerBase * timer_id)
+    {
+      for (auto & weak_timer : weak_heap_) {
+        auto timer = weak_timer.lock();
+        if (timer.get() == timer_id) {
+          return timer;
+        }
+      }
+      return nullptr;
+    }
+
+    /**
+     * @brief Returns a const reference to the front element.
+     */
+    const WeakTimerPtr & front() const
+    {
+      return weak_heap_.front();
+    }
+
+    /**
+     * @brief Returns whether the heap is empty or not.
+     */
+    bool empty() const
+    {
+      return weak_heap_.empty();
+    }
+
+    /**
+     * @brief This function restores the current object as a valid heap
+     * and it returns a locked version of it.
+     * Timers that went out of scope are removed from the container.
+     * It is the only public API to access and manipulate the stored timers.
+     *
+     * @return TimersHeap owned timers corresponding to the current object
+     */
+    TimersHeap validate_and_lock()
+    {
+      TimersHeap locked_heap;
+      bool any_timer_destroyed = false;
+
+      for (auto weak_timer : weak_heap_) {
+        auto timer = weak_timer.lock();
+        if (timer) {
+          // This timer is valid, so add it to the locked heap
+          // Note: we access friend private `owned_heap_` member field.
+          locked_heap.owned_heap_.push_back(std::move(timer));
+        } else {
+          // This timer went out of scope, so we don't add it to locked heap
+          // and we mark the corresponding flag.
+          // It's not needed to erase it from weak heap, as we are going to re-heapify.
+          // Note: we can't exit from the loop here, as we need to find all valid timers.
+          any_timer_destroyed = true;
+        }
+      }
+
+      // If a timer has gone out of scope, then the remaining elements do not represent
+      // a valid heap anymore. We need to re-heapify the timers heap.
+      if (any_timer_destroyed) {
+        locked_heap.heapify();
+        // Re-create the weak heap now that elements have been heapified again
+        this->store(locked_heap);
+      }
+
+      return locked_heap;
+    }
+
+    /**
+     * @brief This function allows to recreate the heap of weak pointers
+     * from an heap of owned pointers.
+     * It is required to be called after a locked TimersHeap generated from this object
+     * has been modified in any way (e.g. timers triggered, added, removed).
+     *
+     * @param heap timers heap to store as weak pointers
+     */
+    void store(const TimersHeap & heap)
+    {
+      weak_heap_.clear();
+      // Note: we access friend private `owned_heap_` member field.
+      for (auto t : heap.owned_heap_) {
+        weak_heap_.push_back(t);
+      }
+    }
+
+    /**
+     * @brief Remove all timers from the heap.
+     */
+    void clear()
+    {
+      weak_heap_.clear();
+    }
+
+private:
+    std::vector<WeakTimerPtr> weak_heap_;
+  };
+
+  /**
+   * @brief This class is the equivalent of WeakTimersHeap but with ownership of the timers.
+   * It can be generated by locking the weak version.
+   * It provides operations to manipulate the heap.
+   * This class is not thread safe and requires external mutexes to protect its usage.
+   */
+  class TimersHeap
+  {
+public:
+    /**
+     * @brief Try to add a new timer to the heap.
+     * After the addition, the heap property is preserved.
+     * @param timer new timer to add.
+     * @return true if timer has been added, false if it was already there.
+     */
+    bool add_timer(TimerPtr timer)
+    {
+      // Nothing to do if the timer is already stored here
+      auto it = std::find(owned_heap_.begin(), owned_heap_.end(), timer);
+      if (it != owned_heap_.end()) {
+        return false;
+      }
+
+      owned_heap_.push_back(std::move(timer));
+      std::push_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
+
+      return true;
+    }
+
+    /**
+     * @brief Try to remove a timer from the heap.
+     * After the removal, the heap property is preserved.
+     * @param timer timer to remove.
+     * @return true if timer has been removed, false if it was not there.
+     */
+    bool remove_timer(TimerPtr timer)
+    {
+      // Nothing to do if the timer is not stored here
+      auto it = std::find(owned_heap_.begin(), owned_heap_.end(), timer);
+      if (it == owned_heap_.end()) {
+        return false;
+      }
+
+      owned_heap_.erase(it);
+      this->heapify();
+
+      return true;
+    }
+
+    /**
+     * @brief Returns a reference to the front element.
+     * @return reference to front element.
+     */
+    TimerPtr & front()
+    {
+      return owned_heap_.front();
+    }
+
+    /**
+     * @brief Returns a const reference to the front element.
+     * @return const reference to front element.
+     */
+    const TimerPtr & front() const
+    {
+      return owned_heap_.front();
+    }
+
+    /**
+     * @brief Returns whether the heap is empty or not.
+     * @return true if the heap is empty.
+     */
+    bool empty() const
+    {
+      return owned_heap_.empty();
+    }
+
+    /**
+     * @brief Returns the size of the heap.
+     * @return the number of valid timers in the heap.
+     */
+    size_t size() const
+    {
+      return owned_heap_.size();
+    }
+
+    /**
+     * @brief Get the number of timers that are currently ready.
+     * @return size_t number of ready timers.
+     */
+    size_t get_number_ready_timers() const
+    {
+      size_t ready_timers = 0;
+
+      for (TimerPtr t : owned_heap_) {
+        if (t->is_ready()) {
+          ready_timers++;
+        }
+      }
+
+      return ready_timers;
+    }
+
+    /**
+    * @brief Restore a valid heap after the root value has been replaced (e.g. timer triggered).
+    */
+    void heapify_root()
+    {
+      // The following code is a more efficient version than doing
+      // pop_heap, pop_back, push_back, push_heap
+      // as it removes the need for the last push_heap
+
+      // Push the modified element (i.e. the current root) at the bottom of the heap
+      owned_heap_.push_back(owned_heap_[0]);
+      // Exchange first and last-1 elements and reheapify
+      std::pop_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
+      // Remove last element
+      owned_heap_.pop_back();
+    }
+
+    /**
+     * @brief Completely restores the structure to a valid heap
+     */
+    void heapify()
+    {
+      std::make_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
+    }
+
+    /**
+     * @brief Helper function to clear the "on_reset_callback" on all associated timers.
+     */
+    void clear_timers_on_reset_callbacks()
+    {
+      for (TimerPtr & t : owned_heap_) {
+        t->clear_on_reset_callback();
+      }
+    }
+
+    /**
+     * @brief Friend declaration to allow the `validate_and_lock()` function to access the
+     * underlying heap container
+     */
+    friend TimersHeap WeakTimersHeap::validate_and_lock();
+
+    /**
+     * @brief Friend declaration to allow the `store()` function to access the
+     * underlying heap container
+     */
+    friend void WeakTimersHeap::store(const TimersHeap & heap);
+
+private:
+    /**
+     * @brief Comparison function between timers.
+     * @return true if `a` triggers after `b`.
+     */
+    static bool timer_greater(TimerPtr a, TimerPtr b)
+    {
+      // TODO(alsora): this can cause an error if timers are using different clocks
+      return a->time_until_trigger() > b->time_until_trigger();
+    }
+
+    std::vector<TimerPtr> owned_heap_;
+  };
+
+  /**
+   * @brief Implements a loop that keeps executing ready timers.
+   * This function is executed in the timers thread.
+   */
+  void run_timers();
+
+  /**
+   * @brief Get the amount of time before the next timer triggers.
+   * This function is not thread safe, acquire a mutex before calling it.
+   *
+   * @return std::optional<std::chrono::nanoseconds> to wait,
+   * the returned value could be negative if the timer is already expired
+   * or std::chrono::nanoseconds::max() if the heap is empty.
+   * If the head timer was cancelled, then this will return a nullopt.
+   * This function is not thread safe, acquire the timers_mutex_ before calling it.
+   */
+  std::optional<std::chrono::nanoseconds> get_head_timeout_unsafe();
+
+  /**
+   * @brief Executes all the timers currently ready when the function is invoked
+   * while keeping the heap correctly sorted.
+   * This function is not thread safe, acquire the timers_mutex_ before calling it.
+   */
+  void execute_ready_timers_unsafe();
+
+  // Callback to be called when timer is ready
+  std::function<void(const rclcpp::TimerBase *,
+    const std::shared_ptr<void> &)> on_ready_callback_ = nullptr;
+
+  // Thread used to run the timers execution task
+  std::thread timers_thread_;
+  // Protects access to timers
+  std::mutex timers_mutex_;
+  // Protects access to stop()
+  std::mutex stop_mutex_;
+  // Notifies the timers thread whenever timers are added/removed
+  std::condition_variable timers_cv_;
+  // Flag used as predicate by timers_cv_ that denotes one or more timers being added/removed
+  bool timers_updated_ {false};
+  // Indicates whether the timers thread is currently running or not
+  std::atomic<bool> running_ {false};
+  // Parent context used to understand if ROS is still active
+  std::shared_ptr<rclcpp::Context> context_;
+  // Timers heap storage with weak ownership
+  WeakTimersHeap weak_timers_heap_;
+};
+
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__TIMERS_MANAGER_HPP_

rclcpp/include/rclcpp/generic_client.hpp

@@ -0,0 +1,303 @@
+// Copyright 2023 Sony Group Corporation.
+//
+// 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__GENERIC_CLIENT_HPP_
+#define RCLCPP__GENERIC_CLIENT_HPP_
+
+#include <map>
+#include <memory>
+#include <future>
+#include <string>
+#include <tuple>
+#include <vector>
+#include <utility>
+
+#include "rcl/client.h"
+
+#include "rclcpp/client.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rcpputils/shared_library.hpp"
+
+#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
+
+namespace rclcpp
+{
+class GenericClient : public ClientBase
+{
+public:
+  using Request = void *;   // Deserialized data pointer of request message
+  using Response = void *;  // Deserialized data pointer of response message
+
+  using SharedResponse = std::shared_ptr<void>;
+
+  using Promise = std::promise<SharedResponse>;
+  using SharedPromise = std::shared_ptr<Promise>;
+
+  using Future = std::future<SharedResponse>;
+  using SharedFuture = std::shared_future<SharedResponse>;
+
+  using CallbackType = std::function<void (SharedFuture)>;
+
+  RCLCPP_SMART_PTR_DEFINITIONS(GenericClient)
+
+  /// A convenient GenericClient::Future and request id pair.
+  /**
+   * Public members:
+   * - future: a std::future<void *>.
+   * - request_id: the request id associated with the future.
+   *
+   * All the other methods are equivalent to the ones std::future provides.
+   */
+  struct FutureAndRequestId
+    : detail::FutureAndRequestId<Future>
+  {
+    using detail::FutureAndRequestId<Future>::FutureAndRequestId;
+
+    /// See std::future::share().
+    SharedFuture share() noexcept {return this->future.share();}
+
+    /// Move constructor.
+    FutureAndRequestId(FutureAndRequestId && other) noexcept = default;
+    /// Deleted copy constructor, each instance is a unique owner of the future.
+    FutureAndRequestId(const FutureAndRequestId & other) = delete;
+    /// Move assignment.
+    FutureAndRequestId & operator=(FutureAndRequestId && other) noexcept = default;
+    /// Deleted copy assignment, each instance is a unique owner of the future.
+    FutureAndRequestId & operator=(const FutureAndRequestId & other) = delete;
+    /// Destructor.
+    ~FutureAndRequestId() = default;
+  };
+
+  /// A convenient GenericClient::SharedFuture and request id pair.
+  /**
+   * Public members:
+   * - future: a std::shared_future<SharedResponse>.
+   * - request_id: the request id associated with the future.
+   *
+   * All the other methods are equivalent to the ones std::shared_future provides.
+   */
+  struct SharedFutureAndRequestId
+    : detail::FutureAndRequestId<std::shared_future<SharedResponse>>
+  {
+    using detail::FutureAndRequestId<std::shared_future<SharedResponse>>::FutureAndRequestId;
+  };
+
+  GenericClient(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph,
+    const std::string & service_name,
+    const std::string & service_type,
+    rcl_client_options_t & client_options);
+
+  RCLCPP_PUBLIC
+  SharedResponse
+  create_response() override;
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<rmw_request_id_t>
+  create_request_header() override;
+
+  RCLCPP_PUBLIC
+  void
+  handle_response(
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & response) override;
+
+  /// Send a request to the service server.
+  /**
+   * This method returns a `FutureAndRequestId` instance
+   * that can be passed to Executor::spin_until_future_complete() to
+   * wait until it has been completed.
+   *
+   * If the future never completes,
+   * e.g. the call to Executor::spin_until_future_complete() times out,
+   * GenericClient::remove_pending_request() must be called to clean the client internal state.
+   * Not doing so will make the `GenericClient` instance to use more memory each time a response is
+   * not received from the service server.
+   *
+   * ```cpp
+   * auto future = generic_client->async_send_request(my_request);
+   * if (
+   *   rclcpp::FutureReturnCode::TIMEOUT ==
+   *   executor->spin_until_future_complete(future, timeout))
+   * {
+   *   generic_client->remove_pending_request(future);
+   *   // handle timeout
+   * } else {
+   *   handle_response(future.get());
+   * }
+   * ```
+   *
+   * \param[in] request request to be send.
+   * \return a FutureAndRequestId instance.
+   */
+  RCLCPP_PUBLIC
+  FutureAndRequestId
+  async_send_request(const Request & request);
+
+  /// Send a request to the service server and schedule a callback in the executor.
+  /**
+   * Similar to the previous overload, but a callback will automatically be called when a response
+   * is received.
+   *
+   * If the callback is never called, because we never got a reply for the service server,
+   * remove_pending_request() has to be called with the returned request id or
+   * prune_pending_requests().
+   * Not doing so will make the `GenericClient` instance use more memory each time a response is not
+   * received from the service server.
+   * In this case, it's convenient to setup a timer to cleanup the pending requests.
+   *
+   * \param[in] request request to be send.
+   * \param[in] cb callback that will be called when we get a response for this request.
+   * \return the request id representing the request just sent.
+   */
+  template<
+    typename CallbackT,
+    typename std::enable_if<
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        CallbackType
+      >::value
+    >::type * = nullptr
+  >
+  SharedFutureAndRequestId
+  async_send_request(const Request & request, CallbackT && cb)
+  {
+    Promise promise;
+    auto shared_future = promise.get_future().share();
+    auto req_id = async_send_request_impl(
+      request,
+      std::make_tuple(
+        CallbackType{std::forward<CallbackT>(cb)},
+        shared_future,
+        std::move(promise)));
+    return SharedFutureAndRequestId{std::move(shared_future), req_id};
+  }
+
+  /// Clean all pending requests older than a time_point.
+  /**
+   * \param[in] time_point Requests that were sent before this point are going to be removed.
+   * \param[inout] pruned_requests Removed requests id will be pushed to the vector
+   *  if a pointer is provided.
+   * \return number of pending requests that were removed.
+   */
+  template<typename AllocatorT = std::allocator<int64_t>>
+  size_t
+  prune_requests_older_than(
+    std::chrono::time_point<std::chrono::system_clock> time_point,
+    std::vector<int64_t, AllocatorT> * pruned_requests = nullptr)
+  {
+    return detail::prune_requests_older_than_impl(
+      pending_requests_,
+      pending_requests_mutex_,
+      time_point,
+      pruned_requests);
+  }
+
+  /// Clean all pending requests.
+  /**
+   * \return number of pending requests that were removed.
+   */
+  RCLCPP_PUBLIC
+  size_t
+  prune_pending_requests();
+
+  /// Cleanup a pending request.
+  /**
+   * This notifies the client that we have waited long enough for a response from the server
+   * to come, we have given up and we are not waiting for a response anymore.
+   *
+   * Not calling this will make the client start using more memory for each request
+   * that never got a reply from the server.
+   *
+   * \param[in] request_id request id returned by async_send_request().
+   * \return true when a pending request was removed, false if not (e.g. a response was received).
+   */
+  RCLCPP_PUBLIC
+  bool
+  remove_pending_request(
+    int64_t request_id);
+
+  /// Cleanup a pending request.
+  /**
+   * Convenient overload, same as:
+   *
+   * `GenericClient::remove_pending_request(this, future.request_id)`.
+   */
+  RCLCPP_PUBLIC
+  bool
+  remove_pending_request(
+    const FutureAndRequestId & future);
+
+  /// Cleanup a pending request.
+  /**
+   * Convenient overload, same as:
+   *
+   * `GenericClient::remove_pending_request(this, future.request_id)`.
+   */
+  RCLCPP_PUBLIC
+  bool
+  remove_pending_request(
+    const SharedFutureAndRequestId & future);
+
+  /// Take the next response for this client.
+  /**
+   * \sa ClientBase::take_type_erased_response().
+   *
+   * \param[out] response_out The reference to a Service Response into
+   *   which the middleware will copy the response being taken.
+   * \param[out] request_header_out The request header to be filled by the
+   *   middleware when taking, and which can be used to associate the response
+   *   to a specific request.
+   * \returns true if the response was taken, otherwise false.
+   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
+   *   rcl function fail.
+   */
+  RCLCPP_PUBLIC
+  bool
+  take_response(Response response_out, rmw_request_id_t & request_header_out)
+  {
+    return this->take_type_erased_response(response_out, request_header_out);
+  }
+
+protected:
+  using CallbackTypeValueVariant = std::tuple<CallbackType, SharedFuture, Promise>;
+  using CallbackInfoVariant = std::variant<
+    std::promise<SharedResponse>,
+    CallbackTypeValueVariant>;  // Use variant for extension
+
+  RCLCPP_PUBLIC
+  int64_t
+  async_send_request_impl(
+    const Request & request,
+    CallbackInfoVariant value);
+
+  std::optional<CallbackInfoVariant>
+  get_and_erase_pending_request(
+    int64_t request_number);
+
+  RCLCPP_DISABLE_COPY(GenericClient)
+
+  std::map<int64_t, std::pair<
+      std::chrono::time_point<std::chrono::system_clock>,
+      CallbackInfoVariant>> pending_requests_;
+  std::mutex pending_requests_mutex_;
+
+private:
+  std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
+  const rosidl_typesupport_introspection_cpp::MessageMembers * response_members_;
+};
+}  // namespace rclcpp
+
+#endif  // RCLCPP__GENERIC_CLIENT_HPP_

