2.3.1

Signed-off-by: Simon Honigmann <shonigmann@blueorigin.com>

Co-authored-by: Simon Honigmann <shonigmann@blueorigin.com>

rclcpp/CHANGELOG.rst

@@ -2,150 +2,129 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-5.1.0 (2020-11-02)
+2.3.1 (2021-04-14)
 ------------------
-* Deprecate Duration(rcl_duration_value_t) in favor of static Duration::from_nanoseconds(rcl_duration_value_t) (`#1432 <https://github.com/ros2/rclcpp/issues/1432>`_)
-* Avoid parsing arguments twice in `rclcpp::init_and_remove_ros_arguments` (`#1415 <https://github.com/ros2/rclcpp/issues/1415>`_)
+* Update quality declaration links (re: `ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>`_) (`#1616 <https://github.com/ros2/rclcpp/issues/1616>`_)
+* Fix documented example in create_publisher (`#1558 <https://github.com/ros2/rclcpp/issues/1558>`_) (`#1559 <https://github.com/ros2/rclcpp/issues/1559>`_)
+* Fix runtime error: reference binding to null pointer of type (`#1547 <https://github.com/ros2/rclcpp/issues/1547>`_) (`#1548 <https://github.com/ros2/rclcpp/issues/1548>`_)
+* Contributors: Jacob Perron, Simon Honigmann, Tomoya Fujita
+
+2.3.0 (2020-12-09)
+------------------
+* Update QD to QL 1 (`#1480 <https://github.com/ros2/rclcpp/issues/1480>`_)
+* Add performance tests for parameter transport (`#1470 <https://github.com/ros2/rclcpp/issues/1470>`_)
+* Add benchmarks for node parameters interface (`#1470 <https://github.com/ros2/rclcpp/issues/1470>`_)
+* Fix NodeOptions copy constructor (`#1376 <https://github.com/ros2/rclcpp/issues/1376>`_) (`#1451 <https://github.com/ros2/rclcpp/issues/1451>`_)
+* Avoid reference cycle to fix memory leak (`#1301 <https://github.com/ros2/rclcpp/issues/1301>`_) (`#1450 <https://github.com/ros2/rclcpp/issues/1450>`_)
+* Bump rclcpp packages to Quality Level 2 (`#1445 <https://github.com/ros2/rclcpp/issues/1445>`_) (`#1446 <https://github.com/ros2/rclcpp/issues/1446>`_)
+* Added executor benchmark tests (`#1413 <https://github.com/ros2/rclcpp/issues/1413>`_)
 * Add service and client benchmarks (`#1425 <https://github.com/ros2/rclcpp/issues/1425>`_)
 * Set CMakeLists to only use default rmw for benchmarks (`#1427 <https://github.com/ros2/rclcpp/issues/1427>`_)
-* Update tracetools' QL in rclcpp's QD (`#1428 <https://github.com/ros2/rclcpp/issues/1428>`_)
-* Add missing locking to the rclcpp_action::ServerBase. (`#1421 <https://github.com/ros2/rclcpp/issues/1421>`_)
 * Initial benchmark tests for rclcpp::init/shutdown create/destroy node (`#1411 <https://github.com/ros2/rclcpp/issues/1411>`_)
-* Refactor test CMakeLists in prep for benchmarks (`#1422 <https://github.com/ros2/rclcpp/issues/1422>`_)
-* Add methods in topic and service interface to resolve a name (`#1410 <https://github.com/ros2/rclcpp/issues/1410>`_)
-* Update deprecated gtest macros (`#1370 <https://github.com/ros2/rclcpp/issues/1370>`_)
+* Use global namespace for parameter events subscription topic (`#1257 <https://github.com/ros2/rclcpp/issues/1257>`_) (`#1261 <https://github.com/ros2/rclcpp/issues/1261>`_)
+* Refactor test CMakeLists.txt (`#1422 <https://github.com/ros2/rclcpp/issues/1422>`_) and moving rosidl_generate_interfaces_call (`#1424 <https://github.com/ros2/rclcpp/issues/1424>`_)  (`#1437 <https://github.com/ros2/rclcpp/issues/1437>`_)
+* Update tracetools' QL in rclcpp's QD (`#1428 <https://github.com/ros2/rclcpp/issues/1428>`_) (`#1430 <https://github.com/ros2/rclcpp/issues/1430>`_)
+* Add coverage statement (`#1367 <https://github.com/ros2/rclcpp/issues/1367>`_)
+* Update tracetools' QL to 2 in rclcpp's QD (`#1187 <https://github.com/ros2/rclcpp/issues/1187>`_)
+* Fix reference to rclcpp in its QD (`#1161 <https://github.com/ros2/rclcpp/issues/1161>`_)
 * Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency (`#1303 <https://github.com/ros2/rclcpp/issues/1303>`_)
 * Increase test timeouts of slow running tests with rmw_connext_cpp (`#1400 <https://github.com/ros2/rclcpp/issues/1400>`_)
-* Avoid self dependency that not destoryed (`#1301 <https://github.com/ros2/rclcpp/issues/1301>`_)
-* Update maintainers (`#1384 <https://github.com/ros2/rclcpp/issues/1384>`_)
-* Add clock qos to node options (`#1375 <https://github.com/ros2/rclcpp/issues/1375>`_)
-* Fix NodeOptions copy constructor (`#1376 <https://github.com/ros2/rclcpp/issues/1376>`_)
 * Make sure to clean the external client/service handle. (`#1296 <https://github.com/ros2/rclcpp/issues/1296>`_)
 * Increase coverage of WaitSetTemplate (`#1368 <https://github.com/ros2/rclcpp/issues/1368>`_)
 * Increase coverage of guard_condition.cpp to 100% (`#1369 <https://github.com/ros2/rclcpp/issues/1369>`_)
-* Add coverage statement (`#1367 <https://github.com/ros2/rclcpp/issues/1367>`_)
 * Tests for LoanedMessage with mocked loaned message publisher (`#1366 <https://github.com/ros2/rclcpp/issues/1366>`_)
 * Add unit tests for qos and qos_event files (`#1352 <https://github.com/ros2/rclcpp/issues/1352>`_)
 * Finish coverage of publisher API (`#1365 <https://github.com/ros2/rclcpp/issues/1365>`_)
-* Finish API coverage on executors. (`#1364 <https://github.com/ros2/rclcpp/issues/1364>`_)
+* Finish API coverage on executors (`#1364 <https://github.com/ros2/rclcpp/issues/1364>`_)
+* Only exchange intra_process waitable if nonnull (`#1317 <https://github.com/ros2/rclcpp/issues/1317>`_)
 * Add test for ParameterService (`#1355 <https://github.com/ros2/rclcpp/issues/1355>`_)
 * Add time API coverage tests (`#1347 <https://github.com/ros2/rclcpp/issues/1347>`_)
 * Add timer coverage tests (`#1363 <https://github.com/ros2/rclcpp/issues/1363>`_)
 * Add in additional tests for parameter_client.cpp coverage.
 * Minor fixes to the parameter_service.cpp file.
-* reset rcl_context shared_ptr after calling rcl_init sucessfully (`#1357 <https://github.com/ros2/rclcpp/issues/1357>`_)
-* Improved test publisher - zero qos history depth value exception (`#1360 <https://github.com/ros2/rclcpp/issues/1360>`_)
+* Improve test publisher - zero qos history depth value exception (`#1360 <https://github.com/ros2/rclcpp/issues/1360>`_)
 * Covered resolve_use_intra_process (`#1359 <https://github.com/ros2/rclcpp/issues/1359>`_)
 * Improve test_subscription_options (`#1358 <https://github.com/ros2/rclcpp/issues/1358>`_)
-* Add in more tests for init_options coverage. (`#1353 <https://github.com/ros2/rclcpp/issues/1353>`_)
+* Add in more tests for init_options coverage (`#1353 <https://github.com/ros2/rclcpp/issues/1353>`_)
 * Test the remaining node public API (`#1342 <https://github.com/ros2/rclcpp/issues/1342>`_)
 * Complete coverage of Parameter and ParameterValue API (`#1344 <https://github.com/ros2/rclcpp/issues/1344>`_)
-* Add in more tests for the utilities. (`#1349 <https://github.com/ros2/rclcpp/issues/1349>`_)
-* Add in two more tests for expand_topic_or_service_name. (`#1350 <https://github.com/ros2/rclcpp/issues/1350>`_)
+* Add in more tests for the utilities (`#1349 <https://github.com/ros2/rclcpp/issues/1349>`_)
+* Add in two more tests for expand_topic_or_service_name (`#1350 <https://github.com/ros2/rclcpp/issues/1350>`_)
 * Add tests for node_options API (`#1343 <https://github.com/ros2/rclcpp/issues/1343>`_)
 * Add in more coverage for expand_topic_or_service_name. (`#1346 <https://github.com/ros2/rclcpp/issues/1346>`_)
-* Test exception in spin_until_future_complete. (`#1345 <https://github.com/ros2/rclcpp/issues/1345>`_)
 * Add coverage tests graph_listener (`#1330 <https://github.com/ros2/rclcpp/issues/1330>`_)
-* Add in unit tests for the Executor class.
-* Allow mimick patching of methods with up to 9 arguments.
-* Improve the error messages in the Executor class.
+* Add executor unit tests `#1336 <https://github.com/ros2/rclcpp/issues/1336>`_ (`#1395 <https://github.com/ros2/rclcpp/issues/1395>`_)
 * Add coverage for client API (`#1329 <https://github.com/ros2/rclcpp/issues/1329>`_)
 * Increase service coverage (`#1332 <https://github.com/ros2/rclcpp/issues/1332>`_)
-* Make more of the static entity collector API private.
-* Const-ify more of the static executor.
-* Add more tests for the static single threaded executor.
-* Many more tests for the static_executor_entities_collector.
-* Get one more line of code coverage in memory_strategy.cpp
-* Bugfix when adding callback group.
-* Fix typos in comments.
-* Remove deprecated executor::FutureReturnCode APIs. (`#1327 <https://github.com/ros2/rclcpp/issues/1327>`_)
+* Add ostream test for FutureReturnCode (`#1327 <https://github.com/ros2/rclcpp/issues/1327>`_) (`#1393 <https://github.com/ros2/rclcpp/issues/1393>`_)
 * Increase coverage of publisher/subscription API (`#1325 <https://github.com/ros2/rclcpp/issues/1325>`_)
-* Not finalize guard condition while destructing SubscriptionIntraProcess (`#1307 <https://github.com/ros2/rclcpp/issues/1307>`_)
-* Expose qos setting for /rosout (`#1247 <https://github.com/ros2/rclcpp/issues/1247>`_)
 * Add coverage for missing API (except executors) (`#1326 <https://github.com/ros2/rclcpp/issues/1326>`_)
-* Include topic name in QoS mismatch warning messages (`#1286 <https://github.com/ros2/rclcpp/issues/1286>`_)
 * Add coverage tests context functions (`#1321 <https://github.com/ros2/rclcpp/issues/1321>`_)
 * Increase coverage of node_interfaces, including with mocking rcl errors (`#1322 <https://github.com/ros2/rclcpp/issues/1322>`_)
-* Contributors: Ada-King, Alejandro Hernández Cordero, Audrow Nash, Barry Xu, Chen Lihui, Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, Jorge Perez, Morgan Quigley, brawner
-
-5.0.0 (2020-09-18)
-------------------
-* Make node_graph::count_graph_users() const (`#1320 <https://github.com/ros2/rclcpp/issues/1320>`_)
 * Add coverage for wait_set_policies (`#1316 <https://github.com/ros2/rclcpp/issues/1316>`_)
-* Only exchange intra_process waitable if nonnull (`#1317 <https://github.com/ros2/rclcpp/issues/1317>`_)
-* Check waitable for nullptr during constructor (`#1315 <https://github.com/ros2/rclcpp/issues/1315>`_)
-* Call vector.erase with end iterator overload (`#1314 <https://github.com/ros2/rclcpp/issues/1314>`_)
-* Use best effort, keep last, history depth 1 QoS Profile for '/clock' subscriptions (`#1312 <https://github.com/ros2/rclcpp/issues/1312>`_)
 * Add tests type_support module (`#1308 <https://github.com/ros2/rclcpp/issues/1308>`_)
 * Replace std_msgs with test_msgs in executors test (`#1310 <https://github.com/ros2/rclcpp/issues/1310>`_)
-* Add set_level for rclcpp::Logger (`#1284 <https://github.com/ros2/rclcpp/issues/1284>`_)
-* Remove unused private function (rclcpp::Node and rclcpp_lifecycle::Node) (`#1294 <https://github.com/ros2/rclcpp/issues/1294>`_)
 * Adding tests basic getters (`#1291 <https://github.com/ros2/rclcpp/issues/1291>`_)
-* Adding callback groups in executor (`#1218 <https://github.com/ros2/rclcpp/issues/1218>`_)
 * Refactor Subscription Topic Statistics Tests (`#1281 <https://github.com/ros2/rclcpp/issues/1281>`_)
-* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_)
-* Fix clock thread issue (`#1266 <https://github.com/ros2/rclcpp/issues/1266>`_) (`#1267 <https://github.com/ros2/rclcpp/issues/1267>`_)
 * Fix topic stats test, wait for more messages, only check the ones with samples (`#1274 <https://github.com/ros2/rclcpp/issues/1274>`_)
-* Add get_domain_id method to rclcpp::Context (`#1271 <https://github.com/ros2/rclcpp/issues/1271>`_)
 * Fixes for unit tests that fail under cyclonedds (`#1270 <https://github.com/ros2/rclcpp/issues/1270>`_)
 * initialize_logging\_ should be copied (`#1272 <https://github.com/ros2/rclcpp/issues/1272>`_)
-* Use static_cast instead of C-style cast for instrumentation (`#1263 <https://github.com/ros2/rclcpp/issues/1263>`_)
-* Make parameter clients use template constructors (`#1249 <https://github.com/ros2/rclcpp/issues/1249>`_)
-* Ability to configure domain_id via InitOptions. (`#1165 <https://github.com/ros2/rclcpp/issues/1165>`_)
+* Ability to configure domain_id via InitOptions (`#1165 <https://github.com/ros2/rclcpp/issues/1165>`_)
 * Simplify and fix allocator memory strategy unit test for connext (`#1252 <https://github.com/ros2/rclcpp/issues/1252>`_)
-* Use global namespace for parameter events subscription topic (`#1257 <https://github.com/ros2/rclcpp/issues/1257>`_)
 * Increase timeouts for connext for long tests (`#1253 <https://github.com/ros2/rclcpp/issues/1253>`_)
 * Adjust test_static_executor_entities_collector for rmw_connext_cpp (`#1251 <https://github.com/ros2/rclcpp/issues/1251>`_)
 * Fix failing test with Connext since it doesn't wait for discovery (`#1246 <https://github.com/ros2/rclcpp/issues/1246>`_)
 * Fix node graph test with Connext and CycloneDDS returning actual data (`#1245 <https://github.com/ros2/rclcpp/issues/1245>`_)
-* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_)
 * Unittests for memory strategy files, except allocator_memory_strategy (`#1189 <https://github.com/ros2/rclcpp/issues/1189>`_)
 * EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests (`#1232 <https://github.com/ros2/rclcpp/issues/1232>`_)
+* Parameterize test executors for all executor types (`#1222 <https://github.com/ros2/rclcpp/issues/1222>`_) (`#1386 <https://github.com/ros2/rclcpp/issues/1386>`_)
+* Derive and throw exception in spin_some spin_all for StaticSingleThreadedExecutor (`#1385 <https://github.com/ros2/rclcpp/issues/1385>`_)
 * Add unit test for static_executor_entities_collector (`#1221 <https://github.com/ros2/rclcpp/issues/1221>`_)
-* Parameterize test executors for all executor types (`#1222 <https://github.com/ros2/rclcpp/issues/1222>`_)
 * Unit tests for allocator_memory_strategy.cpp part 2 (`#1198 <https://github.com/ros2/rclcpp/issues/1198>`_)
 * Unit tests for allocator_memory_strategy.hpp (`#1197 <https://github.com/ros2/rclcpp/issues/1197>`_)
-* Derive and throw exception in spin_some spin_all for StaticSingleThreadedExecutor (`#1220 <https://github.com/ros2/rclcpp/issues/1220>`_)
-* Make ring buffer thread-safe (`#1213 <https://github.com/ros2/rclcpp/issues/1213>`_)
-* Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (`#1227 <https://github.com/ros2/rclcpp/issues/1227>`_)
-* Document graph functions don't apply remap rules (`#1225 <https://github.com/ros2/rclcpp/issues/1225>`_)
-* Remove recreation of entities_collector (`#1217 <https://github.com/ros2/rclcpp/issues/1217>`_)
-* Contributors: Audrow Nash, Chen Lihui, Christophe Bedard, Daisuke Sato, Devin Bonnie, Dirk Thomas, Ivan Santiago Paunovic, Jacob Perron, Jannik Abbenseth, Jorge Perez, Pedro Pena, Shane Loretz, Stephen Brawner, Tomoya Fujita
-
-4.0.0 (2020-07-09)
-------------------
-* Fix rclcpp::NodeOptions::operator= (`#1211 <https://github.com/ros2/rclcpp/issues/1211>`_)
-* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_)
 * Unit tests for node interfaces (`#1202 <https://github.com/ros2/rclcpp/issues/1202>`_)
-* Remove usage of domain id in node options (`#1205 <https://github.com/ros2/rclcpp/issues/1205>`_)
-* Remove deprecated set_on_parameters_set_callback function (`#1199 <https://github.com/ros2/rclcpp/issues/1199>`_)
-* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_)
-* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_)
-* Bump to QD to level 3 and fixed links (`#1158 <https://github.com/ros2/rclcpp/issues/1158>`_)
-* Fix pub/sub count API tests (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_)
-* Update tracetools' QL to 2 in rclcpp's QD (`#1187 <https://github.com/ros2/rclcpp/issues/1187>`_)
-* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_)
-* Throw exception if rcl_timer_init fails (`#1179 <https://github.com/ros2/rclcpp/issues/1179>`_)
 * Unit tests for some header-only functions/classes (`#1181 <https://github.com/ros2/rclcpp/issues/1181>`_)
-* Callback should be perfectly-forwarded (`#1183 <https://github.com/ros2/rclcpp/issues/1183>`_)
 * Add unit tests for logging functionality (`#1184 <https://github.com/ros2/rclcpp/issues/1184>`_)
-* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_)
-* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Claire Wang, Dirk Thomas, Ivan Santiago Paunovic, Johannes Meyer, Michel Hidalgo, Stephen Brawner, tomoya
-
-3.0.0 (2020-06-18)
-------------------
+* Fix rclcpp::NodeOptions::operator= (`#1211 <https://github.com/ros2/rclcpp/issues/1211>`_)
 * Check period duration in create_wall_timer (`#1178 <https://github.com/ros2/rclcpp/issues/1178>`_)
-* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_)
-* Add message lost subscription event (`#1164 <https://github.com/ros2/rclcpp/issues/1164>`_)
-* Add spin_all method to Executor (`#1156 <https://github.com/ros2/rclcpp/issues/1156>`_)
-* Reorganize test directory and split CMakeLists.txt (`#1173 <https://github.com/ros2/rclcpp/issues/1173>`_)
+* Throw exception if rcl_timer_init fails (`#1179 <https://github.com/ros2/rclcpp/issues/1179>`_)
+* Remove finalization of guard_condition from GraphListener::__shutdown() (`#1401 <https://github.com/ros2/rclcpp/issues/1401>`_)
+* Contributors: Alejandro Hernández Cordero, Chen Lihui, Chris Lalancette, Christophe Bedard, Devin Bonnie, Dirk Thomas, Jacob Perron, Jorge Perez, Louise Poubel, Michel Hidalgo, Scott K Logan, Stephen Brawner, tomoya
+
+2.2.0 (2020-10-07)
+------------------
+* Fix implementation of NodeOptions::use_global_arguments() (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_) (`#1372 <https://github.com/ros2/rclcpp/issues/1372>`_)
+* Fix conversion of negative durations to messages (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_) (`#1371 <https://github.com/ros2/rclcpp/issues/1371>`_)
+* Call vector.erase with end iterator overload (`#1314 <https://github.com/ros2/rclcpp/issues/1314>`_) (`#1380 <https://github.com/ros2/rclcpp/issues/1380>`_)
+* Check waitable for nullptr during constructor (`#1315 <https://github.com/ros2/rclcpp/issues/1315>`_) (`#1379 <https://github.com/ros2/rclcpp/issues/1379>`_)
+* Fix pub/sub count API tests. (`#1203 <https://github.com/ros2/rclcpp/issues/1203>`_) (`#1319 <https://github.com/ros2/rclcpp/issues/1319>`_)
+* Reorganize test directory and split CMakeLists.txt (`#1173 <https://github.com/ros2/rclcpp/issues/1173>`_) (`#1262 <https://github.com/ros2/rclcpp/issues/1262>`_)
+* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_) (`#1278 <https://github.com/ros2/rclcpp/issues/1278>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron, Jannik Abbenseth, Johannes Meyer, Michel Hidalgo, Stephen Brawner
+
+2.1.0 (2020-08-03)
+------------------
+* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_) (`#1244 <https://github.com/ros2/rclcpp/issues/1244>`_)
+* Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (`#1227 <https://github.com/ros2/rclcpp/issues/1227>`_) (`#1228 <https://github.com/ros2/rclcpp/issues/1228>`_)
+* Remove recreation of entities_collector (`#1217 <https://github.com/ros2/rclcpp/issues/1217>`_) (`#1224 <https://github.com/ros2/rclcpp/issues/1224>`_)
+* Contributors: Jacob Perron, brawner
+
+2.0.2 (2020-07-07)
+------------------
+* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_) (`#1214 <https://github.com/ros2/rclcpp/issues/1214>`_)
+* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_) (`#1193 <https://github.com/ros2/rclcpp/issues/1193>`_)
+* Contributors: Dirk Thomas, tomoya
+
+2.0.1 (2020-06-23)
+------------------
+* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_) (`#1192 <https://github.com/ros2/rclcpp/issues/1192>`_)
+* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_) (`#1185 <https://github.com/ros2/rclcpp/issues/1185>`_)
+* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
 * Check if context is valid when looping in spin_some (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
-* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_)
 * Fix spin_until_future_complete: check spinning value (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
-* Fix doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_)
-* Fix reference to rclcpp in its Quality declaration (`#1161 <https://github.com/ros2/rclcpp/issues/1161>`_)
-* Allow spin_until_future_complete to accept any future like object (`#1113 <https://github.com/ros2/rclcpp/issues/1113>`_)
-* Contributors: Alejandro Hernández Cordero, Christophe Bedard, Devin Bonnie, Dirk Thomas, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Sarthak Mittal, brawner, tomoya
+  Make Executor::spin_once_impl private before backporting, to avoid API compatibility issues
+* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_) (`#1172 <https://github.com/ros2/rclcpp/issues/1172>`_)
+* Contributors: Alejandro Hernández Cordero, Devin Bonnie, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Stephen Brawner
 