rclcpp/include/rclcpp/generic_publisher.hpp

@@ -77,7 +77,7 @@ public:
   : rclcpp::PublisherBase(
       node_base,
       topic_name,
-      *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
+      *rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
       options.template to_rcl_publisher_options<rclcpp::SerializedMessage>(qos),
       // NOTE(methylDragon): Passing these args separately is necessary for event binding
       options.event_callbacks,

rclcpp/include/rclcpp/generic_service.hpp

@@ -0,0 +1,308 @@
+// Copyright 2024 Sony Group Corporation.
+//
+// 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__GENERIC_SERVICE_HPP_
+#define RCLCPP__GENERIC_SERVICE_HPP_
+
+#include <cstdlib>
+#include <functional>
+#include <memory>
+#include <string>
+#include <type_traits>
+#include <utility>
+#include <variant>
+
+#include "rclcpp/typesupport_helpers.hpp"
+
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
+#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
+
+#include "service.hpp"
+
+namespace rclcpp
+{
+class GenericService;
+
+class GenericServiceCallback
+{
+public:
+  using SharedRequest = std::shared_ptr<void>;
+  using SharedResponse = std::shared_ptr<void>;
+
+  GenericServiceCallback()
+  : callback_(std::monostate{})
+  {}
+
+  template<
+    typename CallbackT,
+    typename std::enable_if_t<!detail::can_be_nullptr<CallbackT>::value, int> = 0>
+  void
+  set(CallbackT && callback)
+  {
+    // Workaround Windows issue with std::bind
+    if constexpr (
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrCallback>(callback);
+    } else if constexpr (  // NOLINT, can't satisfy both cpplint and uncrustify
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrWithRequestHeaderCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallbackWithServiceHandle
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
+    } else {
+      // the else clause is not needed, but anyways we should only be doing this instead
+      // of all the above workaround ...
+      callback_ = std::forward<CallbackT>(callback);
+    }
+  }
+
+  template<
+    typename CallbackT,
+    typename std::enable_if_t<detail::can_be_nullptr<CallbackT>::value, int> = 0>
+  void
+  set(CallbackT && callback)
+  {
+    if (!callback) {
+      throw std::invalid_argument("AnyServiceCallback::set(): callback cannot be nullptr");
+    }
+    // Workaround Windows issue with std::bind
+    if constexpr (
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrWithRequestHeaderCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrWithRequestHeaderCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallback
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallback>(callback);
+    } else if constexpr (  // NOLINT
+      rclcpp::function_traits::same_arguments<
+        CallbackT,
+        SharedPtrDeferResponseCallbackWithServiceHandle
+      >::value)
+    {
+      callback_.template emplace<SharedPtrDeferResponseCallbackWithServiceHandle>(callback);
+    } else {
+      // the else clause is not needed, but anyways we should only be doing this instead
+      // of all the above workaround ...
+      callback_ = std::forward<CallbackT>(callback);
+    }
+  }
+
+  SharedResponse
+  dispatch(
+    const std::shared_ptr<rclcpp::GenericService> & service_handle,
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    SharedRequest request,
+    SharedRequest response)
+  {
+    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    if (std::holds_alternative<std::monostate>(callback_)) {
+      // TODO(ivanpauno): Remove the set method, and force the users of this class
+      // to pass a callback at construnciton.
+      throw std::runtime_error{"unexpected request without any callback set"};
+    }
+    if (std::holds_alternative<SharedPtrDeferResponseCallback>(callback_)) {
+      const auto & cb = std::get<SharedPtrDeferResponseCallback>(callback_);
+      cb(request_header, std::move(request));
+      return nullptr;
+    }
+    if (std::holds_alternative<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_)) {
+      const auto & cb = std::get<SharedPtrDeferResponseCallbackWithServiceHandle>(callback_);
+      cb(service_handle, request_header, std::move(request));
+      return nullptr;
+    }
+
+    if (std::holds_alternative<SharedPtrCallback>(callback_)) {
+      (void)request_header;
+      const auto & cb = std::get<SharedPtrCallback>(callback_);
+      cb(std::move(request), response);
+    } else if (std::holds_alternative<SharedPtrWithRequestHeaderCallback>(callback_)) {
+      const auto & cb = std::get<SharedPtrWithRequestHeaderCallback>(callback_);
+      cb(request_header, std::move(request), response);
+    }
+    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    return response;
+  }
+
+  void register_callback_for_tracing()
+  {
+#ifndef TRACETOOLS_DISABLED
+    std::visit(
+      [this](auto && arg) {
+        if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
+          char * symbol = tracetools::get_symbol(arg);
+          TRACETOOLS_DO_TRACEPOINT(
+            rclcpp_callback_register,
+            static_cast<const void *>(this),
+            symbol);
+          std::free(symbol);
+        }
+      }, callback_);
+#endif  // TRACETOOLS_DISABLED
+  }
+
+private:
+  using SharedPtrCallback = std::function<void (SharedRequest, SharedResponse)>;
+  using SharedPtrWithRequestHeaderCallback = std::function<
+    void (
+      std::shared_ptr<rmw_request_id_t>,
+      SharedRequest,
+      SharedResponse
+    )>;
+  using SharedPtrDeferResponseCallback = std::function<
+    void (
+      std::shared_ptr<rmw_request_id_t>,
+      SharedRequest
+    )>;
+  using SharedPtrDeferResponseCallbackWithServiceHandle = std::function<
+    void (
+      std::shared_ptr<rclcpp::GenericService>,
+      std::shared_ptr<rmw_request_id_t>,
+      SharedRequest
+    )>;
+
+  std::variant<
+    std::monostate,
+    SharedPtrCallback,
+    SharedPtrWithRequestHeaderCallback,
+    SharedPtrDeferResponseCallback,
+    SharedPtrDeferResponseCallbackWithServiceHandle> callback_;
+};
+
+class GenericService
+  : public ServiceBase,
+  public std::enable_shared_from_this<GenericService>
+{
+public:
+  using Request = void *;  // Serialized/Deserialized data pointer of request message
+  using Response = void *;  // Serialized/Deserialized data pointer of response message
+  using SharedRequest = std::shared_ptr<void>;
+  using SharedResponse = std::shared_ptr<void>;
+  using CallbackType = std::function<void (const SharedRequest, SharedResponse)>;
+
+  using CallbackWithHeaderType =
+    std::function<void (const std::shared_ptr<rmw_request_id_t>,
+      const SharedRequest,
+      SharedResponse)>;
+
+  RCLCPP_SMART_PTR_DEFINITIONS(GenericService)
+
+  /// Default constructor.
+  /**
+   * The constructor for a Service is almost never called directly.
+   * Instead, services should be instantiated through the function
+   * rclcpp::create_service().
+   *
+   * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
+   * \param[in] service_name Name of the topic to publish to.
+   * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool".
+   * \param[in] any_callback User defined callback to call when a client request is received.
+   * \param[in] service_options options for the service.
+   */
+  RCLCPP_PUBLIC
+  GenericService(
+    const std::shared_ptr<rcl_node_t> & node_handle,
+    const std::string & service_name,
+    const std::string & service_type,
+    GenericServiceCallback any_callback,
+    rcl_service_options_t & service_options);
+
+  GenericService() = delete;
+
+  RCLCPP_PUBLIC
+  virtual ~GenericService() {}
+
+  /// Take the next request from the service.
+  /**
+   * \sa ServiceBase::take_type_erased_request().
+   *
+   * \param[out] request_out The reference to a service deserialized request object
+   *   into which the middleware will copy the taken request.
+   * \param[out] request_id_out The output id for the request which can be used
+   *   to associate response with this request in the future.
+   * \returns true if the request was taken, otherwise false.
+   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
+   *   rcl calls fail.
+   */
+  RCLCPP_PUBLIC
+  bool
+  take_request(SharedRequest & request_out, rmw_request_id_t & request_id_out);
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  create_request() override;
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<void>
+  create_response();
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<rmw_request_id_t>
+  create_request_header() override;
+
+  RCLCPP_PUBLIC
+  void
+  handle_request(
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & request) override;
+
+  RCLCPP_PUBLIC
+  void
+  send_response(rmw_request_id_t & req_id, SharedResponse & response);
+
+private:
+  RCLCPP_DISABLE_COPY(GenericService)
+
+  GenericServiceCallback any_callback_;
+
+  std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
+  const rosidl_typesupport_introspection_cpp::MessageMembers * request_members_;
+  const rosidl_typesupport_introspection_cpp::MessageMembers * response_members_;
+};
+
+}  // namespace rclcpp
+#endif  // RCLCPP__GENERIC_SERVICE_HPP_

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -74,20 +74,32 @@ public:
     const std::string & topic_name,
     const std::string & topic_type,
     const rclcpp::QoS & qos,
-    // TODO(nnmm): Add variant for callback with message info. See issue #1604.
-    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+    AnySubscriptionCallback<rclcpp::SerializedMessage, AllocatorT> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
   : SubscriptionBase(
       node_base,
-      *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
+      *rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
       topic_name,
       options.to_rcl_subscription_options(qos),
       options.event_callbacks,
       options.use_default_callbacks,
-      true),
-    callback_(callback),
+      DeliveredMessageKind::SERIALIZED_MESSAGE),
+    any_callback_(callback),
     ts_lib_(ts_lib)
-  {}
+  {
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_subscription_init,
+      static_cast<const void *>(get_subscription_handle().get()),
+      static_cast<const void *>(this));
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_subscription_callback_added,
+      static_cast<const void *>(this),
+      static_cast<const void *>(&any_callback_));
+
+#ifndef TRACETOOLS_DISABLED
+    any_callback_.register_callback_for_tracing();
+#endif
+  }
 
   RCLCPP_PUBLIC
   virtual ~GenericSubscription() = default;
@@ -99,6 +111,26 @@ public:
   RCLCPP_PUBLIC
   std::shared_ptr<rclcpp::SerializedMessage> create_serialized_message() override;
 
+  /// Disable callbacks from being called
+  /**
+    * This method will block, until any subscription's callbacks provided during construction
+    * currently being executed are finished.
+    * \note This method also temporary removes the on new message callback and all
+    * on new event callbacks from the rmw layer to prevent them from being called. However, this
+    * method will not block and wait until the currently executing on_new_[message]event callbacks
+    * are finished.
+    */
+  RCLCPP_PUBLIC
+  void disable_callbacks() override;
+
+  /// Enable the callbacks to be called
+  /**
+    * This method is thread safe, and provides a safe way to atomically enable the callbacks
+    * in a multithreaded environment.
+    */
+  RCLCPP_PUBLIC
+  void enable_callbacks() override;
+
   /// Cast the message to a rclcpp::SerializedMessage and call the callback.
   RCLCPP_PUBLIC
   void handle_message(
@@ -123,10 +155,34 @@ public:
   RCLCPP_PUBLIC
   void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
 
+
+  // DYNAMIC TYPE ==================================================================================
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr get_shared_dynamic_message_type()
+  override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr get_shared_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr create_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  void return_dynamic_message(
+    rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override;
+
+  RCLCPP_PUBLIC
+  void handle_dynamic_message(
+    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    const rclcpp::MessageInfo & message_info) override;
+
 private:
   RCLCPP_DISABLE_COPY(GenericSubscription)
-
-  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback_;
+  AnySubscriptionCallback<rclcpp::SerializedMessage, std::allocator<void>> any_callback_;
   // The type support library should stay loaded, so it is stored in the GenericSubscription
   std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
 };

rclcpp/include/rclcpp/graph_listener.hpp

@@ -154,6 +154,12 @@ public:
   bool
   is_shutdown();
 
+  /// Return true if the graph listener was started.
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  is_started();
+
 protected:
   /// Main function for the listening thread.
   RCLCPP_PUBLIC
@@ -181,7 +187,6 @@ private:
   void
   __shutdown();
 
-  std::weak_ptr<rclcpp::Context> weak_parent_context_;
   std::shared_ptr<rcl_context_t> rcl_parent_context_;
 
   std::thread listener_thread_;

rclcpp/include/rclcpp/guard_condition.hpp

@@ -48,7 +48,7 @@ public:
    */
   RCLCPP_PUBLIC
   explicit GuardCondition(
-    rclcpp::Context::SharedPtr context =
+    const rclcpp::Context::SharedPtr & context =
     rclcpp::contexts::get_global_default_context(),
     rcl_guard_condition_options_t guard_condition_options =
     rcl_guard_condition_get_default_options());
@@ -57,11 +57,6 @@ public:
   virtual
   ~GuardCondition();
 
-  /// Return the context used when creating this guard condition.
-  RCLCPP_PUBLIC
-  rclcpp::Context::SharedPtr
-  get_context() const;
-
   /// Return the underlying rcl guard condition structure.
   RCLCPP_PUBLIC
   rcl_guard_condition_t &
@@ -105,7 +100,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  add_to_wait_set(rcl_wait_set_t * wait_set);
+  add_to_wait_set(rcl_wait_set_t & wait_set);
 
   /// Set a callback to be called whenever the guard condition is triggered.
   /**
@@ -125,16 +120,17 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  set_on_trigger_callback(std::function<void(size_t)> callback);
+  set_on_trigger_callback(const std::function<void(size_t)> & callback);
 
 protected:
-  rclcpp::Context::SharedPtr context_;
   rcl_guard_condition_t rcl_guard_condition_;
   std::atomic<bool> in_use_by_wait_set_{false};
   std::recursive_mutex reentrant_mutex_;
   std::function<void(size_t)> on_trigger_callback_{nullptr};
   size_t unread_count_{0};
-  rcl_wait_set_t * wait_set_{nullptr};
+  // the type of wait_set_ is actually rcl_wait_set_t *, but it's never
+  // dereferenced, only compared to, so make it void * to avoid accidental use
+  void * wait_set_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/loaned_message.hpp

@@ -31,21 +31,20 @@ namespace rclcpp
 template<typename MessageT, typename AllocatorT = std::allocator<void>>
 class LoanedMessage
 {
+public:
   using MessageAllocatorTraits = rclcpp::allocator::AllocRebind<MessageT, AllocatorT>;
   using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
 
-public:
   /// Constructor of the LoanedMessage class.
   /**
    * The constructor of this class allocates memory for a given message type
    * and associates this with a given publisher.
    *
-   * Given the publisher instance, a case differentiation is being performaned
-   * which decides whether the underlying middleware is able to allocate the appropriate
-   * memory for this message type or not.
-   * In the case that the middleware can not loan messages, the passed in allocator instance
-   * is being used to allocate the message within the scope of this class.
-   * Otherwise, the allocator is being ignored and the allocation is solely performaned
+   * The underlying middleware is queried to determine whether it is able to allocate the
+   * appropriate memory for this message type or not.
+   * In the case that the middleware cannot loan messages, the passed in allocator instance
+   * is used to allocate the message within the scope of this class.
+   * Otherwise, the allocator is ignored and the allocation is solely performed
    * in the underlying middleware with its appropriate allocation strategy.
    * The need for this arises as the user code can be written explicitly targeting a middleware
    * capable of loaning messages.
@@ -53,12 +52,12 @@ public:
    * a middleware which doesn't support message loaning in which case the allocator will be used.
    *
    * \param[in] pub rclcpp::Publisher instance to which the memory belongs
-   * \param[in] allocator Allocator instance in case middleware can not allocate messages
+   * \param[in] allocator Allocator instance in case middleware cannot allocate messages
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    */
   LoanedMessage(
     const rclcpp::PublisherBase & pub,
-    std::allocator<MessageT> allocator)
+    MessageAllocator allocator)
   : pub_(pub),
     message_(nullptr),
     message_allocator_(std::move(allocator))
@@ -82,36 +81,6 @@ public:
     }
   }
 
-  /// Constructor of the LoanedMessage class.
-  /**
-   * The constructor of this class allocates memory for a given message type
-   * and associates this with a given publisher.
-   *
-   * Given the publisher instance, a case differentiation is being performaned
-   * which decides whether the underlying middleware is able to allocate the appropriate
-   * memory for this message type or not.
-   * In the case that the middleware can not loan messages, the passed in allocator instance
-   * is being used to allocate the message within the scope of this class.
-   * Otherwise, the allocator is being ignored and the allocation is solely performaned
-   * in the underlying middleware with its appropriate allocation strategy.
-   * The need for this arises as the user code can be written explicitly targeting a middleware
-   * capable of loaning messages.
-   * However, this user code is ought to be usable even when dynamically linked against
-   * a middleware which doesn't support message loaning in which case the allocator will be used.
-   *
-   * \param[in] pub rclcpp::Publisher instance to which the memory belongs
-   * \param[in] allocator Allocator instance in case middleware can not allocate messages
-   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
-   */
-  [[
-    deprecated("used the LoanedMessage constructor that does not use a shared_ptr to the allocator")
-  ]]
-  LoanedMessage(
-    const rclcpp::PublisherBase * pub,
-    std::shared_ptr<std::allocator<MessageT>> allocator)
-  : LoanedMessage(*pub, *allocator)
-  {}
-
   /// Move semantic for RVO
   LoanedMessage(LoanedMessage<MessageT> && other)
   : pub_(std::move(other.pub_)),

rclcpp/include/rclcpp/logger.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__LOGGER_HPP_
 #define RCLCPP__LOGGER_HPP_
 
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <utility>
@@ -86,8 +87,8 @@ get_node_logger(const rcl_node_t * node);
  * \throws rclcpp::exceptions::RCLError if an unexpected error occurs.
  */
 RCLCPP_PUBLIC
-rcpputils::fs::path
-get_logging_directory();
+std::filesystem::path
+get_log_directory();
 
 class Logger
 {
@@ -126,9 +127,6 @@ private:
   std::shared_ptr<std::pair<std::string, std::string>> logger_sublogger_pairname_ = nullptr;
 
 public:
-  RCLCPP_PUBLIC
-  Logger(const Logger &) = default;
-
   /// Get the name of this logger.
   /**
    * \return the full name of the logger including any prefixes, or

rclcpp/include/rclcpp/logging.hpp

@@ -0,0 +1,983 @@
+// Copyright 2017 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__LOGGING_HPP_
+#define RCLCPP__LOGGING_HPP_
+
+#include <sstream>
+#include <type_traits>
+
+#include "rclcpp/logger.hpp"
+#include "rcutils/logging_macros.h"
+
+// These are used for compiling out logging macros lower than a minimum severity.
+#define RCLCPP_LOG_MIN_SEVERITY_DEBUG 0
+#define RCLCPP_LOG_MIN_SEVERITY_INFO 1
+#define RCLCPP_LOG_MIN_SEVERITY_WARN 2
+#define RCLCPP_LOG_MIN_SEVERITY_ERROR 3
+#define RCLCPP_LOG_MIN_SEVERITY_FATAL 4
+#define RCLCPP_LOG_MIN_SEVERITY_NONE 5
+
+#define RCLCPP_STATIC_ASSERT_LOGGER(logger) \
+  do { \
+    static_assert( \
+      ::std::is_convertible_v<decltype(logger), ::rclcpp::Logger>, \
+      "First argument to logging macros must be an rclcpp::Logger"); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG
+ * Log a message with given severity.
+ * \param logger The `rclcpp::Logger` to use
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG(severity, logger, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_NAMED(severity, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_ONCE
+ * Log a message with given severity with the following condition:
+ * - All log calls except the first one are ignored.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_ONCE(severity, logger, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_ONCE_NAMED(severity, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_EXPRESSION
+ * Log a message with given severity with the following condition:
+ * - Log calls are ignored when the expression evaluates to false.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param expression The expression determining if the message should be logged
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_EXPRESSION(severity, logger, expression, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_EXPRESSION_NAMED(severity, expression, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_FUNCTION
+ * Log a message with given severity with the following condition:
+ * - Log calls are ignored when the function returns false.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param function The functions return value determines if the message should be logged
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_FUNCTION(severity, logger, function, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_FUNCTION_NAMED(severity, function, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_SKIPFIRST
+ * Log a message with given severity with the following condition:
+ * - The first log call is ignored but all subsequent calls are processed.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_SKIPFIRST(severity, logger, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_SKIPFIRST_NAMED(severity, (logger).get_name(), __VA_ARGS__); \
+  } while (0)
+
+#define RCLCPP_LOG_TIME_POINT_FUNC(clock) \
+  [&c = clock](rcutils_time_point_value_t * time_point)->rcutils_ret_t { \
+    try { \
+      *time_point = c.now().nanoseconds(); \
+    } catch (...) { \
+      RCUTILS_SAFE_FWRITE_TO_STDERR( \
+      "[rclcpp|logging.hpp] RCLCPP_DEBUG_THROTTLE could not get current time stamp\n"); \
+      return RCUTILS_RET_ERROR; \
+    } \
+    return RCUTILS_RET_OK; \
+  }
+
+/**
+ * \def RCLCPP_LOG_THROTTLE
+ * Log a message with given severity with the following condition:
+ * - Log calls are ignored if the last logged message is not longer ago than the specified duration.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param clock rclcpp::Clock that will be used to get the time point.
+ * \param duration The duration of the throttle interval as an integral value in milliseconds.
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_THROTTLE(severity, logger, clock, duration, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_THROTTLE_NAMED( \
+      severity, \
+      RCLCPP_LOG_TIME_POINT_FUNC(clock), \
+      duration, \
+      (logger).get_name(), \
+      __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_SKIPFIRST_THROTTLE
+ * Log a message with given severity with the following conditions:
+ * - The first log call is ignored but all subsequent calls are processed.
+ * - Log calls are ignored if the last logged message is not longer ago than the specified duration.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param clock rclcpp::Clock that will be used to get the time point.
+ * \param duration The duration of the throttle interval as an integral value in milliseconds.
+ * \param ... The format string, followed by the variable arguments for the format string.
+ */
+#define RCLCPP_LOG_SKIPFIRST_THROTTLE(severity, logger, clock, duration, ...) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    RCUTILS_LOG_SKIPFIRST_THROTTLE_NAMED( \
+      severity, \
+      RCLCPP_LOG_TIME_POINT_FUNC(clock), \
+      duration, \
+      (logger).get_name(), \
+      __VA_ARGS__); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM
+ * Log a message with given severity.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM(severity, logger, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_NAMED(severity, (logger).get_name(), "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_ONCE
+ * Log a message with given severity with the following condition:
+ * - All log calls except the first one are ignored.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_ONCE(severity, logger, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_ONCE_NAMED(severity, (logger).get_name(), "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_EXPRESSION
+ * Log a message with given severity with the following condition:
+ * - Log calls are being ignored when the expression evaluates to false.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param expression The expression determining if the message should be logged
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_EXPRESSION(severity, logger, expression, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_EXPRESSION_NAMED( \
+      severity, \
+      expression, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_FUNCTION
+ * Log a message with given severity with the following condition:
+ * - Log calls are being ignored when the function returns false.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param function The functions return value determines if the message should be logged
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_FUNCTION(severity, logger, function, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_FUNCTION_NAMED( \
+      severity, \
+      function, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_SKIPFIRST
+ * Log a message with given severity with the following condition:
+ * - The first log call is ignored but all subsequent calls are processed.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_SKIPFIRST(severity, logger, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_SKIPFIRST_NAMED( \
+      severity, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_THROTTLE
+ * Log a message with given severity with the following condition:
+ * - Log calls are ignored if the last logged message is not longer ago than the specified duration.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param clock rclcpp::Clock that will be used to get the time point.
+ * \param duration The duration of the throttle interval as an integral value in milliseconds.
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_THROTTLE(severity, logger, clock, duration, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_THROTTLE_NAMED( \
+      severity, \
+      RCLCPP_LOG_TIME_POINT_FUNC(clock), \
+      duration, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ * Log a message with given severity with the following conditions:
+ * - The first log call is ignored but all subsequent calls are processed.
+ * - Log calls are ignored if the last logged message is not longer ago than the specified duration.
+ *
+ * \param logger The `rclcpp::Logger` to use
+ * \param clock rclcpp::Clock that will be used to get the time point.
+ * \param duration The duration of the throttle interval as an integral value in milliseconds.
+ * \param stream_arg The argument << into a stringstream
+ */
+#define RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(severity, logger, clock, duration, stream_arg) \
+  do { \
+    RCLCPP_STATIC_ASSERT_LOGGER(logger); \
+    std::stringstream rclcpp_stream_ss_; \
+    rclcpp_stream_ss_ << stream_arg; \
+    RCUTILS_LOG_SKIPFIRST_THROTTLE_NAMED( \
+      severity, \
+      RCLCPP_LOG_TIME_POINT_FUNC(clock), \
+      duration, \
+      (logger).get_name(), \
+      "%s", rclcpp_stream_ss_.str().c_str()); \
+  } while (0)
+
+/**
+ * \def RCLCPP_LOG_MIN_SEVERITY
+ * Define RCLCPP_LOG_MIN_SEVERITY=RCLCPP_LOG_MIN_SEVERITY_[DEBUG|INFO|WARN|ERROR|FATAL]
+ * in your build options to compile out anything below that severity.
+ * Use RCLCPP_LOG_MIN_SEVERITY_NONE to compile out all macros.
+ */
+#ifndef RCLCPP_LOG_MIN_SEVERITY
+#define RCLCPP_LOG_MIN_SEVERITY RCLCPP_LOG_MIN_SEVERITY_DEBUG
+#endif
+
+/** @name Logging macros for severity DEBUG.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_DEBUG)
+// empty logging macros for severity DEBUG when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_DEBUG_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_DEBUG
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_DEBUG(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_DEBUG, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_DEBUG_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_DEBUG, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_DEBUG_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_DEBUG, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_DEBUG_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_DEBUG, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_DEBUG_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_DEBUG, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_DEBUG_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_DEBUG, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_DEBUG_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_DEBUG, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_DEBUG_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_DEBUG, logger, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_DEBUG_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_DEBUG, logger, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_DEBUG_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_DEBUG, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_DEBUG_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_DEBUG, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_DEBUG_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_DEBUG, logger, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_DEBUG_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_DEBUG, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_DEBUG_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_DEBUG_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_DEBUG, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+/** @name Logging macros for severity INFO.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_INFO)
+// empty logging macros for severity INFO when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_INFO_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_INFO
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_INFO(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_INFO, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_INFO_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_INFO, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_INFO_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_INFO, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_INFO_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_INFO, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_INFO_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_INFO, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_INFO_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_INFO, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_INFO_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_INFO, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_INFO_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_INFO_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_INFO, logger, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_INFO_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_INFO, logger, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_INFO_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_INFO, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_INFO_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_INFO, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_INFO_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_INFO_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_INFO, logger, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_INFO_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_INFO, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_INFO_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_INFO_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_INFO, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+/** @name Logging macros for severity WARN.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_WARN)
+// empty logging macros for severity WARN when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_WARN_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_WARN
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_WARN(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_WARN, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_WARN_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_WARN, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_WARN_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_WARN, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_WARN_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_WARN, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_WARN_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_WARN, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_WARN_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_WARN, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_WARN_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_WARN, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_WARN_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_WARN_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_WARN, logger, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_WARN_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_WARN, logger, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_WARN_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_WARN, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_WARN_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_WARN, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_WARN_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_WARN_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_WARN, logger, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_WARN_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_WARN, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_WARN_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_WARN_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_WARN, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+/** @name Logging macros for severity ERROR.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_ERROR)
+// empty logging macros for severity ERROR when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_ERROR
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_ERROR(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_ERROR, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_ERROR_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_ERROR, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_ERROR_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_ERROR, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_ERROR_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_ERROR, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_ERROR_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_ERROR, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_ERROR_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_ERROR, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_ERROR_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_ERROR, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_ERROR_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_ERROR_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_ERROR, logger, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_ERROR_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_ERROR, logger, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_ERROR_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_ERROR, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_ERROR_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_ERROR, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_ERROR_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_ERROR, logger, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_ERROR_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_ERROR, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_ERROR, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+/** @name Logging macros for severity FATAL.
+ */
+#if (RCLCPP_LOG_MIN_SEVERITY > RCLCPP_LOG_MIN_SEVERITY_FATAL)
+// empty logging macros for severity FATAL when being disabled at compile time
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_SKIPFIRST_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_ONCE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_EXPRESSION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_FUNCTION(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_SKIPFIRST(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_THROTTLE(...)
+/// Empty logging macro due to the preprocessor definition of RCLCPP_LOG_MIN_SEVERITY.
+#define RCLCPP_FATAL_STREAM_SKIPFIRST_THROTTLE(...)
+
+#else
+/**
+ * \def RCLCPP_FATAL
+ * \copydoc RCLCPP_LOG
+ */
+#define RCLCPP_FATAL(logger, ...) RCLCPP_LOG(RCUTILS_LOG_SEVERITY_FATAL, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_ONCE
+ * \copydoc RCLCPP_LOG_ONCE
+ */
+#define RCLCPP_FATAL_ONCE(logger, ...) \
+  RCLCPP_LOG_ONCE(RCUTILS_LOG_SEVERITY_FATAL, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_EXPRESSION
+ * \copydoc RCLCPP_LOG_EXPRESSION
+ */
+#define RCLCPP_FATAL_EXPRESSION(logger, expression, ...) \
+  RCLCPP_LOG_EXPRESSION(RCUTILS_LOG_SEVERITY_FATAL, logger, expression, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_FUNCTION
+ * \copydoc RCLCPP_LOG_FUNCTION
+ */
+#define RCLCPP_FATAL_FUNCTION(logger, function, ...) \
+  RCLCPP_LOG_FUNCTION(RCUTILS_LOG_SEVERITY_FATAL, logger, function, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_SKIPFIRST
+ * \copydoc RCLCPP_LOG_SKIPFIRST
+ */
+#define RCLCPP_FATAL_SKIPFIRST(logger, ...) \
+  RCLCPP_LOG_SKIPFIRST(RCUTILS_LOG_SEVERITY_FATAL, logger, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_THROTTLE
+ * \copydoc RCLCPP_LOG_THROTTLE
+ */
+#define RCLCPP_FATAL_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_THROTTLE(RCUTILS_LOG_SEVERITY_FATAL, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_FATAL_SKIPFIRST_THROTTLE(logger, clock, duration, ...) \
+  RCLCPP_LOG_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_FATAL, logger, clock, duration, __VA_ARGS__)
+
+/**
+ * \def RCLCPP_FATAL_STREAM
+ * \copydoc RCLCPP_LOG_STREAM
+ */
+#define RCLCPP_FATAL_STREAM(logger, stream_arg) \
+  RCLCPP_LOG_STREAM(RCUTILS_LOG_SEVERITY_FATAL, logger, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_ONCE
+ * \copydoc RCLCPP_LOG_STREAM_ONCE
+ */
+#define RCLCPP_FATAL_STREAM_ONCE(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_ONCE(RCUTILS_LOG_SEVERITY_FATAL, logger, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_EXPRESSION
+ * \copydoc RCLCPP_LOG_STREAM_EXPRESSION
+ */
+#define RCLCPP_FATAL_STREAM_EXPRESSION(logger, expression, stream_arg) \
+  RCLCPP_LOG_STREAM_EXPRESSION(RCUTILS_LOG_SEVERITY_FATAL, logger, expression, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_FUNCTION
+ * \copydoc RCLCPP_LOG_STREAM_FUNCTION
+ */
+#define RCLCPP_FATAL_STREAM_FUNCTION(logger, function, stream_arg) \
+  RCLCPP_LOG_STREAM_FUNCTION(RCUTILS_LOG_SEVERITY_FATAL, logger, function, stream_args)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_SKIPFIRST
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST
+ */
+#define RCLCPP_FATAL_STREAM_SKIPFIRST(logger, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST(RCUTILS_LOG_SEVERITY_FATAL, logger, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_THROTTLE
+ */
+#define RCLCPP_FATAL_STREAM_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_THROTTLE(RCUTILS_LOG_SEVERITY_FATAL, logger, clock, duration, stream_arg)
+
+/**
+ * \def RCLCPP_FATAL_STREAM_SKIPFIRST_THROTTLE
+ * \copydoc RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE
+ */
+#define RCLCPP_FATAL_STREAM_SKIPFIRST_THROTTLE(logger, clock, duration, stream_arg) \
+  RCLCPP_LOG_STREAM_SKIPFIRST_THROTTLE(RCUTILS_LOG_SEVERITY_FATAL, logger, clock, duration, \
+    stream_arg)
+
+#endif
+
+#endif  // RCLCPP__LOGGING_HPP_

rclcpp/include/rclcpp/message_memory_strategy.hpp

@@ -18,6 +18,7 @@
 #include <memory>
 #include <stdexcept>
 
+#include "rcl/allocator.h"
 #include "rcl/types.h"
 
 #include "rclcpp/allocator/allocator_common.hpp"
@@ -61,7 +62,16 @@ public:
     message_allocator_ = std::make_shared<MessageAlloc>();
     serialized_message_allocator_ = std::make_shared<SerializedMessageAlloc>();
     buffer_allocator_ = std::make_shared<BufferAlloc>();
-    rcutils_allocator_ = allocator::get_rcl_allocator<char, BufferAlloc>(*buffer_allocator_.get());
+    if constexpr (std::is_same_v<Alloc, std::allocator<void>>) {
+      rcutils_allocator_ = rcl_get_default_allocator();
+    } else {
+      if constexpr (rclcpp::allocator::has_get_rcl_allocator_v<Alloc>) {
+        rcutils_allocator_ = message_allocator_->get_rcl_allocator();
+      } else {
+        rcutils_allocator_ = allocator::get_rcl_allocator<char,
+            BufferAlloc>(*buffer_allocator_.get());
+      }
+    }
   }
 
   explicit MessageMemoryStrategy(std::shared_ptr<Alloc> allocator)
@@ -69,7 +79,16 @@ public:
     message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
     serialized_message_allocator_ = std::make_shared<SerializedMessageAlloc>(*allocator.get());
     buffer_allocator_ = std::make_shared<BufferAlloc>(*allocator.get());
-    rcutils_allocator_ = allocator::get_rcl_allocator<char, BufferAlloc>(*buffer_allocator_.get());
+    if constexpr (std::is_same_v<Alloc, std::allocator<void>>) {
+      rcutils_allocator_ = rcl_get_default_allocator();
+    } else {
+      if constexpr (rclcpp::allocator::has_get_rcl_allocator_v<Alloc>) {
+        rcutils_allocator_ = allocator->get_rcl_allocator();
+      } else {
+        rcutils_allocator_ = allocator::get_rcl_allocator<char,
+            BufferAlloc>(*buffer_allocator_.get());
+      }
+    }
   }
 
   virtual ~MessageMemoryStrategy() = default;

rclcpp/include/rclcpp/node.hpp

@@ -42,7 +42,9 @@
 #include "rclcpp/clock.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/event.hpp"
+#include "rclcpp/generic_client.hpp"
 #include "rclcpp/generic_publisher.hpp"
+#include "rclcpp/generic_service.hpp"
 #include "rclcpp/generic_subscription.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
@@ -56,6 +58,7 @@
 #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
 #include "rclcpp/node_interfaces/node_waitables_interface.hpp"
 #include "rclcpp/node_options.hpp"
 #include "rclcpp/parameter.hpp"
@@ -232,13 +235,15 @@ public:
    * \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.
+   * \param[in] autostart The state of the clock on initialization.
    */
   template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
   typename rclcpp::WallTimer<CallbackT>::SharedPtr
   create_wall_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr,
+    bool autostart = true);
 