 2.0.0 (2020-06-01)
 ------------------

rclcpp/QUALITY_DECLARATION.md

@@ -2,15 +2,15 @@ This document is a declaration of software quality for the `rclcpp` package, bas
 
 # rclcpp Quality Declaration
 
-The package `rclcpp` claims to be in the **Quality Level 2** category.
+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://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-quality-categories) of the ROS2 developer guide.
+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.
 
 ## Version Policy [1]
 
 ### Version Scheme [1.i]
 
-`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+`rclcpp` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#versioning).
 
 ### Version Stability [1.ii]
 
@@ -39,11 +39,11 @@ Headers under the folder `detail` are not considered part of the public API and
 
 ## Change Control Process [2]
 
-`rclcpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process).
+`rclcpp` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process).
 
 ### Change Requests [2.i]
 
-All changes will occur through a pull request, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### Contributor Origin [2.ii]
 
@@ -51,18 +51,17 @@ This package uses DCO as its confirmation of contributor origin policy. More inf
 
 ### Peer Review Policy [2.iii]
 
-All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#change-control-process) for additional information.
+All pull requests will be peer-reviewed, check [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#change-control-process) for additional information.
 
 ### 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)
 
-Currently nightly results can be seen here:
-
-* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rclcpp/)
-* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rclcpp/)
-* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rclcpp/)
-* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rclcpp/)
+Though there are no nightly jobs for foxy outside of linux, each change is tested on ci.ros2.org.
+* [linux-aarch64](https://ci.ros2.org/job/ci_linux-aarch64)
+* [linux](https://ci.ros2.org/job/ci_linux)
+* [mac_osx](https://ci.ros2.org/job/ci_osx)
+* [windows](https://ci.ros2.org/job/ci_windows)
 
 ###  Documentation Policy [2.v]
 
@@ -72,37 +71,36 @@ All pull requests must resolve related documentation changes before merging.
 
 ### Feature Documentation [3.i]
 
-`rclcpp` has a [feature list](http://docs.ros2.org/latest/api/rclcpp/) and each item in the list links to the corresponding feature documentation. There is documentation for all of the features, and new features require documentation before being added.
+`rclcpp` has a [feature list](http://docs.ros2.org/foxy/api/rclcpp/) and each item in the list links to the corresponding feature documentation. There is documentation for all of the features, and new features require documentation before being added.
 
 ### Public API Documentation [3.ii]
 
-The API is publicly available in its [ROS 2 API documentation](http://docs.ros2.org/latest/api/rclcpp/).
+The API is publicly available in its [ROS 2 API documentation](http://docs.ros2.org/foxy/api/rclcpp/).
 
 ### License [3.iii]
 
 The license for `rclcpp` is Apache 2.0, and a summary is in each source file, the type is declared in the [`package.xml`](./package.xml) manifest file, and a full copy of the license is in the [`LICENSE`](../LICENSE) file.
 
-There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastSuccessfulBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
+There is an automated test which runs a linter that ensures each file has a license statement. [Here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/) can be found a list with the latest results of the various linters being run on the package.
 
 ### Copyright Statements [3.iv]
 
 The copyright holders each provide a statement of copyright in each source code file in `rclcpp`.
 
-There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastSuccessfulBuild/testReport/rclcpp/copyright/).
+There is an automated test which runs a linter that ensures each file has at least one copyright statement. Latest linter result report can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp/copyright/).
 
 ## Testing [4]
 
 ### 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/foxy/test) directory.
 New features are required to have tests before being added.
 
-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/)
-* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rclcpp/)
-* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rclcpp/)
-* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rclcpp/)
+Though there are no nightly jobs for foxy outside of linux, each change is tested on ci.ros2.org.
+* [linux-aarch64](https://ci.ros2.org/job/ci_linux-aarch64)
+* [linux](https://ci.ros2.org/job/ci_linux)
+* [mac_osx](https://ci.ros2.org/job/ci_osx)
+* [windows](https://ci.ros2.org/job/ci_windows)
 
 ### Public API Testing [4.ii]
 
@@ -111,7 +109,7 @@ The tests aim to cover both typical usage and corner cases, but are quantified b
 
 ### Coverage [4.iii]
 
-`rclcpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#code-coverage), and opts to use line coverage instead of branch coverage.
+`rclcpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#code-coverage), and opts to use line coverage instead of branch coverage.
 
 This includes:
 
@@ -121,23 +119,27 @@ This includes:
 
 Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
 
-Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_coverage/lastSuccessfulBuild/cobertura/src_ros2_rclcpp_rclcpp_src_rclcpp/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://index.ros.org/doc/ros2/Contributing/ROS-2-On-boarding-Guide/#note-on-coverage-runs).
+Current coverage statistics can be viewed [here](https://ci.ros2.org/job/nightly_linux_foxy_coverage/lastCompletedBuild/cobertura/src_ros2_rclcpp_rclcpp_src_rclcpp/). A description of how coverage statistics are calculated is summarized in this page ["ROS 2 Onboarding Guide"](https://docs.ros.org/en/foxy/Contributing/Developer-Guide.html#note-on-coverage-runs).
 
 `rclcpp` has a line coverage `>= 95%`, which is calculated over all directories within `rclcpp` with the exception of the `experimental` directory.
 
 ### Performance [4.iv]
 
-It is not yet defined if this package requires performance testing and how addresses this topic.
+`rclcpp` follows the recommendations for performance testing of C/C++ code in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/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/foxy/rclcpp/test/benchmark).
+
+System level performance benchmarks that cover features of `rclcpp` can be found at:
+* [Benchmarks](http://build.ros2.org/view/Fci/job/Fci__benchmark_ubuntu_focal_amd64/BenchmarkTable/)
+* [Performance](http://build.ros2.org/view/Fci/job/Fci__nightly-performance_ubuntu_focal_amd64/lastCompletedBuild/)
+
+Changes that introduce regressions in performance must be adequately justified in order to be accepted and merged.
 
 ### 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://index.ros.org/doc/ros2/Contributing/Developer-Guide/#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 ROS2 standard linters and static analysis tools for a C++ package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/foxy/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/)
-* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rclcpp/)
-* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rclcpp/)
-* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rclcpp/)
+Currently nightly test results can be seen [here](http://build.ros2.org/view/Fpr/job/Fpr__rclcpp__ubuntu_focal_amd64/lastCompletedBuild/testReport/rclcpp).
 
 ## Dependencies [5]
 
@@ -155,49 +157,49 @@ 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 2**, 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/foxy-devel/QUALITY_DECLARATION.md).
 
 #### `rcl`
 
 `rcl` a library to support implementation of language specific ROS 2 Client Libraries.
 
-It is **Quality Level 2**, 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/foxy/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 2**, 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/foxy/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 2**, 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/foxy/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 2**, 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/foxy/QUALITY_DECLARATION.md).
 
 #### `rmw`
 
 `rmw` is the ROS 2 middleware library.
 
-It is **Quality Level 2**, 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/foxy/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 2**, 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/foxy/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://gitlab.com/ros-tracing/ros2_tracing/-/blob/foxy/tracetools/QUALITY_DECLARATION.md).
 
 ### Direct Runtime non-ROS Dependency [5.iii]
 
@@ -207,11 +209,11 @@ It is **Quality Level 1**, see its [Quality Declaration document](https://gitlab
 
 `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.
 
-Currently nightly build status can be seen here:
-* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/rclcpp/)
-* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/rclcpp/)
-* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/rclcpp/)
-* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/rclcpp/)
+Though there are no nightly jobs for foxy outside of linux, each change is tested on ci.ros2.org.
+* [linux-aarch64](https://ci.ros2.org/job/ci_linux-aarch64)
+* [linux](https://ci.ros2.org/job/ci_linux)
+* [mac_osx](https://ci.ros2.org/job/ci_osx)
+* [windows](https://ci.ros2.org/job/ci_windows)
 
 ## Security
 

rclcpp/README.md

@@ -6,4 +6,4 @@ Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) fo
 
 ## Quality Declaration
 
-This package claims to be in the **Quality Level 2** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.
+This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -88,7 +88,7 @@ public:
     std::shared_ptr<typename ServiceT::Request> request,
     std::shared_ptr<typename ServiceT::Response> response)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, (const void *)this, false);
     if (shared_ptr_callback_ != nullptr) {
       (void)request_header;
       shared_ptr_callback_(request, response);
@@ -97,7 +97,7 @@ public:
     } else {
       throw std::runtime_error("unexpected request without any callback set");
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void register_callback_for_tracing()
@@ -106,12 +106,12 @@ public:
     if (shared_ptr_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(shared_ptr_callback_));
     } else if (shared_ptr_with_request_header_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(shared_ptr_with_request_header_callback_));
     }
 #endif  // TRACETOOLS_DISABLED

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -158,7 +158,7 @@ public:
   void dispatch(
     std::shared_ptr<MessageT> message, const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, (const void *)this, false);
     if (shared_ptr_callback_) {
       shared_ptr_callback_(message);
     } else if (shared_ptr_with_info_callback_) {
@@ -178,13 +178,13 @@ public:
     } else {
       throw std::runtime_error("unexpected message without any callback set");
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void dispatch_intra_process(
     ConstMessageSharedPtr message, const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    TRACEPOINT(callback_start, (const void *)this, true);
     if (const_shared_ptr_callback_) {
       const_shared_ptr_callback_(message);
     } else if (const_shared_ptr_with_info_callback_) {
@@ -201,13 +201,13 @@ public:
         throw std::runtime_error("unexpected message without any callback set");
       }
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void dispatch_intra_process(
     MessageUniquePtr message, const rclcpp::MessageInfo & message_info)
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    TRACEPOINT(callback_start, (const void *)this, true);
     if (shared_ptr_callback_) {
       typename std::shared_ptr<MessageT> shared_message = std::move(message);
       shared_ptr_callback_(shared_message);
@@ -225,7 +225,7 @@ public:
     } else {
       throw std::runtime_error("unexpected message without any callback set");
     }
-    TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, (const void *)this);
   }
 
   bool use_take_shared_method() const
@@ -239,22 +239,22 @@ public:
     if (shared_ptr_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(shared_ptr_callback_));
     } else if (shared_ptr_with_info_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(shared_ptr_with_info_callback_));
     } else if (unique_ptr_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(unique_ptr_callback_));
     } else if (unique_ptr_with_info_callback_) {
       TRACEPOINT(
         rclcpp_callback_register,
-        static_cast<const void *>(this),
+        (const void *)this,
         get_symbol(unique_ptr_with_info_callback_));
     }
 #endif  // TRACETOOLS_DISABLED

rclcpp/include/rclcpp/callback_group.hpp

@@ -56,44 +56,8 @@ class CallbackGroup
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(CallbackGroup)
 
-  /// Constructor for CallbackGroup.
-  /**
-   * Callback Groups have a type, either 'Mutually Exclusive' or 'Reentrant'
-   * and when creating one the type must be specified.
-   *
-   * Callbacks in Reentrant Callback Groups must be able to:
-   *   - run at the same time as themselves (reentrant)
-   *   - run at the same time as other callbacks in their group
-   *   - run at the same time as other callbacks in other groups
-   *
-   * Callbacks in Mutually Exclusive Callback Groups:
-   *   - will not be run multiple times simultaneously (non-reentrant)
-   *   - will not be run at the same time as other callbacks in their group
-   *   - but must run at the same time as callbacks in other groups
-   *
-   * Additionally, callback groups have a property which determines whether or
-   * not they are added to an executor with their associated node automatically.
-   * When creating a callback group the automatically_add_to_executor_with_node
-   * argument determines this behavior, and if true it will cause the newly
-   * created callback group to be added to an executor with the node when the
-   * Executor::add_node method is used.
-   * If false, this callback group will not be added automatically and would
-   * have to be added to an executor manually using the
-   * Executor::add_callback_group method.
-   *
-   * Whether the node was added to the executor before creating the callback
-   * group, or after, is irrelevant; the callback group will be automatically
-   * added to the executor in either case.
-   *
-   * \param[in] group_type They type of the callback group.
-   * \param[in] automatically_add_to_executor_with_node a boolean which
-   *   determines whether a callback group is automatically added to an executor
-   *   with the node with which it is associated.
-   */
   RCLCPP_PUBLIC
-  explicit CallbackGroup(
-    CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true);
+  explicit CallbackGroup(CallbackGroupType group_type);
 
   template<typename Function>
   rclcpp::SubscriptionBase::SharedPtr
@@ -138,31 +102,6 @@ public:
   const CallbackGroupType &
   type() const;
 
-  /// Return a reference to the 'associated with executor' atomic boolean.
-  /**
-   * When a callback group is added to an executor this boolean is checked
-   * to ensure it has not already been added to another executor.
-   * If it has not been, then this boolean is set to true to indicate it is
-   * now associated with an executor.
-   *
-   * When the callback group is removed from the executor, this atomic boolean
-   * is set back to false.
-   *
-   * \return the 'associated with executor' atomic boolean
-   */
-  RCLCPP_PUBLIC
-  std::atomic_bool &
-  get_associated_with_executor_atomic();
-
-  /// Return true if this callback group should be automatically added to an executor by the node.
-  /**
-   * \return boolean true if this callback group should be automatically added
-   *   to an executor when the associated node is added, otherwise false.
-   */
-  RCLCPP_PUBLIC
-  bool
-  automatically_add_to_executor_with_node() const;
-
 protected:
   RCLCPP_DISABLE_COPY(CallbackGroup)
 
@@ -197,14 +136,12 @@ protected:
   CallbackGroupType type_;
   // Mutex to protect the subsequent vectors of pointers.
   mutable std::mutex mutex_;
-  std::atomic_bool associated_with_executor_;
   std::vector<rclcpp::SubscriptionBase::WeakPtr> subscription_ptrs_;
   std::vector<rclcpp::TimerBase::WeakPtr> timer_ptrs_;
   std::vector<rclcpp::ServiceBase::WeakPtr> service_ptrs_;
   std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
   std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
   std::atomic_bool can_be_taken_from_;
-  const bool automatically_add_to_executor_with_node_;
 
 private:
   template<typename TypeT, typename Function>

rclcpp/include/rclcpp/client.hpp

@@ -361,8 +361,7 @@ public:
     SharedPromiseWithRequest promise = std::make_shared<PromiseWithRequest>();
     SharedFutureWithRequest future_with_request(promise->get_future());
 
-    auto wrapping_cb = [future_with_request, promise, request,
-        cb = std::forward<CallbackWithRequestType>(cb)](SharedFuture future) {
+    auto wrapping_cb = [future_with_request, promise, request, &cb](SharedFuture future) {
         auto response = future.get();
         promise->set_value(std::make_pair(request, response));
         cb(future_with_request);

rclcpp/include/rclcpp/context.hpp

@@ -139,11 +139,6 @@ public:
   rclcpp::InitOptions
   get_init_options();
 
-  /// Return actual domain id.
-  RCLCPP_PUBLIC
-  size_t
-  get_domain_id() const;
-
   /// Return the shutdown reason, or empty string if not shutdown.
   /**
    * This function is thread-safe.

rclcpp/include/rclcpp/duration.hpp

@@ -21,13 +21,6 @@
 #include "rcl/time.h"
 #include "rclcpp/visibility_control.hpp"
 
-// Windows has preprocessor defines for "min" and "max", which can cause
-// problems when things like std::numeric_limits<int>::max are used.  This
-// macro is used to defeat the macro matching logic and hence workaround the
-// issue.  The idea comes from:
-// https://stackoverflow.com/questions/11544073/how-do-i-deal-with-the-max-macro-in-windows-h-colliding-with-max-in-std/11550864#11550864
-#define PREVENT_WINDOWS_MIN_MAX
-
 namespace rclcpp
 {
 class RCLCPP_PUBLIC Duration
@@ -45,14 +38,10 @@ public:
    */
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  /// Construct duration from the specified nanoseconds.
-  [[deprecated(
-    "Use Duration::from_nanoseconds instead or std::chrono_literals. For example:"
-    "rclcpp::Duration::from_nanoseconds(int64_variable);"
-    "rclcpp::Duration(0ns);")]]
+  // This constructor matches any numeric value - ints or floats.
   explicit Duration(rcl_duration_value_t nanoseconds);
 
-  /// Construct duration from the specified std::chrono::nanoseconds.
+  // This constructor matches std::chrono::nanoseconds.
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 
   // This constructor matches any std::chrono value other than nanoseconds
@@ -115,7 +104,7 @@ public:
    */
   static
   Duration
-  max PREVENT_WINDOWS_MIN_MAX();
+  max();
 
   Duration
   operator*(double scale) const;
@@ -140,10 +129,6 @@ public:
   static Duration
   from_seconds(double seconds);
 
-  /// Create a duration object from an integer number representing nanoseconds
-  static Duration
-  from_nanoseconds(rcl_duration_value_t nanoseconds);
-
   /// Convert Duration into a std::chrono::Duration.
   template<class DurationT>
   DurationT
@@ -158,8 +143,6 @@ public:
 
 private:
   rcl_duration_t rcl_duration_;
-
-  Duration() = default;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/executor.hpp

@@ -21,7 +21,6 @@
 #include <cstdlib>
 #include <iostream>
 #include <list>
-#include <map>
 #include <memory>
 #include <mutex>
 #include <string>
@@ -43,10 +42,6 @@
 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;
 
@@ -81,118 +76,13 @@ public:
   virtual void
   spin() = 0;
 
-  /// Add a callback group to an executor.
-  /**
-   * An executor can have zero or more callback groups which provide work during `spin` functions.
-   * When an executor attempts to add a callback group, the executor checks to see if it is already
-   * associated with another executor, and if it has been, then an exception is thrown.
-   * Otherwise, the callback group is added to the executor.
-   *
-   * Adding a callback group with this method does not associate its node with this executor
-   * in any way
-   *
-   * \param[in] group_ptr a shared ptr that points to a callback group
-   * \param[in] node_ptr a shared pointer that points to a node base interface
-   * \param[in] notify True to trigger the interrupt guard condition during this function. If
-   * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
-   * callback group was added, it will wake up.
-   * \throw std::runtime_error if the callback group is associated to an executor
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true);
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * associated with the executor.
-   * The callback groups associated with this executor may have been added with
-   * `add_callback_group`, or added when a node was added to the executor with `add_node`, or
-   * automatically added when it created by a node already associated with this executor and the
-   * automatically_add_to_executor_with_node parameter was true.
-   *
-   * \return a vector of weak pointers that point to callback groups that are associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * associated with the executor.
-   * The callback groups associated with this executor have been added with
-   * `add_callback_group`.
-   *
-   * \return a vector of weak pointers that point to callback groups that are associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * This function returns a vector of weak pointers that point to callback groups that were
-   * added from a node that is associated with the executor.
-   * The callback groups are added when a node is added to the executor with `add_node`, or
-   * automatically if they are created in the future by that node and have the
-   * automatically_add_to_executor_with_node argument set to true.
-   *
-   * \return a vector of weak pointers that point to callback groups from a node associated with
-   * the executor
-   */
-  RCLCPP_PUBLIC
-  virtual std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes();
-
-  /// Remove a callback group from the executor.
-  /**
-   * The callback group is removed from and disassociated with the executor.
-   * If the callback group removed was the last callback group from the node
-   * that is associated with the executor, the interrupt guard condition
-   * is triggered and node's guard condition is removed from the executor.
-   *
-   * This function only removes a callback group that was manually added with
-   * rclcpp::Executor::add_callback_group.
-   * To remove callback groups that were added from a node using
-   * rclcpp::Executor::add_node, use rclcpp::Executor::remove_node instead.
-   *
-   * \param[in] group_ptr Shared pointer to the callback group to be added.
-   * \param[in] notify True to trigger the interrupt guard condition during this function. If
-   * the executor is blocked at the rmw layer while waiting for work and it is notified that a
-   * callback group was removed, it will wake up.
-   * \throw std::runtime_error if node is deleted before callback group
-   * \throw std::runtime_error if the callback group is not associated with the executor
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    bool notify = true);
-
   /// Add a node to the executor.
   /**
-   * Nodes have associated callback groups, and this method adds any of those callback groups
-   * to this executor which have their automatically_add_to_executor_with_node parameter true.
-   * The node is also associated with the executor so that future callback groups which are
-   * created on the node with the automatically_add_to_executor_with_node parameter set to true
-   * are also automatically associated with this executor.
-   *
-   * Callback groups with the automatically_add_to_executor_with_node parameter set to false must
-   * be manually added to an executor using the rclcpp::Executor::add_callback_group method.
-   *
-   * If a node is already associated with an executor, this method throws an exception.
-   *
+   * An executor can have zero or more nodes which provide work during `spin` functions.
    * \param[in] node_ptr Shared pointer to the node to be added.
    * \param[in] notify True to trigger the interrupt guard condition during this function. If
    * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
    * node was added, it will wake up.
-   * \throw std::runtime_error if a node is already associated to an executor
    */
   RCLCPP_PUBLIC
   virtual void
@@ -208,19 +98,10 @@ public:
 