   /// Create a timer that uses the node clock to drive the callback.
   /**
@@ -251,23 +256,7 @@ public:
   create_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
-
-  /// Create and return a Client.
-  /**
-   * \param[in] service_name The topic to service on.
-   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
-   * \param[in] group Callback group to call the service.
-   * \return Shared pointer to the created client.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  template<typename ServiceT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  typename rclcpp::Client<ServiceT>::SharedPtr
-  create_client(
-    const std::string & service_name,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
 
   /// Create and return a Client.
   /**
@@ -281,25 +270,7 @@ public:
   create_client(
     const std::string & service_name,
     const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
-
-  /// Create and return a Service.
-  /**
-   * \param[in] service_name The topic to service on.
-   * \param[in] callback User-defined callback function.
-   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
-   * \param[in] group Callback group to call the service.
-   * \return Shared pointer to the created service.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  template<typename ServiceT, typename CallbackT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  typename rclcpp::Service<ServiceT>::SharedPtr
-  create_service(
-    const std::string & service_name,
-    CallbackT && callback,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
 
   /// Create and return a Service.
   /**
@@ -315,7 +286,41 @@ public:
     const std::string & service_name,
     CallbackT && callback,
     const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
+
+  /// Create and return a GenericClient.
+  /**
+   * \param[in] service_name The name on which the service is accessible.
+   * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool"
+   * \param[in] qos Quality of service profile for client.
+   * \param[in] group Callback group to handle the reply to service calls.
+   * \return Shared pointer to the created GenericClient.
+   */
+  RCLCPP_PUBLIC
+  rclcpp::GenericClient::SharedPtr
+  create_generic_client(
+    const std::string & service_name,
+    const std::string & service_type,
+    const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
+
+  /// Create and return a GenericService.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool"
+   * \param[in] callback User-defined callback function.
+   * \param[in] qos Quality of service profile for the service.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created service.
+   */
+  template<typename CallbackT>
+  typename rclcpp::GenericService::SharedPtr
+  create_generic_service(
+    const std::string & service_name,
+    const std::string & service_type,
+    CallbackT && callback,
+    const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
 
   /// Create and return a GenericPublisher.
   /**
@@ -355,12 +360,14 @@ public:
  * `%callback_group`.
    * \return Shared pointer to the created generic subscription.
    */
-  template<typename AllocatorT = std::allocator<void>>
+  template<
+    typename CallbackT,
+    typename AllocatorT = std::allocator<void>>
   std::shared_ptr<rclcpp::GenericSubscription> create_generic_subscription(
     const std::string & topic_name,
     const std::string & topic_type,
     const rclcpp::QoS & qos,
-    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+    CallbackT && callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
     )
@@ -969,7 +976,16 @@ public:
 
   /// Return a list of parameters with any of the given prefixes, up to the given depth.
   /**
-   * \todo: properly document and test this method.
+   * Parameters are separated into a hierarchy using the "." (dot) character.
+   * The "prefixes" argument is a way to select only particular parts of the hierarchy.
+   *
+   * \param[in] prefixes The list of prefixes that should be searched for within the
+   * current parameters. If this vector of prefixes is empty, then list_parameters
+   * will return all parameters.
+   * \param[in] depth An unsigned integer that represents the recursive depth to search.
+   * If this depth = 0, then all parameters that fit the prefixes will be returned.
+   * \returns A ListParametersResult message which contains both an array of unique prefixes
+   * and an array of names that were matched to the prefixes given.
    */
   RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult
@@ -984,8 +1000,6 @@ public:
     rclcpp::node_interfaces::OnSetParametersCallbackHandle;
   using OnSetParametersCallbackType =
     rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType;
-  using OnParametersSetCallbackType [[deprecated("use OnSetParametersCallbackType instead")]] =
-    OnSetParametersCallbackType;
 
   using PostSetParametersCallbackHandle =
     rclcpp::node_interfaces::PostSetParametersCallbackHandle;
@@ -1302,6 +1316,26 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const;
 
+  /// Return the number of clients created for a given service.
+  /**
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \return number of clients that have been created for the given service.
+   * \throws std::runtime_error if clients could not be counted
+   */
+  RCLCPP_PUBLIC
+  size_t
+  count_clients(const std::string & service_name) const;
+
+  /// Return the number of services created for a given service.
+  /**
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \return number of services that have been created for the given service.
+   * \throws std::runtime_error if services could not be counted
+   */
+  RCLCPP_PUBLIC
+  size_t
+  count_services(const std::string & service_name) const;
+
   /// Return the topic endpoint information about publishers on a given topic.
   /**
    * The returned parameter is a list of topic endpoint information, where each item will contain
@@ -1354,6 +1388,66 @@ public:
   std::vector<rclcpp::TopicEndpointInfo>
   get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
 
+  /// Return the service endpoint information about clients on a given service.
+  /**
+   * The returned parameter is a list of service endpoint information, where each item will contain
+   * the node name, node namespace, service type, endpoint type, endpoint count,
+   * service endpoint's GIDs, and its QoS profiles.
+   *
+   * When the `no_mangle` parameter is `true`, the provided `service_name` should be a valid service
+   * name for the middleware (useful when combining ROS with native middleware apps).
+   * When the `no_mangle` parameter is `false`, the provided `service_name` should follow
+   * ROS service name conventions. In DDS-based RMWs, services are implemented as topics with mangled
+   * names (e.g., `rq/my_serviceRequest` and `rp/my_serviceReply`), so `no_mangle = true` is not
+   * supported and will result in an error. Use `get_publishers_info_by_topic` or
+   * `get_subscriptions_info_by_topic` for unmangled topic queries in such cases. Other RMWs
+   * (e.g., Zenoh) may support `no_mangle = true` if they natively handle services without topic-based
+   *
+   * 'service_name` may be a relative, private, or fully qualified service name.
+   * A relative or private service will be expanded using this node's namespace and name.
+   * The queried `service_name` is not remapped.
+   *
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \param[in] no_mangle if `true`, `service_name` needs to be a valid middleware service name,
+   *   otherwise it should be a valid ROS service name. Defaults to `false`.
+   * \return a list of SeviceEndpointInfo representing all the clients on this service.
+   * \throws InvalidServiceNameError if the given service_name is invalid.
+   * \throws std::runtime_error if internal error happens.
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_clients_info_by_service(const std::string & service_name, bool no_mangle = false) const;
+
+  /// Return the service endpoint information about servers on a given service.
+  /**
+   * The returned parameter is a list of service endpoint information, where each item will contain
+   * the node name, node namespace, service type, endpoint type, endpoint count,
+   * service endpoint's GIDs, and its QoS profiles.
+   *
+   * When the `no_mangle` parameter is `true`, the provided `service_name` should be a valid service
+   * name for the middleware (useful when combining ROS with native middleware apps).
+   * When the `no_mangle` parameter is `false`, the provided `service_name` should follow
+   * ROS service name conventions. In DDS-based RMWs, services are implemented as topics with mangled
+   * names (e.g., `rq/my_serviceRequest` and `rp/my_serviceReply`), so `no_mangle = true` is not
+   * supported and will result in an error. Use `rcl_get_publishers_info_by_topic` or
+   * `rcl_get_subscriptions_info_by_topic` for unmangled topic queries in such cases. Other RMWs
+   * (e.g., Zenoh) may support `no_mangle = true` if they natively handle services without topic-based
+   *
+   * 'service_name` may be a relative, private, or fully qualified service name.
+   * A relative or private service will be expanded using this node's namespace and name.
+   * The queried `service_name` is not remapped.
+   *
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \param[in] no_mangle if `true`, `service_name` needs to be a valid middleware service name,
+   *   otherwise it should be a valid ROS service name. Defaults to `false`.
+   * \return a list of SeviceEndpointInfo representing all the servers on this service.
+   * \throws InvalidServiceNameError if the given service_name is invalid.
+   * \throws std::runtime_error if internal error happens.
+   */
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_servers_info_by_service(const std::string & service_name, bool no_mangle = false) 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 loan just let it go
@@ -1377,7 +1471,7 @@ public:
   RCLCPP_PUBLIC
   void
   wait_for_graph_change(
-    rclcpp::Event::SharedPtr event,
+    const rclcpp::Event::SharedPtr & event,
     std::chrono::nanoseconds timeout);
 
   /// Get a clock as a non-const shared pointer which is managed by the node.
@@ -1396,7 +1490,7 @@ public:
   rclcpp::Clock::ConstSharedPtr
   get_clock() const;
 
-  /// Returns current time from the time source specified by clock_type.
+  /// Returns current time from the node clock.
   /**
    * \sa rclcpp::Clock::now
    */
@@ -1454,6 +1548,11 @@ public:
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();
 
+  /// Return the Node's internal NodeTypeDescriptionsInterface implementation.
+  RCLCPP_PUBLIC
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
+  get_node_type_descriptions_interface();
+
   /// Return the sub-namespace, if this is a sub-node, otherwise an empty string.
   /**
    * The returned sub-namespace is either the accumulated sub-namespaces which
@@ -1520,6 +1619,10 @@ public:
    * which has been created using an existing instance of this class, but which
    * has an additional sub-namespace (short for subordinate namespace)
    * associated with it.
+   * A subordinate node and an instance of this class share all the node interfaces
+   * such as `rclcpp::node_interfaces::NodeParametersInterface`.
+   * Subordinate nodes are primarily used to organize namespaces and provide a
+   * hierarchical structure, but they are not meant to be completely independent nodes.
    * The sub-namespace will extend the node's namespace for the purpose of
    * creating additional entities, such as Publishers, Subscriptions, Service
    * Clients and Servers, and so on.
@@ -1586,11 +1689,18 @@ private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
   const rclcpp::NodeOptions node_options_;
   const std::string sub_namespace_;
   const std::string effective_namespace_;
+
+  class NodeImpl;
+  // This member is meant to be a place to backport features into stable distributions,
+  // and new features targeting Rolling should not use this.
+  // See the comment in node.cpp for more information.
+  std::shared_ptr<NodeImpl> hidden_impl_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/node_impl.hpp

@@ -40,6 +40,7 @@
 #include "rclcpp/create_generic_subscription.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
+#include "rclcpp/create_generic_service.hpp"
 #include "rclcpp/create_subscription.hpp"
 #include "rclcpp/create_timer.hpp"
 #include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
@@ -110,14 +111,16 @@ typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::CallbackGroup::SharedPtr & group,
+  bool autostart)
 {
   return rclcpp::create_wall_timer(
     period,
     std::move(callback),
     group,
     this->node_base_.get(),
-    this->node_timers_.get());
+    this->node_timers_.get(),
+    autostart);
 }
 
 template<typename DurationRepT, typename DurationT, typename CallbackT>
@@ -125,7 +128,7 @@ typename rclcpp::GenericTimer<CallbackT>::SharedPtr
 Node::create_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::CallbackGroup::SharedPtr & group)
 {
   return rclcpp::create_timer(
     this->get_clock(),
@@ -141,7 +144,7 @@ typename Client<ServiceT>::SharedPtr
 Node::create_client(
   const std::string & service_name,
   const rclcpp::QoS & qos,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::CallbackGroup::SharedPtr & group)
 {
   return rclcpp::create_client<ServiceT>(
     node_base_,
@@ -152,29 +155,13 @@ Node::create_client(
     group);
 }
 
-template<typename ServiceT>
-typename Client<ServiceT>::SharedPtr
-Node::create_client(
-  const std::string & service_name,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::CallbackGroup::SharedPtr group)
-{
-  return rclcpp::create_client<ServiceT>(
-    node_base_,
-    node_graph_,
-    node_services_,
-    extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
-    qos_profile,
-    group);
-}
-
 template<typename ServiceT, typename CallbackT>
 typename rclcpp::Service<ServiceT>::SharedPtr
 Node::create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rclcpp::QoS & qos,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::CallbackGroup::SharedPtr & group)
 {
   return rclcpp::create_service<ServiceT, CallbackT>(
     node_base_,
@@ -185,20 +172,22 @@ Node::create_service(
     group);
 }
 
-template<typename ServiceT, typename CallbackT>
-typename rclcpp::Service<ServiceT>::SharedPtr
-Node::create_service(
+template<typename CallbackT>
+typename rclcpp::GenericService::SharedPtr
+Node::create_generic_service(
   const std::string & service_name,
+  const std::string & service_type,
   CallbackT && callback,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::CallbackGroup::SharedPtr group)
+  const rclcpp::QoS & qos,
+  const rclcpp::CallbackGroup::SharedPtr & group)
 {
-  return rclcpp::create_service<ServiceT, CallbackT>(
+  return rclcpp::create_generic_service<CallbackT>(
     node_base_,
     node_services_,
     extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
+    service_type,
     std::forward<CallbackT>(callback),
-    qos_profile,
+    qos,
     group);
 }
 
@@ -219,13 +208,13 @@ Node::create_generic_publisher(
   );
 }
 
-template<typename AllocatorT>
+template<typename CallbackT, typename AllocatorT>
 std::shared_ptr<rclcpp::GenericSubscription>
 Node::create_generic_subscription(
   const std::string & topic_name,
   const std::string & topic_type,
   const rclcpp::QoS & qos,
-  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+  CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
 {
   return rclcpp::create_generic_subscription(
@@ -233,7 +222,7 @@ Node::create_generic_subscription(
     extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
     topic_type,
     qos,
-    std::move(callback),
+    std::forward<CallbackT>(callback),
     options
   );
 }
@@ -334,11 +323,9 @@ template<typename ParameterT>
 bool
 Node::get_parameter(const std::string & name, ParameterT & parameter) const
 {
-  std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
-
   rclcpp::Parameter parameter_variant;
 
-  bool result = get_parameter(sub_name, parameter_variant);
+  bool result = get_parameter(name, parameter_variant);
   if (result) {
     parameter = static_cast<ParameterT>(parameter_variant.get_value<ParameterT>());
   }
@@ -353,9 +340,7 @@ Node::get_parameter_or(
   ParameterT & parameter,
   const ParameterT & alternative_value) const
 {
-  std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
-
-  bool got_parameter = get_parameter(sub_name, parameter);
+  bool got_parameter = get_parameter(name, parameter);
   if (!got_parameter) {
     parameter = alternative_value;
   }

rclcpp/include/rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp

@@ -167,6 +167,7 @@ init_tuple(NodeT & n)
  * something like that, then you'll need to create your own specialization of
  * the NodeInterfacesSupports struct without this macro.
  */
+// *INDENT-OFF*
 #define RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(NodeInterfaceType, NodeInterfaceName) \
   namespace rclcpp::node_interfaces::detail { \
   template<typename StorageClassT, typename ... RemainingInterfaceTs> \
@@ -189,7 +190,7 @@ init_tuple(NodeT & n)
     /* Perfect forwarding constructor to get arguments down to StorageClassT (eventually). */ \
     template<typename ... ArgsT> \
     explicit NodeInterfacesSupports(ArgsT && ... args) \
-      : NodeInterfacesSupports<StorageClassT, RemainingInterfaceTs ...>( \
+    : NodeInterfacesSupports<StorageClassT, RemainingInterfaceTs ...>( \
         std::forward<ArgsT>(args) ...) \
     {} \
  \
@@ -198,8 +199,15 @@ init_tuple(NodeT & n)
     { \
       return StorageClassT::template get<NodeInterfaceType>(); \
     } \
+ \
+    std::shared_ptr<const NodeInterfaceType> \
+    get_node_ ## NodeInterfaceName ## _interface() const \
+    { \
+      return StorageClassT::template get<NodeInterfaceType>(); \
+    } \
   }; \
   }  // namespace rclcpp::node_interfaces::detail
+// *INDENT-ON*
 
 }  // namespace detail
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -122,8 +122,12 @@ public:
   get_associated_with_executor_atomic() override;
 
   RCLCPP_PUBLIC
-  rclcpp::GuardCondition &
-  get_notify_guard_condition() override;
+  rclcpp::GuardCondition::SharedPtr
+  get_shared_notify_guard_condition() override;
+
+  RCLCPP_PUBLIC
+  void
+  trigger_notify_guard_condition() override;
 
   RCLCPP_PUBLIC
   bool
@@ -153,7 +157,7 @@ private:
 