   /// Remove a node from the executor.
   /**
-   * Any callback groups automatically added when this node was added with
-   * rclcpp::Executor::add_node are automatically removed, and the node is no longer associated
-   * with this executor.
-   *
-   * This also means that future callback groups created by the given node are no longer
-   * automatically added to this executor.
-   *
    * \param[in] node_ptr Shared pointer to the node to remove.
    * \param[in] notify True to trigger the interrupt guard condition and wake up the executor.
    * This is useful if the last node was removed from the executor while the executor was blocked
    * waiting for work in another thread, because otherwise the executor would never be notified.
-   * \throw std::runtime_error if the node is not associated with an executor.
-   * \throw std::runtime_error if the node is not associated with this executor.
    */
   RCLCPP_PUBLIC
   virtual void
@@ -279,7 +160,7 @@ public:
   void
   spin_node_some(std::shared_ptr<rclcpp::Node> node);
 
-  /// Collect work once and execute all available work, optionally within a duration.
+  /// Complete all available queued work without blocking.
   /**
    * This function can be overridden. The default implementation is suitable for a
    * single-threaded model of execution.
@@ -294,23 +175,6 @@ public:
   virtual void
   spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
-  /// 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
-   * single-threaded model of execution.
-   * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
-   * to block (which may have unintended consequences).
-   * If the time that waitables take to be executed is longer than the period on which new waitables
-   * become ready, this method will execute work repeatedly until `max_duration` has elapsed.
-   *
-   * \param[in] max_duration The maximum amount of time to spend executing work. Must be positive.
-   * Note that spin_all() may take longer than this time as it only returns once max_duration has
-   * been exceeded.
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  spin_all(std::chrono::nanoseconds max_duration);
-
   RCLCPP_PUBLIC
   virtual void
   spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
@@ -325,10 +189,10 @@ public:
    *   code.
    * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
    */
-  template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   FutureReturnCode
   spin_until_future_complete(
-    const FutureT & future,
+    const std::shared_future<ResponseT> & 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
@@ -406,10 +270,6 @@ protected:
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
     std::chrono::nanoseconds timeout);
 
-  RCLCPP_PUBLIC
-  void
-  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
-
   /// Find the next available executable and do the work associated with it.
   /**
    * \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
@@ -446,79 +306,22 @@ protected:
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-  get_node_by_group(
-    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
-   * \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,
-    WeakCallbackGroupsToNodesMap weak_groups_to_nodes) const;
+  get_node_by_group(rclcpp::CallbackGroup::SharedPtr group);
 
   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);
-
-  /// 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);
-
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
-  RCLCPP_PUBLIC
-  bool
-  get_next_ready_executable_from_map(
-    AnyExecutable & any_executable,
-    WeakCallbackGroupsToNodesMap weak_groups_to_nodes);
-
   RCLCPP_PUBLIC
   bool
   get_next_executable(
     AnyExecutable & any_executable,
     std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// Add all callback groups that can be automatically added from associated nodes.
-  /**
-   * 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.
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  add_callback_groups_from_nodes_associated_to_executor();
-
   /// Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.
   std::atomic_bool spinning;
 
@@ -539,29 +342,13 @@ protected:
 
   RCLCPP_DISABLE_COPY(Executor)
 
+  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
+
+private:
   RCLCPP_PUBLIC
   void
   spin_once_impl(std::chrono::nanoseconds timeout);
-
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rcl_guard_condition_t *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-
-  /// maps nodes to guard conditions
-  WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;
-
-  /// maps callback groups associated to nodes
-  WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_;
-
-  /// maps callback groups to nodes associated with executor
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
-
-  /// maps all callback groups to nodes
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes_;
-
-  /// nodes that are associated with the executor
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
 };
 
 namespace executor

rclcpp/include/rclcpp/executors.hpp

@@ -66,12 +66,12 @@ using rclcpp::executors::SingleThreadedExecutor;
  *   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`.
  */
-template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const FutureT & future,
+  const std::shared_future<ResponseT> & 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
@@ -82,13 +82,13 @@ spin_node_until_future_complete(
   return retcode;
 }
 
-template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
+template<typename NodeT = rclcpp::Node, typename ResponseT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
 rclcpp::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
-  const FutureT & future,
+  const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::executors::spin_node_until_future_complete(
@@ -104,7 +104,7 @@ template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::mi
 rclcpp::FutureReturnCode
 spin_until_future_complete(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const FutureT & future,
+  const std::shared_future<FutureT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   rclcpp::executors::SingleThreadedExecutor executor;
@@ -116,7 +116,7 @@ template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = in
 rclcpp::FutureReturnCode
 spin_until_future_complete(
   std::shared_ptr<NodeT> node_ptr,
-  const FutureT & future,
+  const std::shared_future<FutureT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   return rclcpp::spin_until_future_complete(node_ptr->get_node_base_interface(), future, timeout);

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -17,9 +17,7 @@
 
 #include <chrono>
 #include <list>
-#include <map>
 #include <memory>
-#include <vector>
 
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
@@ -34,9 +32,6 @@ 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,
@@ -64,7 +59,7 @@ public:
   void
   init(
     rcl_wait_set_t * p_wait_set,
-    rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
+    rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
     rcl_guard_condition_t * executor_guard_condition);
 
   /// Finalize StaticExecutorEntitiesCollector to clear resources
@@ -76,11 +71,27 @@ public:
   void
   execute() override;
 
+  RCLCPP_PUBLIC
+  void
+  fill_memory_strategy();
+
+  RCLCPP_PUBLIC
+  void
+  fill_executable_list();
+
+  /// Function to reallocate space for entities in the wait set.
+  /**
+   * \throws std::runtime_error if wait set couldn't be cleared or resized.
+   */
+  RCLCPP_PUBLIC
+  void
+  prepare_wait_set();
+
   /// 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()
+   * \throws any rcl errors from rcl_wait, \sa rclcpp::exceptions::throw_from_rcl_error()
    */
   RCLCPP_PUBLIC
   void
@@ -97,58 +108,17 @@ 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()
+   * \sa rclcpp::Executor::add_node()
    * \throw std::runtime_error if node was already added
    */
   RCLCPP_PUBLIC
-  bool
+  void
   add_node(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
 
   /**
-   * \see rclcpp::Executor::remove_node()
+   * \sa rclcpp::Executor::remove_node()
    * \throw std::runtime_error if no guard condition is associated with node.
    */
   RCLCPP_PUBLIC
@@ -156,26 +126,6 @@ public:
   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
@@ -272,55 +222,12 @@ public:
   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] group_ptr a node base interface shared pointer
-   * \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);
+  /// Nodes guard conditions which trigger this waitable
+  std::list<const rcl_guard_condition_t *> guard_conditions_;
 
   /// 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 rcl_guard_condition_t *,
-      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_;
 

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -78,30 +78,15 @@ public:
   void
   spin() 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
+   * An executor can have zero or more nodes which provide work during `spin` functions.
+   * \param[in] node_ptr Shared pointer to the node to be added.
+   * \param[in] notify True to trigger the interrupt guard condition during this function. If
+   * the executor is blocked at the rmw layer while waiting for work and it is notified that a new
+   * node was added, it will wake up.
+   * \throw std::runtime_error if node was already added or if rcl_trigger_guard_condition
+   * return an error
    */
   RCLCPP_PUBLIC
   void
@@ -111,7 +96,8 @@ public:
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
-   * \sa rclcpp::StaticSingleThreadedExecutor::add_node
+   * \throw std::runtime_error if node was already added or if rcl_trigger_guard_condition
+   * returns an error
    */
   RCLCPP_PUBLIC
   void
@@ -119,7 +105,11 @@ public:
 
   /// Remove a node from the executor.
   /**
-   * \sa rclcpp::Executor::remove_node
+   * \param[in] node_ptr Shared pointer to the node to remove.
+   * \param[in] notify True to trigger the interrupt guard condition and wake up the executor.
+   * This is useful if the last node was removed from the executor while the executor was blocked
+   * waiting for work in another thread, because otherwise the executor would never be notified.
+   * \throw std::runtime_error if rcl_trigger_guard_condition returns an error
    */
   RCLCPP_PUBLIC
   void
@@ -129,32 +119,12 @@ public:
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   /**
-   * \sa rclcpp::Executor::remove_node
+   * \throw std::runtime_error if rcl_trigger_guard_condition returns an error
    */
   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;
-
   /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
   /**
    * \param[in] future The future to wait on. If this function returns SUCCESS, the future can be
@@ -173,10 +143,10 @@ public:
    *  exec.add_node(node);
    *  exec.spin_until_future_complete(future);
    */
-  template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
+  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   rclcpp::FutureReturnCode
   spin_until_future_complete(
-    FutureT & future,
+    std::shared_future<ResponseT> & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     std::future_status status = future.wait_for(std::chrono::seconds(0));
@@ -221,38 +191,6 @@ public:
     return rclcpp::FutureReturnCode::INTERRUPTED;
   }
 
-  /// Not yet implemented, see https://github.com/ros2/rclcpp/issues/1219 for tracking
-  RCLCPP_PUBLIC
-  void
-  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override
-  {
-    (void)max_duration;
-    throw rclcpp::exceptions::UnimplementedError(
-            "spin_some is not implemented for StaticSingleThreadedExecutor, use spin or "
-            "spin_until_future_complete");
-  }
-
-  /// Not yet implemented, see https://github.com/ros2/rclcpp/issues/1219 for tracking
-  RCLCPP_PUBLIC
-  void
-  spin_all(std::chrono::nanoseconds) override
-  {
-    throw rclcpp::exceptions::UnimplementedError(
-            "spin_all is not implemented for StaticSingleThreadedExecutor, use spin or "
-            "spin_until_future_complete");
-  }
-
-  /// Not yet implemented, see https://github.com/ros2/rclcpp/issues/1219 for tracking
-  RCLCPP_PUBLIC
-  void
-  spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1)) override
-  {
-    (void)timeout;
-    throw rclcpp::exceptions::UnimplementedError(
-            "spin_once is not implemented for StaticSingleThreadedExecutor, use spin or "
-            "spin_until_future_complete");
-  }
-
 protected:
   /// Check which executables in ExecutableList struct are ready from wait_set and execute them.
   /**

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

@@ -37,10 +37,6 @@ namespace experimental
 namespace buffers
 {
 
-/// Store elements in a fixed-size, FIFO buffer
-/**
- * All public member functions are thread-safe.
- */
 template<typename BufferT>
 class RingBufferImplementation : public BufferImplementationBase<BufferT>
 {
@@ -59,125 +55,55 @@ public:
 
   virtual ~RingBufferImplementation() {}
 
-  /// Add a new element to store in the ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \param request the element to be stored in the ring buffer
-   */
   void enqueue(BufferT request)
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
-    write_index_ = next_(write_index_);
+    write_index_ = next(write_index_);
     ring_buffer_[write_index_] = std::move(request);
 
-    if (is_full_()) {
-      read_index_ = next_(read_index_);
+    if (is_full()) {
+      read_index_ = next(read_index_);
     } else {
       size_++;
     }
   }
 
-  /// Remove the oldest element from ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \return the element that is being removed from the ring buffer
-   */
   BufferT dequeue()
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
-    if (!has_data_()) {
+    if (!has_data()) {
       RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Calling dequeue on empty intra-process buffer");
       throw std::runtime_error("Calling dequeue on empty intra-process buffer");
     }
 
     auto request = std::move(ring_buffer_[read_index_]);
-    read_index_ = next_(read_index_);
+    read_index_ = next(read_index_);
 
     size_--;
 
     return request;
   }
 
-  /// Get the next index value for the ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \param val the current index value
-   * \return the next index value
-   */
   inline size_t next(size_t val)
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return next_(val);
+    return (val + 1) % capacity_;
   }
 
-  /// Get if the ring buffer has at least one element stored
-  /**
-   * This member function is thread-safe.
-   *
-   * \return `true` if there is data and `false` otherwise
-   */
   inline bool has_data() const
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return has_data_();
+    return size_ != 0;
   }
 
-  /// Get if the size of the buffer is equal to its capacity
-  /**
-   * This member function is thread-safe.
-   *
-   * \return `true` if the size of the buffer is equal is capacity
-   * and `false` otherwise
-   */
-  inline bool is_full() const
+  inline bool is_full()
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return is_full_();
+    return size_ == capacity_;
   }
 
   void clear() {}
 
 private:
-  /// Get the next index value for the ring buffer
-  /**
-   * This member function is not thread-safe.
-   *
-   * \param val the current index value
-   * \return the next index value
-   */
-  inline size_t next_(size_t val)
-  {
-    return (val + 1) % capacity_;
-  }
-
-  /// Get if the ring buffer has at least one element stored
-  /**
-   * This member function is not thread-safe.
-   *
-   * \return `true` if there is data and `false` otherwise
-   */
-  inline bool has_data_() const
-  {
-    return size_ != 0;
-  }
-
-  /// Get if the size of the buffer is equal to its capacity
-  /**
-   * This member function is not thread-safe.
-   *
-   * \return `true` if the size of the buffer is equal is capacity
-   * and `false` otherwise
-   */
-  inline bool is_full_() const
-  {
-    return size_ == capacity_;
-  }
-
   size_t capacity_;
 
   std::vector<BufferT> ring_buffer_;
@@ -186,7 +112,7 @@ private:
   size_t read_index_;
   size_t size_;
 
-  mutable std::mutex mutex_;
+  std::mutex mutex_;
 };
 
 }  // namespace buffers

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -207,7 +207,7 @@ public:
       sub_ids.take_shared_subscriptions.size() <= 1)
     {
       // There is at maximum 1 buffer that does not require ownership.
-      // So this case is equivalent to all the buffers requiring ownership
+      // So we 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);

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -92,8 +92,8 @@ public:
 
     TRACEPOINT(
       rclcpp_subscription_callback_added,
-      static_cast<const void *>(this),
-      static_cast<const void *>(&any_callback_));
+      (const void *)this,
+      (const void *)&any_callback_);
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
     // in subsequent tracepoints.
@@ -102,16 +102,6 @@ public:
 #endif
   }
 
-  ~SubscriptionIntraProcess()
-  {
-    if (rcl_guard_condition_fini(&gc_) != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR_NAMED(
-        "rclcpp",
-        "Failed to destroy guard condition: %s",
-        rcutils_get_error_string().str);
-    }
-  }
-
   bool
   is_ready(rcl_wait_set_t * wait_set)
   {

rclcpp/include/rclcpp/future_return_code.hpp

@@ -42,6 +42,20 @@ RCLCPP_PUBLIC
 std::string
 to_string(const FutureReturnCode & future_return_code);
 
+namespace executor
+{
+
+using FutureReturnCode [[deprecated("use rclcpp::FutureReturnCode instead")]] = FutureReturnCode;
+
+[[deprecated("use rclcpp::to_string(const rclcpp::FutureReturnCode &) instead")]]
+inline
+std::string
+to_string(const rclcpp::FutureReturnCode & future_return_code)
+{
+  return rclcpp::to_string(future_return_code);
+}
+
+}  // namespace executor
 }  // namespace rclcpp
 
 #endif  // RCLCPP__FUTURE_RETURN_CODE_HPP_

rclcpp/include/rclcpp/graph_listener.hpp

@@ -160,12 +160,6 @@ protected:
   void
   run_loop();
 
-  RCLCPP_PUBLIC
-  void init_wait_set();
-
-  RCLCPP_PUBLIC
-  void cleanup_wait_set();
-
 private:
   RCLCPP_DISABLE_COPY(GraphListener)
 

rclcpp/include/rclcpp/init_options.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__INIT_OPTIONS_HPP_
 
 #include <memory>
-#include <mutex>
 
 #include "rcl/init_options.h"
 #include "rclcpp/visibility_control.hpp"
@@ -81,30 +80,11 @@ public:
   const rcl_init_options_t *
   get_rcl_init_options() const;
 
-  /// Retrieve default domain id and set.
-  RCLCPP_PUBLIC
-  void
-  use_default_domain_id();
-
-  /// Set the domain id.
-  RCLCPP_PUBLIC
-  void
-  set_domain_id(size_t domain_id);
-
-  /// Return domain id.
-  RCLCPP_PUBLIC
-  size_t
-  get_domain_id() const;
-
 protected:
   void
   finalize_init_options();
 
 private:
-  void
-  finalize_init_options_impl();
-
-  mutable std::mutex init_options_mutex_;
   std::unique_ptr<rcl_init_options_t> init_options_;
   bool initialize_logging_{true};
 };

rclcpp/include/rclcpp/logger.hpp

@@ -21,7 +21,6 @@
 #include "rclcpp/visibility_control.hpp"
 
 #include "rcl/node.h"
-#include "rcutils/logging.h"
 
 /**
  * \def RCLCPP_LOGGING_ENABLED
@@ -77,18 +76,6 @@ get_node_logger(const rcl_node_t * node);
 
 class Logger
 {
-public:
-  /// An enum for the type of logger level.
-  enum class Level
-  {
-    Unset = RCUTILS_LOG_SEVERITY_UNSET,  ///< The unset log level
-    Debug = RCUTILS_LOG_SEVERITY_DEBUG,  ///< The debug log level
-    Info = RCUTILS_LOG_SEVERITY_INFO,    ///< The info log level
-    Warn = RCUTILS_LOG_SEVERITY_WARN,    ///< The warn log level
-    Error = RCUTILS_LOG_SEVERITY_ERROR,  ///< The error log level
-    Fatal = RCUTILS_LOG_SEVERITY_FATAL,  ///< The fatal log level
-  };
-
 private:
   friend Logger rclcpp::get_logger(const std::string & name);
   friend ::rclcpp::node_interfaces::NodeLogging;
@@ -151,16 +138,6 @@ public:
     }
     return Logger(*name_ + "." + suffix);
   }
-
-  /// Set level for current logger.
-  /**
-   * \param[in] level the logger's level
-   * \throws rclcpp::exceptions::RCLInvalidArgument if level is invalid.
-   * \throws rclcpp::exceptions::RCLError if other error happens.
-   */
-  RCLCPP_PUBLIC
-  void
-  set_level(Level level);
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__MEMORY_STRATEGY_HPP_
 
 #include <list>
-#include <map>
 #include <memory>
 
 #include "rcl/allocator.h"
@@ -43,13 +42,11 @@ class RCLCPP_PUBLIC MemoryStrategy
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
-  using WeakCallbackGroupsToNodesMap = std::map<rclcpp::CallbackGroup::WeakPtr,
-      rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
+  using WeakNodeList = std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
 
   virtual ~MemoryStrategy() = default;
 
-  virtual bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+  virtual bool collect_entities(const WeakNodeList & weak_nodes) = 0;
 
   virtual size_t number_of_ready_subscriptions() const = 0;
   virtual size_t number_of_ready_services() const = 0;
@@ -71,27 +68,27 @@ public:
   virtual void
   get_next_subscription(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_service(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_client(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_timer(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_waitable(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
+    const WeakNodeList & weak_nodes) = 0;
 
   virtual rcl_allocator_t
   get_allocator() = 0;
@@ -99,52 +96,52 @@ public:
   static rclcpp::SubscriptionBase::SharedPtr
   get_subscription_by_handle(
     std::shared_ptr<const rcl_subscription_t> subscriber_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ServiceBase::SharedPtr
   get_service_by_handle(
     std::shared_ptr<const rcl_service_t> service_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::ClientBase::SharedPtr
   get_client_by_handle(
     std::shared_ptr<const rcl_client_t> client_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::TimerBase::SharedPtr
   get_timer_by_handle(
     std::shared_ptr<const rcl_timer_t> timer_handle,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
     rclcpp::CallbackGroup::SharedPtr group,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_service(
     rclcpp::ServiceBase::SharedPtr service,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_client(
     rclcpp::ClientBase::SharedPtr client,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(
     rclcpp::TimerBase::SharedPtr timer,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 
   static rclcpp::CallbackGroup::SharedPtr
   get_group_by_waitable(
     rclcpp::Waitable::SharedPtr waitable,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
+    const WeakNodeList & weak_nodes);
 };
 
 }  // namespace memory_strategy

rclcpp/include/rclcpp/node.hpp

@@ -141,9 +141,7 @@ public:
   /// Create and return a callback group.
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true);
+  create_callback_group(rclcpp::CallbackGroupType group_type);
 
   /// Return the list of callback groups in the node.
   RCLCPP_PUBLIC
@@ -163,7 +161,7 @@ public:
    * pub = node->create_publisher<MsgT>("chatter", QoS(10));  // implicitly KeepLast
    * pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
    * pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
-   * pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().volatile());
+   * pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().durability_volatile());
    * {
    *   rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
    *   pub = node->create_publisher<MsgT>("chatter", custom_qos);
@@ -847,6 +845,26 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
 
+  /// Register a callback to be called anytime a parameter is about to be changed.
+  /**
+   * \deprecated Use add_on_set_parameters_callback instead.
+   * With this method, only one callback can be set at a time. The callback that was previously
+   * set by this method is returned or `nullptr` if no callback was previously set.
+   *
+   * The callbacks added with `add_on_set_parameters_callback` are stored in a different place.
+   * `remove_on_set_parameters_callback` can't be used with the callbacks registered with this
+   * method. For removing it, use `set_on_parameters_set_callback(nullptr)`.
+   *
+   * \param[in] callback The callback to be called when the value for a
+   *   parameter is about to be set.
+   * \return The previous callback that was registered, if there was one,
+   *   otherwise nullptr.
+   */
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
+  RCLCPP_PUBLIC
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
+
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.
@@ -887,21 +905,15 @@ public:
     const std::string & node_name,
     const std::string & namespace_) const;
 
-  /// Return the number of publishers created for a given topic.
-  /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \return number of publishers that have been created for the given topic.
-   * \throws std::runtime_error if publishers could not be counted
-   */
   RCLCPP_PUBLIC
   size_t
   count_publishers(const std::string & topic_name) const;
 
-  /// Return the number of subscribers created for a given topic.
+  /// Return the number of subscribers who have created a subscription for a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   * \return number of subscribers that have been created for the given topic.
-   * \throws std::runtime_error if subscribers could not be counted
+   * \param[in] topic_name the topic_name on which to count the subscribers.
+   * \return number of subscribers who have created a subscription for a given topic.
+   * \throws std::runtime_error if publishers could not be counted
    */
   RCLCPP_PUBLIC
   size_t
@@ -922,7 +934,7 @@ public:
    * A relative or private topic will be expanded using this node's namespace and name.
    * The queried `topic_name` is not remapped.
    *
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
+   * \param[in] topic_name the topic_name on which to find the publishers.
    * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
    *   otherwise it should be a valid ROS topic name. Defaults to `false`.
    * \return a list of TopicEndpointInfo representing all the publishers on this topic.
@@ -948,7 +960,7 @@ public:
    * A relative or private topic will be expanded using this node's namespace and name.
    * The queried `topic_name` is not remapped.
    *
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
+   * \param[in] topic_name the topic_name on which to find the subscriptions.
    * \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
    *   otherwise it should be a valid ROS topic name. Defaults to `false`.
    * \return a list of TopicEndpointInfo representing all the subscriptions on this topic.
@@ -1182,6 +1194,10 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(Node)
 
+  RCLCPP_PUBLIC
+  bool
+  group_in_node(CallbackGroup::SharedPtr group);
+
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -83,9 +83,7 @@ public:
 
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true) override;
+  create_callback_group(rclcpp::CallbackGroupType group_type) override;
 
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
@@ -118,10 +116,6 @@ public:
   bool
   get_enable_topic_statistics_default() const override;
 
-  std::string
-  resolve_topic_or_service_name(
-    const std::string & name, bool is_service, bool only_expand = false) const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeBase)
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -106,9 +106,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(
-    rclcpp::CallbackGroupType group_type,
-    bool automatically_add_to_executor_with_node = true) = 0;
+  create_callback_group(rclcpp::CallbackGroupType group_type) = 0;
 
   /// Return the default callback group.
   RCLCPP_PUBLIC
@@ -163,13 +161,6 @@ public:
   virtual
   bool
   get_enable_topic_statistics_default() const = 0;
-
-  /// Expand and remap a given topic or service name.
-  RCLCPP_PUBLIC
-  virtual
-  std::string
-  resolve_topic_or_service_name(
-    const std::string & name, bool is_service, bool only_expand = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -110,7 +110,7 @@ public:
 
   RCLCPP_PUBLIC
   size_t
-  count_graph_users() const override;
+  count_graph_users() override;
 
   RCLCPP_PUBLIC
   std::vector<rclcpp::TopicEndpointInfo>

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -146,7 +146,6 @@ public:
   /**
    * A topic is considered to exist when at least one publisher or subscriber
    * exists for it, whether they be local or remote to this process.
-   * The returned names are the actual names used and do not have remap rules applied.
    *
    * \param[in] no_demangle if true, topic names and types are not demangled
    */
@@ -160,7 +159,6 @@ public:
    * A service is considered to exist when at least one service server or
    * service client exists for it, whether they be local or remote to this
    * process.
-   * The returned names are the actual names used and do not have remap rules applied.
    */
   RCLCPP_PUBLIC
   virtual
@@ -170,7 +168,6 @@ public:
   /// Return a map of existing service names to list of service types for a specific node.
   /**
    * This function only considers services - not clients.
-   * The returned names are the actual names used and do not have remap rules applied.
    *
    * \param[in] node_name name of the node
    * \param[in] namespace_ namespace of the node
@@ -183,36 +180,24 @@ public:
     const std::string & namespace_) const = 0;
 
   /// Return a vector of existing node names (string).
-  /*
-   * The returned names are the actual names used and do not have remap rules applied.
-   */
   RCLCPP_PUBLIC
   virtual
   std::vector<std::string>
   get_node_names() const = 0;
 
   /// Return a vector of existing node names and namespaces (pair of string).
-  /*
-   * The returned names are the actual names used and do not have remap rules applied.
-   */
   RCLCPP_PUBLIC
   virtual
   std::vector<std::pair<std::string, std::string>>
   get_node_names_and_namespaces() const = 0;
 
   /// Return the number of publishers that are advertised on a given topic.
-  /*
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   */
   RCLCPP_PUBLIC
   virtual
   size_t
   count_publishers(const std::string & topic_name) const = 0;
 
   /// Return the number of subscribers who have created a subscription for a given topic.
-  /*
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
-   */
   RCLCPP_PUBLIC
   virtual
   size_t
@@ -278,11 +263,10 @@ public:
   RCLCPP_PUBLIC
   virtual
   size_t
-  count_graph_users() const = 0;
+  count_graph_users() = 0;
 