   /// Guard condition for notifying the Executor of changes to this node.
   mutable std::recursive_mutex notify_guard_condition_mutex_;
-  rclcpp::GuardCondition notify_guard_condition_;
+  std::shared_ptr<rclcpp::GuardCondition> notify_guard_condition_;
   bool notify_guard_condition_is_valid_;
 };
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -148,12 +148,21 @@ public:
   /**
    * For example, this should be notified when a publisher is added or removed.
    *
-   * \return the GuardCondition if it is valid, else thow runtime error
+   * \return the GuardCondition if it is valid, else nullptr
    */
   RCLCPP_PUBLIC
   virtual
-  rclcpp::GuardCondition &
-  get_notify_guard_condition() = 0;
+  rclcpp::GuardCondition::SharedPtr
+  get_shared_notify_guard_condition() = 0;
+
+  /// Trigger the guard condition that notifies of internal node state changes.
+  /**
+   * For example, this should be notified when a publisher is added or removed.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  trigger_notify_guard_condition() = 0;
 
   /// Return the default preference for using intra process communication.
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -33,6 +33,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rmw/service_endpoint_info_array.h"
 #include "rmw/topic_endpoint_info_array.h"
 
 namespace rclcpp
@@ -113,6 +114,14 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const override;
 
+  RCLCPP_PUBLIC
+  size_t
+  count_clients(const std::string & service_name) const override;
+
+  RCLCPP_PUBLIC
+  size_t
+  count_services(const std::string & service_name) const override;
+
   RCLCPP_PUBLIC
   const rcl_guard_condition_t *
   get_graph_guard_condition() const override;
@@ -151,14 +160,24 @@ public:
     const std::string & topic_name,
     bool no_mangle = false) const override;
 
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_clients_info_by_service(
+    const std::string & service_name,
+    bool no_mangle = false) const override;
+
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_servers_info_by_service(
+    const std::string & service_name,
+    bool no_mangle = false) const override;
+
 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_;
 

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -18,6 +18,8 @@
 #include <algorithm>
 #include <array>
 #include <chrono>
+#include <cstddef>
+#include <cstdint>
 #include <map>
 #include <string>
 #include <tuple>
@@ -40,7 +42,9 @@ enum class EndpointType
 {
   Invalid = RMW_ENDPOINT_INVALID,
   Publisher = RMW_ENDPOINT_PUBLISHER,
-  Subscription = RMW_ENDPOINT_SUBSCRIPTION
+  Subscription = RMW_ENDPOINT_SUBSCRIPTION,
+  Client = RMW_ENDPOINT_CLIENT,
+  Server = RMW_ENDPOINT_SERVER
 };
 
 /**
@@ -53,12 +57,17 @@ public:
   /// Construct a TopicEndpointInfo from a rcl_topic_endpoint_info_t.
   RCLCPP_PUBLIC
   explicit TopicEndpointInfo(const rcl_topic_endpoint_info_t & info)
-  : node_name_(info.node_name),
-    node_namespace_(info.node_namespace),
-    topic_type_(info.topic_type),
-    endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
-    qos_profile_({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile)
+  : endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
+    qos_profile_({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile),
+    topic_type_hash_(info.topic_type_hash)
   {
+    if (!info.node_name || !info.node_namespace || !info.topic_type) {
+      throw std::invalid_argument("Constructor TopicEndpointInfo with invalid topic endpoint info");
+    }
+    node_name_ = info.node_name;
+    node_namespace_ = info.node_namespace;
+    topic_type_ = info.topic_type;
+
     std::copy(info.endpoint_gid, info.endpoint_gid + RMW_GID_STORAGE_SIZE, endpoint_gid_.begin());
   }
 
@@ -122,6 +131,16 @@ public:
   const rclcpp::QoS &
   qos_profile() const;
 
+  /// Get a mutable reference to the type hash of the topic endpoint.
+  RCLCPP_PUBLIC
+  rosidl_type_hash_t &
+  topic_type_hash();
+
+  /// Get a const reference to the type hash of the topic endpoint.
+  RCLCPP_PUBLIC
+  const rosidl_type_hash_t &
+  topic_type_hash() const;
+
 private:
   std::string node_name_;
   std::string node_namespace_;
@@ -129,6 +148,126 @@ private:
   rclcpp::EndpointType endpoint_type_;
   std::array<uint8_t, RMW_GID_STORAGE_SIZE> endpoint_gid_;
   rclcpp::QoS qos_profile_;
+  rosidl_type_hash_t topic_type_hash_;
+};
+
+/**
+ * Struct that contains service endpoint information like the associated node name, node namespace,
+ * service type, endpoint type, endpoint count, endpoint GIDs, and its QoS profiles.
+ */
+class ServiceEndpointInfo
+{
+public:
+  /// Construct a ServiceEndpointInfo from a rcl_service_endpoint_info_t.
+  RCLCPP_PUBLIC
+  explicit ServiceEndpointInfo(const rcl_service_endpoint_info_t & info)
+  : node_name_(info.node_name),
+    node_namespace_(info.node_namespace),
+    service_type_(info.service_type),
+    endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
+    service_type_hash_(info.service_type_hash),
+    endpoint_count_(info.endpoint_count)
+  {
+    for(size_t i = 0; i < endpoint_count_; i++) {
+      std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid;
+      std::copy(info.endpoint_gids[i], info.endpoint_gids[i] + RMW_GID_STORAGE_SIZE, gid.begin());
+      endpoint_gids_.push_back(gid);
+
+      rclcpp::QoS qos(
+        {info.qos_profiles[i].history, info.qos_profiles[i].depth}, info.qos_profiles[i]);
+      qos_profiles_.push_back(qos);
+    }
+  }
+
+  /// Get a mutable reference to the node name.
+  RCLCPP_PUBLIC
+  std::string &
+  node_name();
+
+  /// Get a const reference to the node name.
+  RCLCPP_PUBLIC
+  const std::string &
+  node_name() const;
+
+  /// Get a mutable reference to the node namespace.
+  RCLCPP_PUBLIC
+  std::string &
+  node_namespace();
+
+  /// Get a const reference to the node namespace.
+  RCLCPP_PUBLIC
+  const std::string &
+  node_namespace() const;
+
+  /// Get a mutable reference to the service type string.
+  RCLCPP_PUBLIC
+  std::string &
+  service_type();
+
+  /// Get a const reference to the service type string.
+  RCLCPP_PUBLIC
+  const std::string &
+  service_type() const;
+
+  /// Get a mutable reference to the service endpoint type.
+  RCLCPP_PUBLIC
+  rclcpp::EndpointType &
+  endpoint_type();
+
+  /// Get a const reference to the service endpoint type.
+  RCLCPP_PUBLIC
+  const rclcpp::EndpointType &
+  endpoint_type() const;
+
+  /// Get a mutable reference to the endpoint count.
+  RCLCPP_PUBLIC
+  size_t &
+  endpoint_count();
+
+  /// Get a const reference to the endpoint count.
+  RCLCPP_PUBLIC
+  const size_t &
+  endpoint_count() const;
+
+  /// Get a mutable reference to the GID of the service endpoint.
+  RCLCPP_PUBLIC
+  std::vector<std::array<uint8_t, RMW_GID_STORAGE_SIZE>> &
+  endpoint_gids();
+
+  /// Get a const reference to the GID of the service endpoint.
+  RCLCPP_PUBLIC
+  const std::vector<std::array<uint8_t, RMW_GID_STORAGE_SIZE>> &
+  endpoint_gids() const;
+
+  /// Get a mutable reference to the QoS profile of the service endpoint.
+  RCLCPP_PUBLIC
+  std::vector<rclcpp::QoS> &
+  qos_profiles();
+
+  /// Get a const reference to the QoS profile of the service endpoint.
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::QoS> &
+  qos_profiles() const;
+
+  /// Get a mutable reference to the type hash of the service endpoint.
+  RCLCPP_PUBLIC
+  rosidl_type_hash_t &
+  service_type_hash();
+
+  /// Get a const reference to the type hash of the service endpoint.
+  RCLCPP_PUBLIC
+  const rosidl_type_hash_t &
+  service_type_hash() const;
+
+private:
+  std::string node_name_;
+  std::string node_namespace_;
+  std::string service_type_;
+  rclcpp::EndpointType endpoint_type_;
+  std::vector<std::array<uint8_t, RMW_GID_STORAGE_SIZE>> endpoint_gids_;
+  std::vector<rclcpp::QoS> qos_profiles_;
+  rosidl_type_hash_t service_type_hash_;
+  size_t endpoint_count_;
 };
 
 namespace node_interfaces
@@ -293,6 +432,24 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const = 0;
 
+  /// Return the number of clients created for a given service.
+  /*
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  count_clients(const std::string & service_name) const = 0;
+
+  /// Return the number of services created for a given service.
+  /*
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  size_t
+  count_services(const std::string & service_name) const = 0;
+
   /// Return the rcl guard condition which is triggered when the ROS graph changes.
   RCLCPP_PUBLIC
   virtual
@@ -378,6 +535,30 @@ public:
   virtual
   std::vector<rclcpp::TopicEndpointInfo>
   get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const = 0;
+
+  /// Return the service endpoint information about clients on a given service.
+  /**
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \param[in] no_mangle if `true`, `service_name` needs to be a valid middleware service name,
+   *   otherwise it should be a valid ROS service name.
+   * \sa rclcpp::Node::get_clients_info_by_service
+   */
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_clients_info_by_service(const std::string & service_name, bool no_mangle = false) const = 0;
+
+  /// Return the service endpoint information about servers on a given service.
+  /**
+   * \param[in] service_name the actual service name used; it will not be automatically remapped.
+   * \param[in] no_mangle if `true`, `service_name` needs to be a valid middleware service name,
+   *   otherwise it should be a valid ROS service name.
+   * \sa rclcpp::Node::get_servers_info_by_service
+   */
+  RCLCPP_PUBLIC
+  virtual
+  std::vector<rclcpp::ServiceEndpointInfo>
+  get_servers_info_by_service(const std::string & service_name, bool no_mangle = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp

@@ -30,6 +30,7 @@
   rclcpp::node_interfaces::NodeTimeSourceInterface, \
   rclcpp::node_interfaces::NodeTimersInterface, \
   rclcpp::node_interfaces::NodeTopicsInterface, \
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface, \
   rclcpp::node_interfaces::NodeWaitablesInterface
 
 
@@ -118,6 +119,7 @@ public:
    *   - rclcpp::node_interfaces::NodeTimeSourceInterface
    *   - rclcpp::node_interfaces::NodeTimersInterface
    *   - rclcpp::node_interfaces::NodeTopicsInterface
+   *   - rclcpp::node_interfaces::NodeTypeDescriptionsInterface
    *   - rclcpp::node_interfaces::NodeWaitablesInterface
    *
    * Or you use custom interfaces as long as you make a template specialization
@@ -125,7 +127,9 @@ public:
    * the RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT macro.
    *
    * Usage example:
-   *   ```RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeBaseInterface, base)```
+   *   ```cpp
+   *   RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeBaseInterface, base)
+   *   ```
    *
    * If you choose not to use the helper macro, then you can specialize the
    * template yourself, but you must:

rclcpp/include/rclcpp/node_interfaces/node_logging.hpp

@@ -23,6 +23,9 @@
 #include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
 
+#include "rcl_interfaces/srv/get_logger_levels.hpp"
+#include "rcl_interfaces/srv/set_logger_levels.hpp"
+
 namespace rclcpp
 {
 namespace node_interfaces
@@ -35,7 +38,7 @@ public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeLoggingInterface)
 
   RCLCPP_PUBLIC
-  explicit NodeLogging(rclcpp::node_interfaces::NodeBaseInterface * node_base);
+  explicit NodeLogging(const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_base);
 
   RCLCPP_PUBLIC
   virtual
@@ -49,13 +52,21 @@ public:
   const char *
   get_logger_name() const override;
 
+  RCLCPP_PUBLIC
+  void
+  create_logger_services(
+    const node_interfaces::NodeServicesInterface::SharedPtr & node_services) override;
+
 private:
   RCLCPP_DISABLE_COPY(NodeLogging)
 
   /// Handle to the NodeBaseInterface given in the constructor.
-  rclcpp::node_interfaces::NodeBaseInterface * node_base_;
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
 
   rclcpp::Logger logger_;
+
+  rclcpp::Service<rcl_interfaces::srv::GetLoggerLevels>::SharedPtr get_loggers_service_;
+  rclcpp::Service<rcl_interfaces::srv::SetLoggerLevels>::SharedPtr set_loggers_service_;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp

@@ -19,6 +19,7 @@
 
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
 #include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -54,6 +55,13 @@ public:
   virtual
   const char *
   get_logger_name() const = 0;
+
+  /// create logger services
+  RCLCPP_PUBLIC
+  virtual
+  void
+  create_logger_services(
+    const node_interfaces::NodeServicesInterface::SharedPtr & node_services) = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -214,6 +214,10 @@ public:
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;
 
+  RCLCPP_PUBLIC
+  void
+  enable_parameter_modification() override;
+
   using PreSetCallbacksHandleContainer = std::list<PreSetParametersCallbackHandle::WeakPtr>;
   using OnSetCallbacksHandleContainer = std::list<OnSetParametersCallbackHandle::WeakPtr>;
   using PostSetCallbacksHandleContainer = std::list<PostSetParametersCallbackHandle::WeakPtr>;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -52,8 +52,6 @@ struct OnSetParametersCallbackHandle
     std::function<
     rcl_interfaces::msg::SetParametersResult(
       const std::vector<rclcpp::Parameter> &)>;
-  using OnParametersSetCallbackType [[deprecated("use OnSetParametersCallbackType instead")]] =
-    OnSetParametersCallbackType;
 
   OnSetParametersCallbackType callback;
 };
@@ -272,6 +270,26 @@ public:
   virtual
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const = 0;
+
+  /// Enable parameter modification recursively during parameter callbacks.
+  /**
+   * This function is used to enable parameter modification during parameter callbacks.
+   *
+   * There are times when it does not allow parameter modification, such as when the parameter
+   * callbacks are being called and tries to modify the parameters with set_parameter and
+   * declare_parameter to avoid recursive parameter modification.
+   * This is protected by rclcpp::node_interfaces::ParameterMutationRecursionGuard.
+   *
+   * This function is explicitly called to allow the recursive parameter operation during
+   * parameter callbacks by the application.
+   * Once it is enabled, the next parameter operation set/declare/undeclare_parameter are
+   * allowed to execute in the parameter callback. But, no more further recursive operation
+   * is allowed, unless user application calls this API again.
+   */
+  RCLCPP_PUBLIC
+  virtual
+  void
+  enable_parameter_modification() = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_type_descriptions.hpp

@@ -0,0 +1,63 @@
+// Copyright 2023 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_TYPE_DESCRIPTIONS_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_
+
+#include <memory>
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_logging_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/node_interfaces/node_type_descriptions_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Implementation of the NodeTypeDescriptions part of the Node API.
+class NodeTypeDescriptions : public NodeTypeDescriptionsInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptions)
+
+  RCLCPP_PUBLIC
+  explicit NodeTypeDescriptions(
+    const NodeBaseInterface::SharedPtr & node_base,
+    const NodeLoggingInterface::SharedPtr & node_logging,
+    const NodeParametersInterface::SharedPtr & node_parameters,
+    const NodeServicesInterface::SharedPtr & node_services);
+
+  RCLCPP_PUBLIC
+  virtual
+  ~NodeTypeDescriptions();
+
+private:
+  RCLCPP_DISABLE_COPY(NodeTypeDescriptions)
+
+  // Pimpl hides helper types and functions used for wrapping a C service, which would be
+  // awkward to expose in this header.
+  class NodeTypeDescriptionsImpl;
+  std::unique_ptr<NodeTypeDescriptionsImpl> impl_;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_

rclcpp/include/rclcpp/node_interfaces/node_type_descriptions_interface.hpp

@@ -0,0 +1,44 @@
+// Copyright 2023 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_TYPE_DESCRIPTIONS_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+/// Pure virtual interface class for the NodeTypeDescriptions part of the Node API.
+class NodeTypeDescriptionsInterface
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptionsInterface)
+
+  RCLCPP_PUBLIC
+  virtual
+  ~NodeTypeDescriptionsInterface() = default;
+};
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(
+  rclcpp::node_interfaces::NodeTypeDescriptionsInterface, type_descriptions)
+
+#endif  // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_options.hpp

@@ -43,6 +43,7 @@ public:
    *   - arguments = {}
    *   - parameter_overrides = {}
    *   - use_global_arguments = true
+   *   - enable_rosout = true
    *   - use_intra_process_comms = false
    *   - enable_topic_statistics = false
    *   - start_parameter_services = true
@@ -50,6 +51,7 @@ public:
    *   - clock_type = RCL_ROS_TIME
    *   - clock_qos = rclcpp::ClockQoS()
    *   - use_clock_thread = true
+   *   - enable_logger_service = false
    *   - rosout_qos = rclcpp::RosoutQoS()
    *   - parameter_event_qos = rclcpp::ParameterEventQoS
    *     - with history setting and depth from rmw_qos_profile_parameter_events
@@ -98,7 +100,7 @@ public:
   /// Set the context, return this for parameter idiom.
   RCLCPP_PUBLIC
   NodeOptions &
-  context(rclcpp::Context::SharedPtr context);
+  context(const rclcpp::Context::SharedPtr & context);
 
   /// Return a reference to the list of arguments for the node.
   RCLCPP_PUBLIC
@@ -144,6 +146,14 @@ public:
     return *this;
   }
 
+  /// Append a single parameter override, parameter idiom style.
+  NodeOptions &
+  append_parameter_override(const rclcpp::Parameter & param)
+  {
+    this->parameter_overrides().push_back(param);
+    return *this;
+  }
+
   /// Return the use_global_arguments flag.
   RCLCPP_PUBLIC
   bool
@@ -232,6 +242,24 @@ public:
   NodeOptions &
   start_parameter_services(bool start_parameter_services);
 