   /// Return the topic endpoint information about publishers on a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
    * \sa rclcpp::Node::get_publishers_info_by_topic
    */
   RCLCPP_PUBLIC
@@ -292,7 +276,6 @@ public:
 
   /// Return the topic endpoint information about subscriptions on a given topic.
   /**
-   * \param[in] topic_name the actual topic name used; it will not be automatically remapped.
    * \sa rclcpp::Node::get_subscriptions_info_by_topic
    */
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -170,6 +170,11 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
 
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
+  RCLCPP_PUBLIC
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
+
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -191,6 +191,17 @@ public:
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) = 0;
 
+  /// Register a callback for when parameters are being set, return an existing one.
+  /**
+   * \deprecated Use add_on_set_parameters_callback instead.
+   * \sa rclcpp::Node::set_on_parameters_set_callback
+   */
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
+  RCLCPP_PUBLIC
+  virtual
+  OnParametersSetCallbackType
+  set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
+
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_services.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_SERVICES_HPP_
 
-#include <string>
-
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/client.hpp"
 #include "rclcpp/macros.hpp"
@@ -55,10 +53,6 @@ public:
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
     rclcpp::CallbackGroup::SharedPtr group) override;
 
-  RCLCPP_PUBLIC
-  std::string
-  resolve_service_name(const std::string & name, bool only_expand = false) const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeServices)
 

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_
 
-#include <string>
-
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/client.hpp"
 #include "rclcpp/macros.hpp"
@@ -51,12 +49,6 @@ public:
   add_service(
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
     rclcpp::CallbackGroup::SharedPtr group) = 0;
-
-  /// Get the remapped and expanded service name given a input name.
-  RCLCPP_PUBLIC
-  virtual
-  std::string
-  resolve_service_name(const std::string & name, bool only_expand = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp

@@ -24,7 +24,6 @@
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
 #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/time_source.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -47,8 +46,7 @@ public:
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
-    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-    const rclcpp::QoS & qos = rclcpp::RosoutQoS()
+    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters
   );
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -81,10 +81,6 @@ public:
   rclcpp::node_interfaces::NodeTimersInterface *
   get_node_timers_interface() const override;
 
-  RCLCPP_PUBLIC
-  std::string
-  resolve_topic_name(const std::string & name, bool only_expand = false) const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeTopics)
 

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -86,12 +86,6 @@ public:
   virtual
   rclcpp::node_interfaces::NodeTimersInterface *
   get_node_timers_interface() const = 0;
-
-  /// Get a remapped and expanded topic name given an input name.
-  RCLCPP_PUBLIC
-  virtual
-  std::string
-  resolve_topic_name(const std::string & name, bool only_expand = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_options.hpp

@@ -46,8 +46,6 @@ public:
    *   - enable_topic_statistics = false
    *   - start_parameter_services = true
    *   - start_parameter_event_publisher = true
-   *   - clock_qos = rclcpp::ClockQoS()
-   *   - rosout_qos = rclcpp::RosoutQoS()
    *   - parameter_event_qos = rclcpp::ParameterEventQoS
    *     - with history setting and depth from rmw_qos_profile_parameter_events
    *   - parameter_event_publisher_options = rclcpp::PublisherOptionsBase
@@ -245,19 +243,6 @@ public:
   NodeOptions &
   start_parameter_event_publisher(bool start_parameter_event_publisher);
 
-  /// Return a reference to the clock QoS.
-  RCLCPP_PUBLIC
-  const rclcpp::QoS &
-  clock_qos() const;
-
-  /// Set the clock QoS.
-  /**
-   * The QoS settings to be used for the publisher on /clock topic, if enabled.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  clock_qos(const rclcpp::QoS & clock_qos);
-
   /// Return a reference to the parameter_event_qos QoS.
   RCLCPP_PUBLIC
   const rclcpp::QoS &
@@ -271,19 +256,6 @@ public:
   NodeOptions &
   parameter_event_qos(const rclcpp::QoS & parameter_event_qos);
 
-  /// Return a reference to the rosout QoS.
-  RCLCPP_PUBLIC
-  const rclcpp::QoS &
-  rosout_qos() const;
-
-  /// Set the rosout QoS.
-  /**
-   * The QoS settings to be used for the publisher on /rosout topic, if enabled.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  rosout_qos(const rclcpp::QoS & rosout_qos);
-
   /// Return a reference to the parameter_event_publisher_options.
   RCLCPP_PUBLIC
   const rclcpp::PublisherOptionsBase &
@@ -355,6 +327,11 @@ public:
   NodeOptions &
   allocator(rcl_allocator_t allocator);
 
+protected:
+  /// Retrieve the ROS_DOMAIN_ID environment variable and populate options.
+  size_t
+  get_domain_id_from_env() const;
+
 private:
   // This is mutable to allow for a const accessor which lazily creates the node options instance.
   /// Underlying rcl_node_options structure.
@@ -382,14 +359,10 @@ private:
 
   bool start_parameter_event_publisher_ {true};
 
-  rclcpp::QoS clock_qos_ = rclcpp::ClockQoS();
-
   rclcpp::QoS parameter_event_qos_ = rclcpp::ParameterEventsQoS(
     rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
   );
 
-  rclcpp::QoS rosout_qos_ = rclcpp::RosoutQoS();
-
   rclcpp::PublisherOptionsBase parameter_event_publisher_options_ = rclcpp::PublisherOptionsBase();
 
   bool allow_undeclared_parameters_ {false};

rclcpp/include/rclcpp/parameter_client.hpp

@@ -73,21 +73,12 @@ public:
    * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   AsyncParametersClient(
-    const std::shared_ptr<NodeT> node,
+    const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    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,
-      qos_profile,
-      group)
-  {}
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Constructor
   /**
@@ -96,21 +87,12 @@ public:
    * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
    * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   AsyncParametersClient(
-    NodeT * node,
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    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,
-      qos_profile,
-      group)
-  {}
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::Parameter>>
@@ -255,61 +237,31 @@ class SyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SyncParametersClient)
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   explicit SyncParametersClient(
-    std::shared_ptr<NodeT> node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
-    std::shared_ptr<NodeT> node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : 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,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
-  SyncParametersClient(
-    NodeT * node,
+  RCLCPP_PUBLIC
+  explicit SyncParametersClient(
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : SyncParametersClient(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node,
-      remote_node_name,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
-  template<typename NodeT>
+  RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::Executor::SharedPtr executor,
-    NodeT * node,
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : 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,
-      qos_profile)
-  {}
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   SyncParametersClient(
@@ -319,18 +271,7 @@ public:
     const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
     const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters)
-  : 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,
-      qos_profile);
-  }
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   std::vector<rclcpp::Parameter>

rclcpp/include/rclcpp/publisher.hpp

@@ -68,7 +68,7 @@ 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] options options for the subscription.
    */
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,

rclcpp/include/rclcpp/publisher_options.hpp

@@ -92,12 +92,7 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
   get_allocator() const
   {
     if (!this->allocator) {
-      // TODO(wjwwood): I would like to use the commented line instead, but
-      //   cppcheck 1.89 fails with:
-      //     Syntax Error: AST broken, binary operator '>' doesn't have two operands.
-      // return std::make_shared<Allocator>();
-      std::shared_ptr<Allocator> tmp(new Allocator());
-      return tmp;
+      return std::make_shared<Allocator>();
     }
     return this->allocator;
   }

rclcpp/include/rclcpp/qos.hpp

@@ -19,7 +19,6 @@
 
 #include "rclcpp/duration.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rcl/logging_rosout.h"
 #include "rmw/incompatible_qos_events_statuses.h"
 #include "rmw/qos_profiles.h"
 #include "rmw/types.h"
@@ -163,26 +162,6 @@ bool operator==(const QoS & left, const QoS & right);
 RCLCPP_PUBLIC
 bool operator!=(const QoS & left, const QoS & right);
 
-/**
- * Clock QoS class
- *    - History: Keep last,
- *    - Depth: 1,
- *    - Reliability: Best effort,
- *    - Durability: Volatile,
- *    - Deadline: Default,
- *    - Lifespan: Default,
- *    - Liveliness: System default,
- *    - Liveliness lease duration: default,
- *    - avoid ros namespace conventions: false
- */
-class RCLCPP_PUBLIC ClockQoS : public QoS
-{
-public:
-  explicit
-  ClockQoS(
-    const QoSInitialization & qos_initialization = KeepLast(1));
-};
-
 /**
  * Sensor Data QoS class
  *    - History: Keep last,
@@ -271,28 +250,6 @@ public:
   ));
 };
 
-/**
- * Rosout QoS class
- *    - History: Keep last,
- *    - Depth: 1000,
- *    - Reliability: Reliable,
- *    - Durability: TRANSIENT_LOCAL,
- *    - Deadline: Default,
- *    - Lifespan: {10, 0},
- *    - Liveliness: System default,
- *    - Liveliness lease duration: default,
- *    - Avoid ros namespace conventions: false
- */
-class RCLCPP_PUBLIC RosoutQoS : public QoS
-{
-public:
-  explicit
-  RosoutQoS(
-    const QoSInitialization & rosout_qos_initialization = (
-      QoSInitialization::from_rmw(rcl_qos_profile_rosout_default)
-  ));
-};
-
 /**
  * System defaults QoS class
  *    - History: System default,

rclcpp/include/rclcpp/qos_event.hpp

@@ -34,7 +34,6 @@ using QOSDeadlineRequestedInfo = rmw_requested_deadline_missed_status_t;
 using QOSDeadlineOfferedInfo = rmw_offered_deadline_missed_status_t;
 using QOSLivelinessChangedInfo = rmw_liveliness_changed_status_t;
 using QOSLivelinessLostInfo = rmw_liveliness_lost_status_t;
-using QOSMessageLostInfo = rmw_message_lost_status_t;
 using QOSOfferedIncompatibleQoSInfo = rmw_offered_qos_incompatible_event_status_t;
 using QOSRequestedIncompatibleQoSInfo = rmw_requested_qos_incompatible_event_status_t;
 
@@ -42,7 +41,6 @@ using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequeste
 using QOSDeadlineOfferedCallbackType = std::function<void (QOSDeadlineOfferedInfo &)>;
 using QOSLivelinessChangedCallbackType = std::function<void (QOSLivelinessChangedInfo &)>;
 using QOSLivelinessLostCallbackType = std::function<void (QOSLivelinessLostInfo &)>;
-using QOSMessageLostCallbackType = std::function<void (QOSMessageLostInfo &)>;
 using QOSOfferedIncompatibleQoSCallbackType = std::function<void (QOSOfferedIncompatibleQoSInfo &)>;
 using QOSRequestedIncompatibleQoSCallbackType =
   std::function<void (QOSRequestedIncompatibleQoSInfo &)>;
@@ -61,7 +59,6 @@ struct SubscriptionEventCallbacks
   QOSDeadlineRequestedCallbackType deadline_callback;
   QOSLivelinessChangedCallbackType liveliness_callback;
   QOSRequestedIncompatibleQoSCallbackType incompatible_qos_callback;
-  QOSMessageLostCallbackType message_lost_callback;
 };
 
 class UnsupportedEventTypeException : public exceptions::RCLErrorBase, public std::runtime_error

rclcpp/include/rclcpp/service.hpp

@@ -223,8 +223,8 @@ public:
     }
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -258,8 +258,8 @@ public:
     service_handle_ = service_handle;
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif
@@ -295,8 +295,8 @@ public:
     service_handle_->impl = service_handle->impl;
     TRACEPOINT(
       rclcpp_service_callback_added,
-      static_cast<const void *>(get_service_handle().get()),
-      static_cast<const void *>(&any_callback_));
+      (const void *)get_service_handle().get(),
+      (const void *)&any_callback_);
 #ifndef TRACETOOLS_DISABLED
     any_callback_.register_callback_for_tracing();
 #endif

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -150,47 +150,48 @@ public:
     );
   }
 
-  bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+  bool collect_entities(const WeakNodeList & weak_nodes) override
   {
-    bool has_invalid_weak_groups_or_nodes = false;
-    for (const auto & pair : weak_groups_to_nodes) {
-      auto group = pair.first.lock();
-      auto node = pair.second.lock();
-      if (group == nullptr || node == nullptr) {
-        has_invalid_weak_groups_or_nodes = true;
+    bool has_invalid_weak_nodes = false;
+    for (auto & weak_node : weak_nodes) {
+      auto node = weak_node.lock();
+      if (!node) {
+        has_invalid_weak_nodes = true;
         continue;
       }
-      if (!group || !group->can_be_taken_from().load()) {
-        continue;
+      for (auto & weak_group : node->get_callback_groups()) {
+        auto group = weak_group.lock();
+        if (!group || !group->can_be_taken_from().load()) {
+          continue;
+        }
+        group->find_subscription_ptrs_if(
+          [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
+            subscription_handles_.push_back(subscription->get_subscription_handle());
+            return false;
+          });
+        group->find_service_ptrs_if(
+          [this](const rclcpp::ServiceBase::SharedPtr & service) {
+            service_handles_.push_back(service->get_service_handle());
+            return false;
+          });
+        group->find_client_ptrs_if(
+          [this](const rclcpp::ClientBase::SharedPtr & client) {
+            client_handles_.push_back(client->get_client_handle());
+            return false;
+          });
+        group->find_timer_ptrs_if(
+          [this](const rclcpp::TimerBase::SharedPtr & timer) {
+            timer_handles_.push_back(timer->get_timer_handle());
+            return false;
+          });
+        group->find_waitable_ptrs_if(
+          [this](const rclcpp::Waitable::SharedPtr & waitable) {
+            waitable_handles_.push_back(waitable);
+            return false;
+          });
       }
-      group->find_subscription_ptrs_if(
-        [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-          subscription_handles_.push_back(subscription->get_subscription_handle());
-          return false;
-        });
-      group->find_service_ptrs_if(
-        [this](const rclcpp::ServiceBase::SharedPtr & service) {
-          service_handles_.push_back(service->get_service_handle());
-          return false;
-        });
-      group->find_client_ptrs_if(
-        [this](const rclcpp::ClientBase::SharedPtr & client) {
-          client_handles_.push_back(client->get_client_handle());
-          return false;
-        });
-      group->find_timer_ptrs_if(
-        [this](const rclcpp::TimerBase::SharedPtr & timer) {
-          timer_handles_.push_back(timer->get_timer_handle());
-          return false;
-        });
-      group->find_waitable_ptrs_if(
-        [this](const rclcpp::Waitable::SharedPtr & waitable) {
-          waitable_handles_.push_back(waitable);
-          return false;
-        });
     }
-
-    return has_invalid_weak_groups_or_nodes;
+    return has_invalid_weak_nodes;
   }
 