+  /// Return the enable_logger_service flag.
+  RCLCPP_PUBLIC
+  bool
+  enable_logger_service() const;
+
+  /// Set the enable_logger_service flag, return this for logger idiom.
+  /**
+   * If true, ROS services are created to allow external nodes to get
+   * and set logger levels of this node.
+   *
+   * If false, loggers will still be configured and set logger levels locally,
+   * but logger levels cannot be changed remotely .
+   *
+   */
+  RCLCPP_PUBLIC
+  NodeOptions &
+  enable_logger_service(bool enable_log_service);
+
   /// Return the start_parameter_event_publisher flag.
   RCLCPP_PUBLIC
   bool
@@ -421,6 +449,8 @@ private:
 
   bool use_clock_thread_ {true};
 
+  bool enable_logger_service_ {false};
+
   rclcpp::QoS parameter_event_qos_ = rclcpp::ParameterEventsQoS(
     rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
   );

rclcpp/include/rclcpp/parameter_client.hpp

@@ -52,37 +52,6 @@ class AsyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient)
 
-  /// Create an async parameters client.
-  /**
-   * \param[in] node_base_interface The node base interface of the corresponding node.
-   * \param[in] node_topics_interface Node topic base interface.
-   * \param[in] node_graph_interface The node graph interface of the corresponding node.
-   * \param[in] node_services_interface Node service interface.
-   * \param[in] remote_node_name Name of the remote node
-   * \param[in] qos_profile The rmw qos profile to use to subscribe
-   * \param[in] group (optional) The async parameter client will be added to this callback group.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  RCLCPP_PUBLIC
-  AsyncParametersClient(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
-    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
-    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
-    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
-  : AsyncParametersClient(
-      node_base_interface,
-      node_topics_interface,
-      node_graph_interface,
-      node_services_interface,
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
-      group)
-  {}
-
   /// Create an async parameters client.
   /**
    * \param[in] node_base_interface The node base interface of the corresponding node.
@@ -95,38 +64,13 @@ public:
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
-    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
-    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
-    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_base_interface,
+    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics_interface,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph_interface,
+    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr & node_services_interface,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
-
-  /// Constructor
-  /**
-   * \param[in] node The async parameters client will be added to this node.
-   * \param[in] remote_node_name name of the remote node
-   * \param[in] qos_profile The rmw qos profile to use to subscribe
-   * \param[in] group (optional) The async parameter client will be added to this callback group.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  AsyncParametersClient(
-    const std::shared_ptr<NodeT> node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
-  : AsyncParametersClient(
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
-      group)
-  {}
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr);
 
   /**
    * \param[in] node The async parameters client will be added to this node.
@@ -136,10 +80,10 @@ public:
    */
   template<typename NodeT>
   explicit AsyncParametersClient(
-    const std::shared_ptr<NodeT> node,
+    const std::shared_ptr<NodeT> & node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr)
   : AsyncParametersClient(
       node->get_node_base_interface(),
       node->get_node_topics_interface(),
@@ -150,31 +94,6 @@ public:
       group)
   {}
 
-  /// Constructor
-  /**
-   * \param[in] node The async parameters client will be added to this node.
-   * \param[in] remote_node_name Name of the remote node
-   * \param[in] qos_profile The rmw qos profile to use to subscribe
-   * \param[in] group (optional) The async parameter client will be added to this callback group.
-   * \deprecated use rclcpp::QoS instead of rmw_qos_profile_t
-   */
-  template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  AsyncParametersClient(
-    NodeT * node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
-  : AsyncParametersClient(
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)),
-      group)
-  {}
-
   /**
    * \param[in] node The async parameters client will be added to this node.
    * \param[in] remote_node_name (optional) name of the remote node
@@ -186,7 +105,7 @@ public:
     NodeT * node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+    const rclcpp::CallbackGroup::SharedPtr & group = nullptr)
   : AsyncParametersClient(
       node->get_node_base_interface(),
       node->get_node_topics_interface(),
@@ -201,41 +120,41 @@ public:
   std::shared_future<std::vector<rclcpp::Parameter>>
   get_parameters(
     const std::vector<std::string> & names,
-    std::function<
+    const std::function<
       void(std::shared_future<std::vector<rclcpp::Parameter>>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>
   describe_parameters(
     const std::vector<std::string> & names,
-    std::function<
+    const std::function<
       void(std::shared_future<std::vector<rcl_interfaces::msg::ParameterDescriptor>>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::ParameterType>>
   get_parameter_types(
     const std::vector<std::string> & names,
-    std::function<
+    const std::function<
       void(std::shared_future<std::vector<rclcpp::ParameterType>>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
   set_parameters(
     const std::vector<rclcpp::Parameter> & parameters,
-    std::function<
+    const std::function<
       void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<rcl_interfaces::msg::SetParametersResult>
   set_parameters_atomically(
     const std::vector<rclcpp::Parameter> & parameters,
-    std::function<
+    const std::function<
       void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   /// Delete several parameters at once.
   /**
@@ -281,9 +200,9 @@ public:
   list_parameters(
     const std::vector<std::string> & prefixes,
     uint64_t depth,
-    std::function<
+    const std::function<
       void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)
-    > callback = nullptr);
+    > & callback = nullptr);
 
   template<
     typename CallbackT,
@@ -383,22 +302,9 @@ class SyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)
 
-  template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  SyncParametersClient(
-    std::shared_ptr<NodeT> node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
   template<typename NodeT>
   explicit SyncParametersClient(
-    std::shared_ptr<NodeT> node,
+    const std::shared_ptr<NodeT> & node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
@@ -409,26 +315,9 @@ public:
   {}
 
   template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    std::shared_ptr<NodeT> node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : SyncParametersClient(
-      executor,
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
-  template<typename NodeT>
-  SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    std::shared_ptr<NodeT> node,
+    const rclcpp::Executor::SharedPtr & executor,
+    const std::shared_ptr<NodeT> & node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : SyncParametersClient(
@@ -441,19 +330,6 @@ public:
       qos_profile)
   {}
 
-  template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
-  SyncParametersClient(
-    NodeT * node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
   template<typename NodeT>
   explicit SyncParametersClient(
     NodeT * node,
@@ -467,25 +343,8 @@ public:
   {}
 
   template<typename NodeT>
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    NodeT * node,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : SyncParametersClient(
-      executor,
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface(),
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
-  template<typename NodeT>
-  SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
+    const rclcpp::Executor::SharedPtr & executor,
     NodeT * node,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
@@ -499,35 +358,13 @@ public:
       qos_profile)
   {}
 
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
-    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
-    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
-    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
-    const std::string & remote_node_name,
-    const rmw_qos_profile_t & qos_profile)
-  : executor_(executor), node_base_interface_(node_base_interface)
-  {
-    async_parameters_client_ =
-      std::make_shared<AsyncParametersClient>(
-      node_base_interface,
-      node_topics_interface,
-      node_graph_interface,
-      node_services_interface,
-      remote_node_name,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)));
-  }
-
-  RCLCPP_PUBLIC
-  SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
-    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
-    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
-    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
+    const rclcpp::Executor::SharedPtr & executor,
+    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr & node_base_interface,
+    const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics_interface,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph_interface,
+    const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr & node_services_interface,
     const std::string & remote_node_name = "",
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS())
   : executor_(executor), node_base_interface_(node_base_interface)

rclcpp/include/rclcpp/parameter_descriptor_wrapper.hpp

@@ -0,0 +1,82 @@
+// Copyright 2023 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__PARAMETER_DESCRIPTOR_WRAPPER_HPP_
+#define RCLCPP__PARAMETER_DESCRIPTOR_WRAPPER_HPP_
+
+// C++ Standard library includes
+#include <functional>
+#include <utility>
+#include <memory>
+#include <string>
+
+// Additional ROS libraries needed
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/parameter_value.hpp"
+#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "node_interfaces/node_parameters_interface.hpp"
+
+namespace rclcpp
+{
+
+// Implements ParameterDesription class with builder design pattern
+class ParameterDescription
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(ParameterDescription)
+
+  // List of classes the builder manages
+  RCLCPP_PUBLIC
+  ParameterDescription();
+
+  // Our Main build methods which will construct the base class
+  RCLCPP_PUBLIC rcl_interfaces::msg::ParameterDescriptor build() const;
+
+  // Builder Methods:
+  // Describes the instances in a parameter_description object
+  RCLCPP_PUBLIC ParameterDescription & set_name(const std::string & name);
+  RCLCPP_PUBLIC ParameterDescription & set_type(std::uint8_t type);
+  RCLCPP_PUBLIC ParameterDescription & set_description_text(const std::string & description);
+  RCLCPP_PUBLIC ParameterDescription & set_additional_constraints(const std::string & constraints);
+  RCLCPP_PUBLIC ParameterDescription & set_read_only(bool read_only);
+  RCLCPP_PUBLIC ParameterDescription & set_dynamic_typing(bool dynamic_typing);
+  RCLCPP_PUBLIC ParameterDescription & set_floating_point_description_range(
+    float min, float max, float step);
+  RCLCPP_PUBLIC ParameterDescription & set_integer_description_range(int min, int max, int step);
+
+  // Need the current node in order to begin the configuration state
+  // for it via the declare_parameter function
+  template<typename NodeT>
+  ParameterDescription & declare_parameter(
+    const rclcpp::ParameterValue & default_value,
+    NodeT && node)
+  {
+    auto node_param = rclcpp::node_interfaces::get_node_parameters_interface(node);
+    node_param->declare_parameter(
+      parameter_descriptor.name, default_value,
+      parameter_descriptor);
+    return *this;
+  }
+
+private:
+  // The main descriptor object we're meant to initialize and adjust
+  rcl_interfaces::msg::ParameterDescriptor parameter_descriptor;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__PARAMETER_DESCRIPTOR_WRAPPER_HPP_

rclcpp/include/rclcpp/parameter_event_handler.hpp

@@ -67,19 +67,23 @@ struct ParameterEventCallbackHandle
  * The first step is to instantiate a ParameterEventHandler, providing a ROS node to use
  * to create any required subscriptions:
  *
- *   auto param_handler = std::make_shared<rclcpp::ParameterEventHandler>(node);
+ * ```cpp
+ * auto param_handler = std::make_shared<rclcpp::ParameterEventHandler>(node);
+ * ```
  *
  * Next, you can supply a callback to the add_parameter_callback method, as follows:
  *
- *   auto cb1 = [&node](const rclcpp::Parameter & p) {
- *      RCLCPP_INFO(
- *        node->get_logger(),
- *        "cb1: Received an update to parameter \"%s\" of type %s: \"%ld\"",
- *        p.get_name().c_str(),
- *        p.get_type_name().c_str(),
- *        p.as_int());
- *   };
- *   auto handle1 = param_handler->add_parameter_callback("an_int_param", cb1);
+ * ```cpp
+ * auto cb1 = [&node](const rclcpp::Parameter & p) {
+ *    RCLCPP_INFO(
+ *      node->get_logger(),
+ *      "cb1: Received an update to parameter \"%s\" of type %s: \"%ld\"",
+ *      p.get_name().c_str(),
+ *      p.get_type_name().c_str(),
+ *      p.as_int());
+ * };
+ * auto handle1 = param_handler->add_parameter_callback("an_int_param", cb1);
+ * ```
  *
  * In this case, we didn't supply a node name (the third, optional, parameter) so the
  * default will be to monitor for changes to the "an_int_param" parameter associated with
@@ -92,16 +96,18 @@ struct ParameterEventCallbackHandle
  * You may also monitor for changes to parameters in other nodes by supplying the node
  * name to add_parameter_callback:
  *
- *   auto cb2 = [&node](const rclcpp::Parameter & p) {
- *       RCLCPP_INFO(
- *         node->get_logger(),
- *         "cb2: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *         p.get_name().c_str(),
- *         p.get_type_name().c_str(),
- *         p.as_string().c_str());
- *     };
- *   auto handle2 = param_handler->add_parameter_callback(
- *     "some_remote_param_name", cb2, "some_remote_node_name");
+ * ```cpp
+ * auto cb2 = [&node](const rclcpp::Parameter & p) {
+ *     RCLCPP_INFO(
+ *       node->get_logger(),
+ *       "cb2: Received an update to parameter \"%s\" of type: %s: \"%s\"",
+ *       p.get_name().c_str(),
+ *       p.get_type_name().c_str(),
+ *       p.as_string().c_str());
+ *   };
+ * auto handle2 = param_handler->add_parameter_callback(
+ *   "some_remote_param_name", cb2, "some_remote_node_name");
+ * ```
  *
  * In this case, the callback will be invoked whenever "some_remote_param_name" changes
  * on remote node "some_remote_node_name".
@@ -109,7 +115,9 @@ struct ParameterEventCallbackHandle
  * To remove a parameter callback, reset the callback handle smart pointer or call
  * remove_parameter_callback, passing the handle returned from add_parameter_callback:
  *
- *   param_handler->remove_parameter_callback(handle2);
+ * ```cpp
+ * param_handler->remove_parameter_callback(handle2);
+ * ```
  *
  * You can also monitor for *all* parameter changes, using add_parameter_event_callback.
  * In this case, the callback will be invoked whenever any parameter changes in the system.
@@ -117,40 +125,42 @@ struct ParameterEventCallbackHandle
  * is convenient to use a regular expression on the node names or namespaces of interest.
  * For example:
  *
- *   auto cb3 =
- *     [fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent & event) {
- *       // Look for any updates to parameters in "/a_namespace" as well as any parameter changes
- *       // to our own node ("this_node")
- *       std::regex re("(/a_namespace/.*)|(/this_node)");
- *       if (regex_match(event.node, re)) {
- *         // Now that we know the event matches the regular expression we scanned for, we can
- *         // use 'get_parameter_from_event' to get a specific parameter name that we're looking for
- *         rclcpp::Parameter p;
- *         if (rclcpp::ParameterEventsSubscriber::get_parameter_from_event(
- *             event, p, remote_param_name, fqn))
- *         {
- *           RCLCPP_INFO(
- *             node->get_logger(),
- *             "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *             p.get_name().c_str(),
- *             p.get_type_name().c_str(),
- *             p.as_string().c_str());
- *         }
- *
- *         // You can also use 'get_parameter*s*_from_event' to enumerate all changes that came
- *         // in on this event
- *         auto params = rclcpp::ParameterEventsSubscriber::get_parameters_from_event(event);
- *         for (auto & p : params) {
- *           RCLCPP_INFO(
- *             node->get_logger(),
- *             "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
- *             p.get_name().c_str(),
- *             p.get_type_name().c_str(),
- *             p.value_to_string().c_str());
- *         }
+ * ```cpp
+ * auto cb3 =
+ *   [fqn, remote_param_name, &node](const rcl_interfaces::msg::ParameterEvent & event) {
+ *     // Look for any updates to parameters in "/a_namespace" as well as any parameter changes
+ *     // to our own node ("this_node")
+ *     std::regex re("(/a_namespace/.*)|(/this_node)");
+ *     if (regex_match(event.node, re)) {
+ *       // Now that we know the event matches the regular expression we scanned for, we can
+ *       // use 'get_parameter_from_event' to get a specific parameter name that we're looking for
+ *       rclcpp::Parameter p;
+ *       if (rclcpp::ParameterEventHandler::get_parameter_from_event(
+ *           event, p, remote_param_name, fqn))
+ *       {
+ *         RCLCPP_INFO(
+ *           node->get_logger(),
+ *           "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
+ *           p.get_name().c_str(),
+ *           p.get_type_name().c_str(),
+ *           p.as_string().c_str());
  *       }
- *     };
- *   auto handle3 = param_handler->add_parameter_event_callback(cb3);
+ *
+ *       // You can also use 'get_parameter*s*_from_event' to enumerate all changes that came
+ *       // in on this event
+ *       auto params = rclcpp::ParameterEventHandler::get_parameters_from_event(event);
+ *       for (auto & p : params) {
+ *         RCLCPP_INFO(
+ *           node->get_logger(),
+ *           "cb3: Received an update to parameter \"%s\" of type: %s: \"%s\"",
+ *           p.get_name().c_str(),
+ *           p.get_type_name().c_str(),
+ *           p.value_to_string().c_str());
+ *       }
+ *     }
+ *   };
+ * auto handle3 = param_handler->add_parameter_event_callback(cb3);
+ * ```
  *
  * For both parameter callbacks and parameter event callbacks, when multiple callbacks are added,
  * the callbacks are invoked last-in, first-called order (LIFO).
@@ -160,7 +170,9 @@ struct ParameterEventCallbackHandle
  *
  * To remove a parameter event callback, reset the callback smart pointer or use:
  *
- *   param_handler->remove_event_parameter_callback(handle3);
+ * ```cpp
+ * param_handler->remove_event_parameter_callback(handle3);
+ * ```
  */
 class ParameterEventHandler
 {
@@ -172,7 +184,7 @@ public:
    */
   template<typename NodeT>
   explicit ParameterEventHandler(
-    NodeT node,
+    const NodeT & node,
     const rclcpp::QoS & qos =
     rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)))
   : node_base_(rclcpp::node_interfaces::get_node_base_interface(node))
@@ -205,7 +217,7 @@ public:
   RCUTILS_WARN_UNUSED
   ParameterEventCallbackHandle::SharedPtr
   add_parameter_event_callback(
-    ParameterEventCallbackType callback);
+    const ParameterEventCallbackType & callback);
 