   void add_waitable_handle(const rclcpp::Waitable::SharedPtr & waitable) override
@@ -263,14 +264,14 @@ public:
   void
   get_next_subscription(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+    const WeakNodeList & weak_nodes) override
   {
     auto it = subscription_handles_.begin();
     while (it != subscription_handles_.end()) {
-      auto subscription = get_subscription_by_handle(*it, weak_groups_to_nodes);
+      auto subscription = get_subscription_by_handle(*it, weak_nodes);
       if (subscription) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_subscription(subscription, weak_groups_to_nodes);
+        auto group = get_group_by_subscription(subscription, weak_nodes);
         if (!group) {
           // Group was not found, meaning the subscription is not valid...
           // Remove it from the ready list and continue looking
@@ -286,7 +287,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.subscription = subscription;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         subscription_handles_.erase(it);
         return;
       }
@@ -298,14 +299,14 @@ public:
   void
   get_next_service(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+    const WeakNodeList & weak_nodes) override
   {
     auto it = service_handles_.begin();
     while (it != service_handles_.end()) {
-      auto service = get_service_by_handle(*it, weak_groups_to_nodes);
+      auto service = get_service_by_handle(*it, weak_nodes);
       if (service) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_service(service, weak_groups_to_nodes);
+        auto group = get_group_by_service(service, weak_nodes);
         if (!group) {
           // Group was not found, meaning the service is not valid...
           // Remove it from the ready list and continue looking
@@ -321,7 +322,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.service = service;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         service_handles_.erase(it);
         return;
       }
@@ -331,16 +332,14 @@ public:
   }
 
   void
-  get_next_client(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+  get_next_client(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = client_handles_.begin();
     while (it != client_handles_.end()) {
-      auto client = get_client_by_handle(*it, weak_groups_to_nodes);
+      auto client = get_client_by_handle(*it, weak_nodes);
       if (client) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_client(client, weak_groups_to_nodes);
+        auto group = get_group_by_client(client, weak_nodes);
         if (!group) {
           // Group was not found, meaning the service is not valid...
           // Remove it from the ready list and continue looking
@@ -356,7 +355,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.client = client;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         client_handles_.erase(it);
         return;
       }
@@ -368,14 +367,14 @@ public:
   void
   get_next_timer(
     rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+    const WeakNodeList & weak_nodes) override
   {
     auto it = timer_handles_.begin();
     while (it != timer_handles_.end()) {
-      auto timer = get_timer_by_handle(*it, weak_groups_to_nodes);
+      auto timer = get_timer_by_handle(*it, weak_nodes);
       if (timer) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_timer(timer, weak_groups_to_nodes);
+        auto group = get_group_by_timer(timer, weak_nodes);
         if (!group) {
           // Group was not found, meaning the timer is not valid...
           // Remove it from the ready list and continue looking
@@ -391,7 +390,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.timer = timer;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         timer_handles_.erase(it);
         return;
       }
@@ -401,16 +400,14 @@ public:
   }
 
   void
-  get_next_waitable(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
+  get_next_waitable(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = waitable_handles_.begin();
     while (it != waitable_handles_.end()) {
       auto waitable = *it;
       if (waitable) {
         // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_waitable(waitable, weak_groups_to_nodes);
+        auto group = get_group_by_waitable(waitable, weak_nodes);
         if (!group) {
           // Group was not found, meaning the waitable is not valid...
           // Remove it from the ready list and continue looking
@@ -426,7 +423,7 @@ public:
         // Otherwise it is safe to set and return the any_exec
         any_exec.waitable = waitable;
         any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
+        any_exec.node_base = get_node_by_group(group, weak_nodes);
         waitable_handles_.erase(it);
         return;
       }

rclcpp/include/rclcpp/subscription.hpp

@@ -92,7 +92,7 @@ public:
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] qos QoS profile for Subcription.
    * \param[in] callback User defined callback to call when a message is received.
-   * \param[in] options Options for the subscription.
+   * \param[in] options options for the subscription.
    * \param[in] message_memory_strategy The memory strategy to be used for managing message memory.
    * \param[in] subscription_topic_statistics Optional pointer to a topic statistics subcription.
    * \throws std::invalid_argument if the QoS is uncompatible with intra-process (if one
@@ -144,11 +144,6 @@ public:
         // pass
       }
     }
-    if (options.event_callbacks.message_lost_callback) {
-      this->add_event_handler(
-        options.event_callbacks.message_lost_callback,
-        RCL_SUBSCRIPTION_MESSAGE_LOST);
-    }
 
     // Setup intra process publishing if requested.
     if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {
@@ -184,8 +179,8 @@ public:
         resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback));
       TRACEPOINT(
         rclcpp_subscription_init,
-        static_cast<const void *>(get_subscription_handle().get()),
-        static_cast<const void *>(subscription_intra_process.get()));
+        (const void *)get_subscription_handle().get(),
+        (const void *)subscription_intra_process.get());
 
       // Add it to the intra process manager.
       using rclcpp::experimental::IntraProcessManager;
@@ -200,12 +195,12 @@ public:
 
     TRACEPOINT(
       rclcpp_subscription_init,
-      static_cast<const void *>(get_subscription_handle().get()),
-      static_cast<const void *>(this));
+      (const void *)get_subscription_handle().get(),
+      (const void *)this);
     TRACEPOINT(
       rclcpp_subscription_callback_added,
-      static_cast<const void *>(this),
-      static_cast<const void *>(&any_callback_));
+      (const void *)this,
+      (const void *)&any_callback_);
     // The callback object gets copied, so if registration is done too early/before this point
     // (e.g. in `AnySubscriptionCallback::set()`), its address won't match any address used later
     // in subsequent tracepoints.

rclcpp/include/rclcpp/subscription_base.hpp

@@ -66,7 +66,7 @@ public:
    * \param[in] node_base NodeBaseInterface pointer used in parts of the setup.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] subscription_options Options for the subscription.
+   * \param[in] subscription_options options for the subscription.
    * \param[in] is_serialized is true if the message will be delivered still serialized
    */
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/subscription_options.hpp

@@ -101,7 +101,7 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
     rcl_subscription_options_t result = rcl_subscription_get_default_options();
     using AllocatorTraits = std::allocator_traits<Allocator>;
     using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
-    auto message_alloc = std::make_shared<MessageAllocatorT>(*allocator.get());
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
     result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
     result.rmw_subscription_options.ignore_local_publications = this->ignore_local_publications;

rclcpp/include/rclcpp/time.hpp

@@ -23,13 +23,6 @@
 
 #include "rclcpp/duration.hpp"
 
-// Windows has preprocessor defines for "min" and "max", which can cause
-// problems when things like std::numeric_limits<int>::max are used.  This
-// macro is used to defeat the macro matching logic and hence workaround the
-// issue.  The idea comes from:
-// https://stackoverflow.com/questions/11544073/how-do-i-deal-with-the-max-macro-in-windows-h-colliding-with-max-in-std/11550864#11550864
-#define PREVENT_WINDOWS_MIN_MAX
-
 namespace rclcpp
 {
 
@@ -196,7 +189,7 @@ public:
    */
   RCLCPP_PUBLIC
   static Time
-  max PREVENT_WINDOWS_MIN_MAX();
+  max();
 
   /// Get the seconds since epoch
   /**

rclcpp/include/rclcpp/time_source.hpp

@@ -40,19 +40,16 @@ public:
    * The node will be attached to the time source.
    *
    * \param node std::shared pointer to a initialized node
-   * \param qos QoS that will be used when creating a `/clock` subscription.
    */
   RCLCPP_PUBLIC
-  explicit TimeSource(rclcpp::Node::SharedPtr node, const rclcpp::QoS & qos = rclcpp::ClockQoS());
+  explicit TimeSource(rclcpp::Node::SharedPtr node);
 
   /// Empty constructor
   /**
    * An Empty TimeSource class
-   *
-   * \param qos QoS that will be used when creating a `/clock` subscription.
    */
   RCLCPP_PUBLIC
-  explicit TimeSource(const rclcpp::QoS & qos = rclcpp::ClockQoS());
+  TimeSource();
 
   /// Attack node to the time source.
   /**
@@ -117,14 +114,11 @@ private:
   // Store (and update on node attach) logger for logging.
   Logger logger_;
 
-  // QoS of the clock subscription.
-  rclcpp::QoS qos_;
-
   // The subscription for the clock callback
   using MessageT = rosgraph_msgs::msg::Clock;
   using Alloc = std::allocator<void>;
   using SubscriptionT = rclcpp::Subscription<MessageT, Alloc>;
-  std::shared_ptr<SubscriptionT> clock_subscription_{nullptr};
+  std::shared_ptr<SubscriptionT> clock_subscription_;
   std::mutex clock_sub_lock_;
 
   // The clock callback itself
@@ -154,6 +148,8 @@ private:
   void disable_ros_time();
 
   // Internal helper functions used inside iterators
+  static void enable_ros_time(rclcpp::Clock::SharedPtr clock);
+  static void disable_ros_time(rclcpp::Clock::SharedPtr clock);
   static void set_clock(
     const builtin_interfaces::msg::Time::SharedPtr msg,
     bool set_ros_time_enabled,
@@ -161,7 +157,7 @@ private:
 
   // Local storage of validity of ROS time
   // This is needed when new clocks are added.
-  bool ros_time_active_{false};
+  bool ros_time_active_;
   // Last set message to be passed to newly registered clocks
   rosgraph_msgs::msg::Clock::SharedPtr last_msg_set_;
 
@@ -170,7 +166,7 @@ private:
   // A vector to store references to associated clocks.
   std::vector<rclcpp::Clock::SharedPtr> associated_clocks_;
   // A handler for the use_sim_time parameter callback.
-  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr sim_time_cb_handler_{nullptr};
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr sim_time_cb_handler_ = nullptr;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/timer.hpp

@@ -176,11 +176,11 @@ public:
   {
     TRACEPOINT(
       rclcpp_timer_callback_added,
-      static_cast<const void *>(get_timer_handle().get()),
-      static_cast<const void *>(&callback_));
+      (const void *)get_timer_handle().get(),
+      (const void *)&callback_);
     TRACEPOINT(
       rclcpp_callback_register,
-      static_cast<const void *>(&callback_),
+      (const void *)&callback_,
       get_symbol(callback_));
   }
 
@@ -205,9 +205,9 @@ public:
     if (ret != RCL_RET_OK) {
       throw std::runtime_error("Failed to notify timer that callback occurred");
     }
-    TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
+    TRACEPOINT(callback_start, (const void *)&callback_, false);
     execute_callback_delegate<>();
-    TRACEPOINT(callback_end, static_cast<const void *>(&callback_));
+    TRACEPOINT(callback_end, (const void *)&callback_);
   }
 
   // void specialization

rclcpp/package.xml

@@ -2,13 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>5.1.0</version>
+  <version>2.3.1</version>
   <description>The ROS client library in C++.</description>
-  <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
-  <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>
-  <maintainer email="william@openrobotics.org">William Woodall</maintainer>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
-  <author email="dthomas@openrobotics.org">Dirk Thomas</author>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 

rclcpp/src/rclcpp/callback_group.cpp

@@ -19,12 +19,8 @@
 using rclcpp::CallbackGroup;
 using rclcpp::CallbackGroupType;
 
-CallbackGroup::CallbackGroup(
-  CallbackGroupType group_type,
-  bool automatically_add_to_executor_with_node)
-: type_(group_type), associated_with_executor_(false),
-  can_be_taken_from_(true),
-  automatically_add_to_executor_with_node_(automatically_add_to_executor_with_node)
+CallbackGroup::CallbackGroup(CallbackGroupType group_type)
+: type_(group_type), can_be_taken_from_(true)
 {}
 
 
@@ -40,18 +36,6 @@ CallbackGroup::type() const
   return type_;
 }
 
-std::atomic_bool &
-CallbackGroup::get_associated_with_executor_atomic()
-{
-  return associated_with_executor_;
-}
-
-bool
-CallbackGroup::automatically_add_to_executor_with_node() const
-{
-  return automatically_add_to_executor_with_node_;
-}
-
 void
 CallbackGroup::add_subscription(
   const rclcpp::SubscriptionBase::SharedPtr subscription_ptr)

rclcpp/src/rclcpp/context.cpp

@@ -199,17 +199,13 @@ Context::init(
     throw rclcpp::ContextAlreadyInitialized();
   }
   this->clean_up();
-  rcl_context_t * context = new rcl_context_t;
-  if (!context) {
-    throw std::runtime_error("failed to allocate memory for rcl context");
-  }
-  *context = rcl_get_zero_initialized_context();
-  rcl_ret_t ret = rcl_init(argc, argv, init_options.get_rcl_init_options(), context);
+  rcl_context_.reset(new rcl_context_t, __delete_context);
+  *rcl_context_.get() = rcl_get_zero_initialized_context();
+  rcl_ret_t ret = rcl_init(argc, argv, init_options.get_rcl_init_options(), rcl_context_.get());
   if (RCL_RET_OK != ret) {
-    delete context;
+    rcl_context_.reset();
     rclcpp::exceptions::throw_from_rcl_error(ret, "failed to initialize rcl");
   }
-  rcl_context_.reset(context, __delete_context);
 
   if (init_options.auto_initialize_logging()) {
     logging_mutex_ = get_global_logging_mutex();
@@ -279,17 +275,6 @@ Context::get_init_options()
   return init_options_;
 }
 
-size_t
-Context::get_domain_id() const
-{
-  size_t domain_id;
-  rcl_ret_t ret = rcl_context_get_domain_id(rcl_context_.get(), &domain_id);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get domain id from context");
-  }
-  return domain_id;
-}
-
 std::string
 Context::shutdown_reason()
 {

rclcpp/src/rclcpp/duration.cpp

@@ -37,7 +37,7 @@ Duration::Duration(int32_t seconds, uint32_t nanoseconds)
   rcl_duration_.nanoseconds += nanoseconds;
 }
 