   /// Remove parameter event callback registered with add_parameter_event_callback.
   /**
@@ -214,7 +226,7 @@ public:
   RCLCPP_PUBLIC
   void
   remove_parameter_event_callback(
-    ParameterEventCallbackHandle::SharedPtr callback_handle);
+    const ParameterEventCallbackHandle::SharedPtr & callback_handle);
 
   using ParameterCallbackType = ParameterCallbackHandle::ParameterCallbackType;
 
@@ -222,6 +234,10 @@ public:
   /**
    * If a node_name is not provided, defaults to the current node.
    *
+   * The configure_nodes_filter() function will affect the behavior of this function.
+   * If the node specified in this function isn't included in the nodes specified in
+   * configure_nodes_filter(), the callback will never be called.
+   *
    * Note: if the returned callback handle smart pointer is not captured, the callback
    * is immediately unregistered. A compiler warning should be generated to warn
    * of this.
@@ -236,9 +252,34 @@ public:
   ParameterCallbackHandle::SharedPtr
   add_parameter_callback(
     const std::string & parameter_name,
-    ParameterCallbackType callback,
+    const ParameterCallbackType & callback,
     const std::string & node_name = "");
 
+  /// Configure which node parameter events will be received.
+  /**
+   * This function depends on rmw implementation support for content filtering.
+   * If middleware doesn't support contentfilter, return false.
+   *
+   * If node_names is empty, the configured node filter will be cleared.
+   *
+   * If this function return true, only parameter events from the specified node will be received.
+   * It affects the behavior of the following two functions.
+   * - add_parameter_event_callback()
+   *   The callback will only be called for parameter events from the specified nodes which are
+   *   configured in this function.
+   * - add_parameter_callback()
+   *   The callback will only be called for parameter events from the specified nodes which are
+   *   configured in this function and add_parameter_callback().
+   *   If the nodes specified in this function is different from the nodes specified in
+   *   add_parameter_callback(), the callback will never be called.
+   *
+   * \param[in] node_names Node names to filter parameter events from.
+   * \returns true if configuring was successfully applied, false otherwise.
+   * \throws rclcpp::exceptions::RCLError if internal error occurred when calling the rcl function.
+   */
+  RCLCPP_PUBLIC
+  bool configure_nodes_filter(const std::vector<std::string> & node_names);
+
   /// Remove a parameter callback registered with add_parameter_callback.
   /**
    * The parameter name and node name are inspected from the callback handle. The callback handle
@@ -250,7 +291,7 @@ public:
   RCLCPP_PUBLIC
   void
   remove_parameter_callback(
-    ParameterCallbackHandle::SharedPtr callback_handle);
+    const ParameterCallbackHandle::SharedPtr & callback_handle);
 
   /// Get an rclcpp::Parameter from a parameter event.
   /**

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -45,10 +45,11 @@ public:
    * \param[in] names A list of parameter names of interest.
    * \param[in] types A list of the types of parameter events of iterest.
    *    EventType NEW, DELETED, or CHANGED
+   * \throws std::invalid_argument if event is NULL.
    *
    * Example Usage:
    *
-   * If you have recieved a parameter event and are only interested in parameters foo and
+   * If you have received a parameter event and are only interested in parameters foo and
    * bar being added or changed but don't care about deletion.
    *
    * ```cpp

rclcpp/include/rclcpp/parameter_service.hpp

@@ -40,24 +40,10 @@ class ParameterService
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(ParameterService)
 
-  [[deprecated("use rclcpp::QoS instead of rmw_qos_profile_t")]]
   RCLCPP_PUBLIC
   ParameterService(
-    const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-    const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
-    rclcpp::node_interfaces::NodeParametersInterface * node_params,
-    const rmw_qos_profile_t & qos_profile)
-  : ParameterService(
-      node_base,
-      node_services,
-      node_params,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile)))
-  {}
-
-  RCLCPP_PUBLIC
-  ParameterService(
-    const std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-    const std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+    const std::shared_ptr<node_interfaces::NodeBaseInterface> & node_base,
+    const std::shared_ptr<node_interfaces::NodeServicesInterface> & node_services,
     rclcpp::node_interfaces::NodeParametersInterface * node_params,
     const rclcpp::QoS & qos_profile = rclcpp::ParametersQoS());
 

rclcpp/include/rclcpp/parameter_value.hpp

@@ -24,6 +24,7 @@
 
 #include "rcl_interfaces/msg/parameter_type.hpp"
 #include "rcl_interfaces/msg/parameter_value.hpp"
+#include "rclcpp/exceptions/exceptions.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -358,7 +359,7 @@ private:
 /// Return the value of a parameter as a string
 RCLCPP_PUBLIC
 std::string
-to_string(const ParameterValue & type);
+to_string(const ParameterValue & value);
 
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/publisher.hpp

@@ -32,6 +32,9 @@
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/detail/resolve_use_intra_process.hpp"
+#include "rclcpp/detail/resolve_intra_process_buffer_type.hpp"
+#include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
+#include "rclcpp/experimental/create_intra_process_buffer.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/get_message_type_support_handle.hpp"
 #include "rclcpp/is_ros_compatible_type.hpp"
@@ -93,21 +96,11 @@ public:
   using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
   using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
 
-  using MessageAllocatorTraits
-  [[deprecated("use PublishedTypeAllocatorTraits")]] =
-    PublishedTypeAllocatorTraits;
-  using MessageAllocator
-  [[deprecated("use PublishedTypeAllocator")]] =
-    PublishedTypeAllocator;
-  using MessageDeleter
-  [[deprecated("use PublishedTypeDeleter")]] =
-    PublishedTypeDeleter;
-  using MessageUniquePtr
-  [[deprecated("use std::unique_ptr<PublishedType, PublishedTypeDeleter>")]] =
-    std::unique_ptr<PublishedType, PublishedTypeDeleter>;
-  using MessageSharedPtr
-  [[deprecated("use std::shared_ptr<const PublishedType>")]] =
-    std::shared_ptr<const PublishedType>;
+  using BufferSharedPtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
+    ROSMessageType,
+    ROSMessageTypeAllocator,
+    ROSMessageTypeDeleter
+    >::SharedPtr;
 
   RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, AllocatorT>)
 
@@ -119,8 +112,8 @@ public:
    *
    * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] topic Name of the topic to publish to.
-   * \param[in] qos QoS profile for Subcription.
-   * \param[in] options Options for the subscription.
+   * \param[in] qos QoS profile for the publisher.
+   * \param[in] options Options for the publisher.
    */
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
@@ -150,32 +143,35 @@ public:
   post_init_setup(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
-    const rclcpp::QoS & qos,
-    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+    [[maybe_unused]] const rclcpp::QoS & qos,
+    [[maybe_unused]] const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
   {
-    // Topic is unused for now.
-    (void)topic;
-    (void)options;
-
     // If needed, setup intra process communication.
     if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
       auto context = node_base->get_context();
       // Get the intra process manager instance for this context.
       auto ipm = context->get_sub_context<rclcpp::experimental::IntraProcessManager>();
+      // Check if the QoS is compatible with intra-process.
+      auto qos_profile = get_actual_qos();
+      if (qos_profile.history() != rclcpp::HistoryPolicy::KeepLast) {
+        throw std::invalid_argument(
+                "intraprocess communication on topic '" + topic +
+                "' allowed only with keep last history qos policy");
+      }
+      if (qos_profile.depth() == 0) {
+        throw std::invalid_argument(
+                "intraprocess communication on topic '" + topic +
+                "' is not allowed with a zero qos history depth value");
+      }
+      if (qos_profile.durability() == rclcpp::DurabilityPolicy::TransientLocal) {
+        buffer_ = rclcpp::experimental::create_intra_process_buffer<
+          ROSMessageType, ROSMessageTypeAllocator, ROSMessageTypeDeleter>(
+          rclcpp::detail::resolve_intra_process_buffer_type(options_.intra_process_buffer_type),
+          qos_profile,
+          std::make_shared<ROSMessageTypeAllocator>(ros_message_type_allocator_));
+      }
       // Register the publisher with the intra process manager.
-      if (qos.history() != rclcpp::HistoryPolicy::KeepLast) {
-        throw std::invalid_argument(
-                "intraprocess communication allowed only with keep last history qos policy");
-      }
-      if (qos.depth() == 0) {
-        throw std::invalid_argument(
-                "intraprocess communication is not allowed with a zero qos history depth value");
-      }
-      if (qos.durability() != rclcpp::DurabilityPolicy::Volatile) {
-        throw std::invalid_argument(
-                "intraprocess communication allowed only with volatile durability");
-      }
-      uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this());
+      uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this(), buffer_);
       this->setup_intra_process(
         intra_process_publisher_id,
         ipm);
@@ -191,7 +187,7 @@ public:
    * the loaned message will be directly allocated in the middleware.
    * If not, the message allocator of this rclcpp::Publisher instance is being used.
    *
-   * With a call to \sa `publish` the LoanedMessage instance is being returned to the middleware
+   * With a call to `publish` the LoanedMessage instance is being returned to the middleware
    * or free'd accordingly to the allocator.
    * If the message is not being published but processed differently, the destructor of this
    * class will either return the message to the middleware or deallocate it via the internal
@@ -236,15 +232,28 @@ public:
     // interprocess publish, resulting in lower publish-to-subscribe latency.
     // It's not possible to do that with an unique_ptr,
     // as do_intra_process_publish takes the ownership of the message.
+
+    // When durability is set to TransientLocal (i.e. there is a buffer),
+    // inter process publish should always take place to ensure
+    // late joiners receive past data.
     bool inter_process_publish_needed =
-      get_subscription_count() > get_intra_process_subscription_count();
+      get_subscription_count() > get_intra_process_subscription_count() || buffer_;
 
     if (inter_process_publish_needed) {
       auto shared_msg =
         this->do_intra_process_ros_message_publish_and_return_shared(std::move(msg));
+      if (buffer_) {
+        buffer_->add_shared(shared_msg);
+      }
       this->do_inter_process_publish(*shared_msg);
     } else {
-      this->do_intra_process_ros_message_publish(std::move(msg));
+      if (buffer_) {
+        auto shared_msg =
+          this->do_intra_process_ros_message_publish_and_return_shared(std::move(msg));
+        buffer_->add_shared(shared_msg);
+      } else {
+        this->do_intra_process_ros_message_publish(std::move(msg));
+      }
     }
   }
 
@@ -269,8 +278,8 @@ public:
   {
     // Avoid allocating when not using intra process.
     if (!intra_process_is_enabled_) {
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg);
+      this->do_inter_process_publish(msg);
+      return;
     }
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
     // As the message is not const, a copy should be made.
@@ -297,26 +306,34 @@ public:
   >
   publish(std::unique_ptr<T, PublishedTypeDeleter> msg)
   {
-    // Avoid allocating when not using intra process.
     if (!intra_process_is_enabled_) {
       // In this case we're not using intra process.
-      ROSMessageType ros_msg;
-      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, ros_msg);
-      return this->do_inter_process_publish(ros_msg);
+      auto ros_msg_ptr = std::make_unique<ROSMessageType>();
+      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
+      this->do_inter_process_publish(*ros_msg_ptr);
+      return;
     }
 
+    // When durability is set to TransientLocal (i.e. there is a buffer),
+    // inter process publish should always take place to ensure
+    // late joiners receive past data.
     bool inter_process_publish_needed =
-      get_subscription_count() > get_intra_process_subscription_count();
+      get_subscription_count() > get_intra_process_subscription_count() || buffer_;
 
     if (inter_process_publish_needed) {
-      ROSMessageType ros_msg;
-      // TODO(clalancette): This is unnecessarily doing an additional conversion
-      // that may have already been done in do_intra_process_publish_and_return_shared().
-      // We should just reuse that effort.
-      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, ros_msg);
+      auto ros_msg_ptr = std::make_shared<ROSMessageType>();
+      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
       this->do_intra_process_publish(std::move(msg));
-      this->do_inter_process_publish(ros_msg);
+      this->do_inter_process_publish(*ros_msg_ptr);
+      if (buffer_) {
+        buffer_->add_shared(ros_msg_ptr);
+      }
     } else {
+      if (buffer_) {
+        auto ros_msg_ptr = std::make_shared<ROSMessageType>();
+        rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
+        buffer_->add_shared(ros_msg_ptr);
+      }
       this->do_intra_process_publish(std::move(msg));
     }
   }
@@ -339,13 +356,12 @@ public:
   >
   publish(const T & msg)
   {
-    // Avoid double allocating when not using intra process.
     if (!intra_process_is_enabled_) {
       // Convert to the ROS message equivalent and publish it.
-      ROSMessageType ros_msg;
-      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(msg, ros_msg);
-      // In this case we're not using intra process.
-      return this->do_inter_process_publish(ros_msg);
+      auto ros_msg_ptr = std::make_unique<ROSMessageType>();
+      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(msg, *ros_msg_ptr);
+      this->do_inter_process_publish(*ros_msg_ptr);
+      return;
     }
 
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
@@ -390,7 +406,7 @@ public:
     if (this->can_loan_messages()) {
       // we release the ownership from the rclpp::LoanedMessage instance
       // and let the middleware clean up the memory.
-      this->do_loaned_message_publish(std::move(loaned_msg.release()));
+      this->do_loaned_message_publish(loaned_msg.release());
     } else {
       // we don't release the ownership, let the middleware copy the ros message
       // and thus the destructor of rclcpp::LoanedMessage cleans up the memory.
@@ -398,13 +414,6 @@ public:
     }
   }
 
-  [[deprecated("use get_published_type_allocator() or get_ros_message_type_allocator() instead")]]
-  std::shared_ptr<PublishedTypeAllocator>
-  get_allocator() const
-  {
-    return std::make_shared<PublishedTypeAllocator>(published_type_allocator_);
-  }
-
   PublishedTypeAllocator
   get_published_type_allocator() const
   {
@@ -421,7 +430,7 @@ protected:
   void
   do_inter_process_publish(const ROSMessageType & msg)
   {
-    TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(&msg));
+    TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(&msg));
     auto status = rcl_publish(publisher_handle_.get(), &msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
@@ -456,6 +465,7 @@ protected:
   do_loaned_message_publish(
     std::unique_ptr<ROSMessageType, std::function<void(ROSMessageType *)>> msg)
   {
+    TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(msg.get()));
     auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg.get(), nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
@@ -484,6 +494,10 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_intra_publish,
+      static_cast<const void *>(publisher_handle_.get()),
+      msg.get());
 
     ipm->template do_intra_process_publish<PublishedType, ROSMessageType, AllocatorT>(
       intra_process_publisher_id_,
@@ -502,6 +516,10 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_intra_publish,
+      static_cast<const void *>(publisher_handle_.get()),
+      msg.get());
 
     ipm->template do_intra_process_publish<ROSMessageType, ROSMessageType, AllocatorT>(
       intra_process_publisher_id_,
@@ -521,6 +539,10 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
+    TRACETOOLS_TRACEPOINT(
+      rclcpp_intra_publish,
+      static_cast<const void *>(publisher_handle_.get()),
+      msg.get());
 
     return ipm->template do_intra_process_publish_and_return_shared<ROSMessageType, ROSMessageType,
              AllocatorT>(
@@ -552,6 +574,13 @@ protected:
   std::unique_ptr<PublishedType, PublishedTypeDeleter>
   duplicate_type_adapt_message_as_unique_ptr(const PublishedType & msg)
   {
+    /// Assert that the published type has no overloaded operator new since this leads to
+    /// new/delete mismatch (see https://github.com/ros2/rclcpp/issues/2951)
+    static_assert(!detail::has_overloaded_operator_new_v<PublishedType>,
+        "When publishing by value (i.e. when calling publish(const T& msg)), the published "
+    "message type must not have an overloaded operator new. In this case, please use the "
+    "publish(std::unique_ptr<T> msg) method instead.");
+
     auto ptr = PublishedTypeAllocatorTraits::allocate(published_type_allocator_, 1);
     PublishedTypeAllocatorTraits::construct(published_type_allocator_, ptr, msg);
     return std::unique_ptr<PublishedType, PublishedTypeDeleter>(ptr, published_type_deleter_);
@@ -568,6 +597,8 @@ protected:
   PublishedTypeDeleter published_type_deleter_;
   ROSMessageTypeAllocator ros_message_type_allocator_;
   ROSMessageTypeDeleter ros_message_type_deleter_;
+
+  BufferSharedPtr buffer_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/publisher_base.hpp

@@ -139,6 +139,12 @@ public:
   size_t
   get_intra_process_subscription_count() const;
 
+  /// Get if durability is transient local
+  /** \return If durability is transient local*/
+  RCLCPP_PUBLIC
+  bool
+  is_durability_transient_local() const;
+
   /// Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC).
   /**
    * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the creator
@@ -204,7 +210,7 @@ public:
   void
   setup_intra_process(
     uint64_t intra_process_publisher_id,
-    IntraProcessManagerSharedPtr ipm);
+    const IntraProcessManagerSharedPtr & ipm);
 
   /// Get network flow endpoints
   /**
@@ -215,6 +221,17 @@ public:
   std::vector<rclcpp::NetworkFlowEndpoint>
   get_network_flow_endpoints() const;
 
+  /// Return the lowest available capacity for all subscription buffers.
+  /**
+   * For intraprocess communication return the lowest buffer capacity for all subscriptions.
+   * If intraprocess is disabled or no intraprocess subscriptions present, return maximum of size_t.
+   * On failure return 0.
+   * \return lowest buffer capacity for all subscriptions
+   */
+  RCLCPP_PUBLIC
+  size_t
+  lowest_available_ipm_capacity() const;
+
   /// Wait until all published messages are acknowledged or until the specified timeout elapses.
   /**
    * This method waits until all published messages are acknowledged by all matching
@@ -283,7 +300,7 @@ public:
    */
   void
   set_on_new_qos_event_callback(
-    std::function<void(size_t)> callback,
+    const std::function<void(size_t)> & callback,
     rcl_publisher_event_type_t event_type)
   {
     if (event_handlers_.count(event_type) == 0) {
@@ -302,7 +319,7 @@ public:
     // The on_ready_callback signature has an extra `int` argument used to disambiguate between
     // possible different entities within a generic waitable.
     // We hide that detail to users of this method.
-    std::function<void(size_t, int)> new_callback = std::bind(callback, std::placeholders::_1);
+    std::function<void(size_t, int)> new_callback = [callback] (size_t nr, int) {callback(nr);};
     event_handlers_[event_type]->set_on_ready_callback(new_callback);
   }
 

rclcpp/include/rclcpp/publisher_options.hpp

@@ -24,6 +24,7 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp"
+#include "rclcpp/intra_process_buffer_type.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/event_handler.hpp"
@@ -40,6 +41,9 @@ struct PublisherOptionsBase
   /// Setting to explicitly set intraprocess communications.
   IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;
 
+  /// Setting the data-type stored in the intraprocess buffer
+  IntraProcessBufferType intra_process_buffer_type = IntraProcessBufferType::SharedPtr;
+
   /// Callbacks for various events related to publishers.
   PublisherEventCallbacks event_callbacks;
 
@@ -119,11 +123,20 @@ private:
   rcl_allocator_t
   get_rcl_allocator() const
   {
-    if (!plain_allocator_storage_) {
-      plain_allocator_storage_ =
-        std::make_shared<PlainAllocator>(*this->get_allocator());
+    if constexpr (std::is_same_v<Allocator, std::allocator<void>>) {
+      return rcl_get_default_allocator();
+    } else {
+      if constexpr (rclcpp::allocator::has_get_rcl_allocator_v<Allocator>) {
+        return get_allocator()->get_rcl_allocator();
+      } else {
+        if (!plain_allocator_storage_) {
+          plain_allocator_storage_ =
+            std::make_shared<PlainAllocator>(*this->get_allocator());
+        }
+
+        return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
+      }
     }
-    return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
   }
 
   // This is a temporal workaround, to make sure that get_allocator()

rclcpp/include/rclcpp/qos.hpp

@@ -146,10 +146,18 @@ public:
   QoS(size_t history_depth);  // NOLINT(runtime/explicit): conversion constructor
 
   /// Return the rmw qos profile.
+  /**
+   * The profile consists of various QoS policies such as history, reliability, and durability.
+   * Use the corresponding getter functions to retrieve individual policies.
+   */
   rmw_qos_profile_t &
   get_rmw_qos_profile();
 
   /// Return the rmw qos profile.
+  /**
+   * The profile consists of various QoS policies such as history, reliability, and durability.
+   * Use the corresponding getter functions to retrieve individual policies.
+   */
   const rmw_qos_profile_t &
   get_rmw_qos_profile() const;
 
@@ -475,7 +483,7 @@ public:
   explicit
   RosoutQoS(
     const QoSInitialization & rosout_qos_initialization = (
-      QoSInitialization::from_rmw(rcl_qos_profile_rosout_default)
+      QoSInitialization::from_rmw(rmw_qos_profile_rosout_default)
   ));
 };
 

rclcpp/include/rclcpp/qos_event.hpp

@@ -1,22 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__QOS_EVENT_HPP_
-#define RCLCPP__QOS_EVENT_HPP_
-
-#warning This header is obsolete, please include rclcpp/event_handler.hpp instead
-
-#include "rclcpp/event_handler.hpp"
-
-#endif  // RCLCPP__QOS_EVENT_HPP_

rclcpp/include/rclcpp/rate.hpp

@@ -19,6 +19,8 @@
 #include <memory>
 #include <thread>
 
+#include "rclcpp/clock.hpp"
+#include "rclcpp/duration.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -31,9 +33,16 @@ class RateBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(RateBase)
 
+  RCLCPP_PUBLIC
   virtual ~RateBase() {}
+
+  RCLCPP_PUBLIC
   virtual bool sleep() = 0;
-  virtual bool is_steady() const = 0;
+
+  RCLCPP_PUBLIC
+  virtual rcl_clock_type_t get_type() const = 0;
+
+  RCLCPP_PUBLIC
   virtual void reset() = 0;
 };
 
@@ -41,79 +50,54 @@ using std::chrono::duration;
 using std::chrono::duration_cast;
 using std::chrono::nanoseconds;
 
-template<class Clock = std::chrono::high_resolution_clock>
-class GenericRate : public RateBase
+class Rate : public RateBase
 {
 public:
-  RCLCPP_SMART_PTR_DEFINITIONS(GenericRate)
+  RCLCPP_SMART_PTR_DEFINITIONS(Rate)
 
-  explicit GenericRate(double rate)
-  : GenericRate<Clock>(
-      duration_cast<nanoseconds>(duration<double>(1.0 / rate)))
-  {}
-  explicit GenericRate(std::chrono::nanoseconds period)
-  : period_(period), last_interval_(Clock::now())
-  {}
+  RCLCPP_PUBLIC
+  explicit Rate(
+    const double rate,
+    const Clock::SharedPtr & clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
 
+  RCLCPP_PUBLIC
+  explicit Rate(
+    const Duration & period,
+    const Clock::SharedPtr & clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
+
+  RCLCPP_PUBLIC
   virtual bool
-  sleep()
-  {
-    // Time coming into sleep
-    auto now = Clock::now();
-    // Time of next interval
-    auto next_interval = last_interval_ + period_;
-    // Detect backwards time flow
-    if (now < last_interval_) {
-      // Best thing to do is to set the next_interval to now + period
-      next_interval = now + period_;
-    }
-    // Calculate the time to sleep
-    auto time_to_sleep = next_interval - now;
-    // Update the interval
-    last_interval_ += period_;
-    // If the time_to_sleep is negative or zero, don't sleep
-    if (time_to_sleep <= std::chrono::seconds(0)) {
-      // If an entire cycle was missed then reset next interval.
-      // This might happen if the loop took more than a cycle.
-      // Or if time jumps forward.
-      if (now > next_interval + period_) {
-        last_interval_ = now + period_;
-      }
-      // Either way do not sleep and return false
-      return false;
-    }
-    // Sleep (will get interrupted by ctrl-c, may not sleep full time)
-    rclcpp::sleep_for(time_to_sleep);
-    return true;
-  }
+  sleep();
 
-  virtual bool
-  is_steady() const
-  {
-    return Clock::is_steady;
-  }
+  RCLCPP_PUBLIC
+  virtual rcl_clock_type_t
+  get_type() const;
 
+  RCLCPP_PUBLIC
   virtual void
-  reset()
-  {
-    last_interval_ = Clock::now();
-  }
+  reset();
 
-  std::chrono::nanoseconds period() const
-  {
-    return period_;
-  }
+  RCLCPP_PUBLIC
+  std::chrono::nanoseconds
+  period() const;
 
 private:
-  RCLCPP_DISABLE_COPY(GenericRate)
+  RCLCPP_DISABLE_COPY(Rate)
 
-  std::chrono::nanoseconds period_;
-  using ClockDurationNano = std::chrono::duration<typename Clock::rep, std::nano>;
-  std::chrono::time_point<Clock, ClockDurationNano> last_interval_;
+  Clock::SharedPtr clock_;
+  Duration period_;
+  Time last_interval_;
 };
 
-using Rate = GenericRate<std::chrono::system_clock>;
-using WallRate = GenericRate<std::chrono::steady_clock>;
+class WallRate : public Rate
+{
+public:
+  RCLCPP_PUBLIC
+  explicit WallRate(const double rate);
+
+  RCLCPP_PUBLIC
+  explicit WallRate(const Duration & period);
+};
 
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/rclcpp.hpp

@@ -54,6 +54,7 @@
  *   - rclcpp::ParameterValue
  *   - rclcpp::AsyncParametersClient
  *   - rclcpp::SyncParametersClient
+ *   - rclcpp::copy_all_parameter_values()
  *   - rclcpp/parameter.hpp
  *   - rclcpp/parameter_value.hpp
  *   - rclcpp/parameter_client.hpp
@@ -67,8 +68,6 @@
  *
  * - Executors (responsible for execution of callbacks through a blocking spin):
  *   - rclcpp::spin()
- *   - rclcpp::spin_some()
- *   - rclcpp::spin_until_future_complete()
  *   - rclcpp::executors::SingleThreadedExecutor
  *   - rclcpp::executors::SingleThreadedExecutor::add_node()
  *   - rclcpp::executors::SingleThreadedExecutor::spin()
@@ -95,6 +94,9 @@
  * - Get the number of publishers or subscribers on a topic:
  *   - rclcpp::Node::count_publishers()
  *   - rclcpp::Node::count_subscribers()
+ * - Get the number of clients or servers on a service:
+ *   - rclcpp::Node::count_clients()
+ *   - rclcpp::Node::count_services()
  *
  * And components related to logging:
  *
@@ -117,6 +119,18 @@
  * - Allocator related items:
  *   - rclcpp/allocator/allocator_common.hpp
  *   - rclcpp/allocator/allocator_deleter.hpp
+ * - Dynamic typesupport wrappers
+ *   - rclcpp::dynamic_typesupport::DynamicMessage
+ *   - rclcpp::dynamic_typesupport::DynamicMessageType
+ *   - rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder
+ *   - rclcpp::dynamic_typesupport::DynamicSerializationSupport
+ *   - rclcpp/dynamic_typesupport/dynamic_message.hpp
+ *   - rclcpp/dynamic_typesupport/dynamic_message_type.hpp
+ *   - rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp
+ *   - rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp
+ * - Dynamic typesupport
+ *   - rclcpp::dynamic_typesupport::DynamicMessageTypeSupport
+ *   - rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp
  * - Generic publisher
  *   - rclcpp::Node::create_generic_publisher()
  *   - rclcpp::GenericPublisher
@@ -152,6 +166,7 @@
 #include <csignal>
 #include <memory>
 
+#include "rclcpp/copy_all_parameter_values.hpp"
 #include "rclcpp/executors.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/logging.hpp"
@@ -160,6 +175,7 @@
 #include "rclcpp/parameter_event_handler.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/parameter_service.hpp"
+#include "rclcpp/parameter_descriptor_wrapper.hpp"
 #include "rclcpp/rate.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"

rclcpp/include/rclcpp/serialized_message.hpp

@@ -58,10 +58,10 @@ public:
   explicit SerializedMessage(const rcl_serialized_message_t & other);
 
   /// Move Constructor for a SerializedMessage
-  SerializedMessage(SerializedMessage && other);
+  SerializedMessage(SerializedMessage && other) noexcept;
 
   /// Constructor for a SerializedMessage from a moved rcl_serialized_message_t
-  explicit SerializedMessage(rcl_serialized_message_t && other);
+  explicit SerializedMessage(rcl_serialized_message_t && other) noexcept;
 
   /// Copy assignment operator
   SerializedMessage & operator=(const SerializedMessage & other);
@@ -70,10 +70,10 @@ public:
   SerializedMessage & operator=(const rcl_serialized_message_t & other);
 
   /// Move assignment operator
-  SerializedMessage & operator=(SerializedMessage && other);
+  SerializedMessage & operator=(SerializedMessage && other) noexcept;
 
   /// Move assignment operator from a rcl_serialized_message_t
-  SerializedMessage & operator=(rcl_serialized_message_t && other);
+  SerializedMessage & operator=(rcl_serialized_message_t && other) noexcept;
 
   /// Destructor for a SerializedMessage
   virtual ~SerializedMessage();

rclcpp/include/rclcpp/service.hpp

@@ -22,6 +22,7 @@
 #include <mutex>
 #include <sstream>
 #include <string>
+#include <utility>
 
 #include "rcl/error_handling.h"
 #include "rcl/event_callback.h"
@@ -54,7 +55,7 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase)
 
   RCLCPP_PUBLIC
-  explicit ServiceBase(std::shared_ptr<rcl_node_t> node_handle);
+  explicit ServiceBase(const std::shared_ptr<rcl_node_t> & node_handle);
 
   RCLCPP_PUBLIC
   virtual ~ServiceBase() = default;
@@ -113,8 +114,8 @@ public:
   virtual
   void
   handle_request(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> request) = 0;
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & request) = 0;
 
   /// Exchange the "in use by wait set" state for this service.
   /**
@@ -190,7 +191,7 @@ public:
    * \param[in] callback functor to be called when a new request is received
    */
   void
-  set_on_new_request_callback(std::function<void(size_t)> callback)
+  set_on_new_request_callback(const std::function<void(size_t)> & callback)
   {
     if (!callback) {
       throw std::invalid_argument(
@@ -265,15 +266,19 @@ protected:
 
   std::shared_ptr<rcl_node_t> node_handle_;
 
+  std::recursive_mutex callback_mutex_;
+  // It is important to declare on_new_request_callback_ before
+  // service_handle_, so on destruction the service is
+  // destroyed first. Otherwise, the rmw service callback
+  // would point briefly to a destroyed function.
+  std::function<void(size_t)> on_new_request_callback_{nullptr};
+  // Declare service_handle_ after callback
   std::shared_ptr<rcl_service_t> service_handle_;
   bool owns_rcl_handle_ = true;
 
   rclcpp::Logger node_logger_;
 
   std::atomic<bool> in_use_by_wait_set_{false};
-
-  std::recursive_mutex callback_mutex_;
-  std::function<void(size_t)> on_new_request_callback_{nullptr};
 };
 
 template<typename ServiceT>
@@ -282,6 +287,7 @@ class Service
   public std::enable_shared_from_this<Service<ServiceT>>
 {
 public:
+  using ServiceType = ServiceT;
   using CallbackType = std::function<
     void (
       const std::shared_ptr<typename ServiceT::Request>,
@@ -303,7 +309,7 @@ public:
    * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] service_name Name of the topic to publish to.
    * \param[in] any_callback User defined callback to call when a client request is received.
-   * \param[in] service_options options for the subscription.
+   * \param[in] service_options options for the service.
    */
   Service(
     std::shared_ptr<rcl_node_t> node_handle,
@@ -348,7 +354,7 @@ public:
 
       rclcpp::exceptions::throw_from_rcl_error(ret, "could not create service");
     }
-    TRACEPOINT(
+    TRACETOOLS_TRACEPOINT(
       rclcpp_service_callback_added,
       static_cast<const void *>(get_service_handle().get()),
       static_cast<const void *>(&any_callback_));
@@ -368,10 +374,10 @@ public:
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(
-    std::shared_ptr<rcl_node_t> node_handle,
-    std::shared_ptr<rcl_service_t> service_handle,
+    const std::shared_ptr<rcl_node_t> & node_handle,
+    const std::shared_ptr<rcl_service_t> & service_handle,
     AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle), any_callback_(any_callback),
+  : ServiceBase(node_handle), any_callback_(std::move(any_callback)),
     srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
   {
     // check if service handle was initialized
@@ -383,7 +389,7 @@ public:
     }
 
     service_handle_ = service_handle;
-    TRACEPOINT(
+    TRACETOOLS_TRACEPOINT(
       rclcpp_service_callback_added,
       static_cast<const void *>(get_service_handle().get()),
       static_cast<const void *>(&any_callback_));
@@ -403,10 +409,10 @@ public:
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(
-    std::shared_ptr<rcl_node_t> node_handle,
+    const std::shared_ptr<rcl_node_t> & node_handle,
     rcl_service_t * service_handle,
     AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle), any_callback_(any_callback),
+  : ServiceBase(node_handle), any_callback_(std::move(any_callback)),
     srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
   {
     // check if service handle was initialized
@@ -420,7 +426,7 @@ public:
     // In this case, rcl owns the service handle memory
     service_handle_ = std::shared_ptr<rcl_service_t>(new rcl_service_t);
     service_handle_->impl = service_handle->impl;
-    TRACEPOINT(
+    TRACETOOLS_TRACEPOINT(
       rclcpp_service_callback_added,
       static_cast<const void *>(get_service_handle().get()),
       static_cast<const void *>(&any_callback_));
@@ -467,8 +473,8 @@ public:
 
   void
   handle_request(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> request) override
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & request) override
   {
     auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
     auto response = any_callback_.dispatch(this->shared_from_this(), request_header, typed_request);
@@ -482,20 +488,31 @@ public:
   {
     rcl_ret_t ret = rcl_send_response(get_service_handle().get(), &req_id, &response);
 
+    if (ret == RCL_RET_TIMEOUT) {
+      RCLCPP_WARN(
+        node_logger_.get_child("rclcpp"),
+        "failed to send response to %s (timeout): %s",
+        this->get_service_name(), rcl_get_error_string().str);
+      rcl_reset_error();
+      return;
+    }
     if (ret != RCL_RET_OK) {
       rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
     }
   }
 
-  /// Configure client introspection.
+  /// Configure service introspection.
   /**
    * \param[in] clock clock to use to generate introspection timestamps
    * \param[in] qos_service_event_pub QoS settings to use when creating the introspection publisher
    * \param[in] introspection_state the state to set introspection to
+   *
+   * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw if
+   *   it failed to configure introspection.
    */
   void
   configure_introspection(
-    Clock::SharedPtr clock, const QoS & qos_service_event_pub,
+    const Clock::SharedPtr & clock, const QoS & qos_service_event_pub,
     rcl_service_introspection_state_t introspection_state)
   {
     rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();