-Duration::Duration(rcl_duration_value_t nanoseconds)
+Duration::Duration(int64_t nanoseconds)
 {
   rcl_duration_.nanoseconds = nanoseconds;
 }
@@ -148,7 +148,7 @@ Duration::operator+(const rclcpp::Duration & rhs) const
     this->rcl_duration_.nanoseconds,
     rhs.rcl_duration_.nanoseconds,
     std::numeric_limits<rcl_duration_value_t>::max());
-  return Duration::from_nanoseconds(
+  return Duration(
     rcl_duration_.nanoseconds + rhs.rcl_duration_.nanoseconds);
 }
 
@@ -177,7 +177,7 @@ Duration::operator-(const rclcpp::Duration & rhs) const
     rhs.rcl_duration_.nanoseconds,
     std::numeric_limits<rcl_duration_value_t>::max());
 
-  return Duration::from_nanoseconds(
+  return Duration(
     rcl_duration_.nanoseconds - rhs.rcl_duration_.nanoseconds);
 }
 
@@ -208,7 +208,7 @@ Duration::operator*(double scale) const
     scale,
     std::numeric_limits<rcl_duration_value_t>::max());
   long double scale_ld = static_cast<long double>(scale);
-  return Duration::from_nanoseconds(
+  return Duration(
     static_cast<rcl_duration_value_t>(
       static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld));
 }
@@ -249,17 +249,7 @@ Duration::to_rmw_time() const
 Duration
 Duration::from_seconds(double seconds)
 {
-  Duration ret;
-  ret.rcl_duration_.nanoseconds = static_cast<int64_t>(RCL_S_TO_NS(seconds));
-  return ret;
-}
-
-Duration
-Duration::from_nanoseconds(rcl_duration_value_t nanoseconds)
-{
-  Duration ret;
-  ret.rcl_duration_.nanoseconds = nanoseconds;
-  return ret;
+  return Duration(static_cast<int64_t>(RCL_S_TO_NS(seconds)));
 }
 
 }  // namespace rclcpp

rclcpp/src/rclcpp/executor.cpp

@@ -14,26 +14,21 @@
 
 #include <algorithm>
 #include <memory>
-#include <map>
 #include <string>
 #include <type_traits>
-#include <utility>
-#include <vector>
 
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/executor.hpp"
-#include "rclcpp/memory_strategy.hpp"
+#include "rclcpp/executors/static_single_threaded_executor.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/scope_exit.hpp"
 #include "rclcpp/utilities.hpp"
 
 #include "rcutils/logging_macros.h"
 
-using namespace std::chrono_literals;
-
 using rclcpp::exceptions::throw_from_rcl_error;
 using rclcpp::AnyExecutable;
 using rclcpp::Executor;
@@ -86,33 +81,19 @@ Executor::Executor(const rclcpp::ExecutorOptions & options)
 
 Executor::~Executor()
 {
-  // Disassociate all callback groups.
-  for (auto & pair : weak_groups_to_nodes_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
+  // Disassocate all nodes
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node) {
+      std::atomic_bool & has_executor = node->get_associated_with_executor_atomic();
       has_executor.store(false);
     }
   }
-  // Disassociate all nodes.
-  std::for_each(
-    weak_nodes_.begin(), weak_nodes_.end(), []
-      (rclcpp::node_interfaces::NodeBaseInterface::WeakPtr weak_node_ptr) {
-      auto shared_node_ptr = weak_node_ptr.lock();
-      if (shared_node_ptr) {
-        std::atomic_bool & has_executor = shared_node_ptr->get_associated_with_executor_atomic();
-        has_executor.store(false);
-      }
-    });
   weak_nodes_.clear();
-  weak_groups_associated_with_executor_to_nodes_.clear();
-  weak_groups_to_nodes_associated_with_executor_.clear();
-  weak_groups_to_nodes_.clear();
-  for (const auto & pair : weak_nodes_to_guard_conditions_) {
-    auto & guard_condition = pair.second;
+  for (auto & guard_condition : guard_conditions_) {
     memory_strategy_->remove_guard_condition(guard_condition);
   }
-  weak_nodes_to_guard_conditions_.clear();
+  guard_conditions_.clear();
 
   // Finalize the wait set.
   if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) {
@@ -133,117 +114,6 @@ Executor::~Executor()
   context_->release_interrupt_guard_condition(&wait_set_, std::nothrow);
 }
 
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-Executor::get_all_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  for (auto const & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-Executor::get_manually_added_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (auto const & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-Executor::get_automatically_added_callback_groups_from_nodes()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (auto const & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-void
-Executor::add_callback_groups_from_nodes_associated_to_executor()
-{
-  for (auto & weak_node : weak_nodes_) {
-    auto node = weak_node.lock();
-    if (node) {
-      auto group_ptrs = node->get_callback_groups();
-      std::for_each(
-        group_ptrs.begin(), group_ptrs.end(),
-        [this, node](rclcpp::CallbackGroup::WeakPtr group_ptr)
-        {
-          auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->automatically_add_to_executor_with_node() &&
-          !shared_group_ptr->get_associated_with_executor_atomic().load())
-          {
-            this->add_callback_group_to_map(
-              shared_group_ptr,
-              node,
-              weak_groups_to_nodes_associated_with_executor_,
-              true);
-          }
-        });
-    }
-  }
-}
-
-void
-Executor::add_callback_group_to_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-  bool notify)
-{
-  // If the callback_group already has an executor
-  std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Callback group has already been added to an executor.");
-  }
-  bool is_new_node = !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_) &&
-    !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_);
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto insert_info =
-    weak_groups_to_nodes.insert(std::make_pair(weak_group_ptr, node_ptr));
-  bool was_inserted = insert_info.second;
-  if (!was_inserted) {
-    throw std::runtime_error("Callback group was already added to executor.");
-  }
-  // Also add to the map that contains all callback groups
-  weak_groups_to_nodes_.insert(std::make_pair(weak_group_ptr, node_ptr));
-  if (is_new_node) {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_[node_weak_ptr] = node_ptr->get_notify_guard_condition();
-    if (notify) {
-      // Interrupt waiting to handle new node
-      rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-      if (ret != RCL_RET_OK) {
-        throw_from_rcl_error(ret, "Failed to trigger guard condition on callback group add");
-      }
-    }
-    // Add the node's notify condition to the guard condition handles
-    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
-    memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
-  }
-}
-
-void
-Executor::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  bool notify)
-{
-  this->add_callback_group_to_map(
-    group_ptr,
-    node_ptr,
-    weak_groups_associated_with_executor_to_nodes_,
-    notify);
-}
-
 void
 Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
@@ -252,68 +122,25 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
   if (has_executor.exchange(true)) {
     throw std::runtime_error("Node has already been added to an executor.");
   }
-  for (auto & weak_group : node_ptr->get_callback_groups()) {
-    auto group_ptr = weak_group.lock();
-    if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
-      group_ptr->automatically_add_to_executor_with_node())
-    {
-      this->add_callback_group_to_map(
-        group_ptr,
-        node_ptr,
-        weak_groups_to_nodes_associated_with_executor_,
-        notify);
+  // Check to ensure node not already added
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node == node_ptr) {
+      // TODO(jacquelinekay): Use a different error here?
+      throw std::runtime_error("Cannot add node to executor, node already added.");
     }
   }
   weak_nodes_.push_back(node_ptr);
-}
-
-void
-Executor::remove_callback_group_from_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
-  bool notify)
-{
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr;
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-  if (iter != weak_groups_to_nodes.end()) {
-    node_ptr = iter->second.lock();
-    if (node_ptr == nullptr) {
-      throw std::runtime_error("Node must not be deleted before its callback group(s).");
+  guard_conditions_.push_back(node_ptr->get_notify_guard_condition());
+  if (notify) {
+    // Interrupt waiting to handle new node
+    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+      throw std::runtime_error(rcl_get_error_string().str);
     }
-    weak_groups_to_nodes.erase(iter);
-    weak_groups_to_nodes_.erase(group_ptr);
-    std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-    has_executor.store(false);
-  } else {
-    throw std::runtime_error("Callback group needs to be associated with executor.");
   }
-  // If the node was matched and removed, interrupt waiting.
-  if (!has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_) &&
-    !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_))
-  {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_.erase(node_weak_ptr);
-    if (notify) {
-      rcl_ret_t ret = rcl_trigger_guard_condition(&interrupt_guard_condition_);
-      if (ret != RCL_RET_OK) {
-        throw_from_rcl_error(ret, "Failed to trigger guard condition on callback group remove");
-      }
-    }
-    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
-    memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
-  }
-}
-
-void
-Executor::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  bool notify)
-{
-  this->remove_callback_group_from_map(
-    group_ptr,
-    weak_groups_associated_with_executor_to_nodes_,
-    notify);
+  // Add the node's notify condition to the guard condition handles
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
+  memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
 void
@@ -325,44 +152,34 @@ Executor::add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify)
 void
 Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
-  if (!node_ptr->get_associated_with_executor_atomic().load()) {
-    throw std::runtime_error("Node needs to be associated with an executor.");
-  }
-
-  bool found_node = false;
-  auto node_it = weak_nodes_.begin();
-  while (node_it != weak_nodes_.end()) {
-    bool matched = (node_it->lock() == node_ptr);
-    if (matched) {
-      found_node = true;
-      node_it = weak_nodes_.erase(node_it);
-    } else {
-      ++node_it;
-    }
-  }
-  if (!found_node) {
-    throw std::runtime_error("Node needs to be associated with this executor.");
-  }
-
-  for (auto it = weak_groups_to_nodes_associated_with_executor_.begin();
-    it != weak_groups_to_nodes_associated_with_executor_.end(); )
+  bool node_removed = false;
   {
-    auto weak_node_ptr = it->second;
-    auto shared_node_ptr = weak_node_ptr.lock();
-    auto group_ptr = it->first.lock();
-
-    // Increment iterator before removing in case it's invalidated
-    it++;
-    if (shared_node_ptr == node_ptr) {
-      remove_callback_group_from_map(
-        group_ptr,
-        weak_groups_to_nodes_associated_with_executor_,
-        notify);
+    auto node_it = weak_nodes_.begin();
+    auto gc_it = guard_conditions_.begin();
+    while (node_it != weak_nodes_.end()) {
+      bool matched = (node_it->lock() == node_ptr);
+      if (matched) {
+        node_it = weak_nodes_.erase(node_it);
+        gc_it = guard_conditions_.erase(gc_it);
+        node_removed = true;
+      } else {
+        ++node_it;
+        ++gc_it;
+      }
     }
   }
-
   std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
   has_executor.store(false);
+  if (notify) {
+    // If the node was matched and removed, interrupt waiting
+    if (node_removed) {
+      if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+        throw std::runtime_error(rcl_get_error_string().str);
+      }
+    }
+  }
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
+  memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
 void
@@ -396,22 +213,15 @@ Executor::spin_node_some(std::shared_ptr<rclcpp::Node> node)
   this->spin_node_some(node->get_node_base_interface());
 }
 
-void Executor::spin_some(std::chrono::nanoseconds max_duration)
-{
-  return this->spin_some_impl(max_duration, false);
-}
-
-void Executor::spin_all(std::chrono::nanoseconds max_duration)
-{
-  if (max_duration <= 0ns) {
-    throw std::invalid_argument("max_duration must be positive");
-  }
-  return this->spin_some_impl(max_duration, true);
-}
-
 void
-Executor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
+Executor::spin_some(std::chrono::nanoseconds max_duration)
 {
+  if (nullptr != dynamic_cast<executors::StaticSingleThreadedExecutor *>(this)) {
+    throw rclcpp::exceptions::UnimplementedError(
+            "spin_some is not implemented for StaticSingleThreadedExecutor, use spin or "
+            "spin_until_future_complete");
+  }
+
   auto start = std::chrono::steady_clock::now();
   auto max_duration_not_elapsed = [max_duration, start]() {
       if (std::chrono::nanoseconds(0) == max_duration) {
@@ -429,20 +239,14 @@ Executor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
     throw std::runtime_error("spin_some() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  bool work_available = false;
+  // non-blocking call to pre-load all available work
+  wait_for_work(std::chrono::milliseconds::zero());
   while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
-    if (!work_available) {
-      wait_for_work(std::chrono::milliseconds::zero());
-    }
     if (get_next_ready_executable(any_exec)) {
       execute_any_executable(any_exec);
-      work_available = true;
     } else {
-      if (!work_available || !exhaustive) {
-        break;
-      }
-      work_available = false;
+      break;
     }
   }
 }
@@ -459,6 +263,11 @@ Executor::spin_once_impl(std::chrono::nanoseconds timeout)
 void
 Executor::spin_once(std::chrono::nanoseconds timeout)
 {
+  if (nullptr != dynamic_cast<executors::StaticSingleThreadedExecutor *>(this)) {
+    throw rclcpp::exceptions::UnimplementedError(
+            "spin_once is not implemented for StaticSingleThreadedExecutor, use spin or "
+            "spin_until_future_complete");
+  }
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin_once() called while already spinning");
   }
@@ -657,46 +466,25 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
   {
     std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
 
-    // Check weak_nodes_ to find any callback group that is not owned
-    // by an executor and add it to the list of callbackgroups for
-    // collect entities. Also exchange to false so it is not
-    // allowed to add to another executor
-    add_callback_groups_from_nodes_associated_to_executor();
-
     // Collect the subscriptions and timers to be waited on
     memory_strategy_->clear_handles();
-    bool has_invalid_weak_groups_or_nodes =
-      memory_strategy_->collect_entities(weak_groups_to_nodes_);
+    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
 
-    if (has_invalid_weak_groups_or_nodes) {
-      std::vector<rclcpp::CallbackGroup::WeakPtr> invalid_group_ptrs;
-      for (auto pair : weak_groups_to_nodes_) {
-        auto weak_group_ptr = pair.first;
-        auto weak_node_ptr = pair.second;
-        if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
-          invalid_group_ptrs.push_back(weak_group_ptr);
-          auto node_guard_pair = weak_nodes_to_guard_conditions_.find(weak_node_ptr);
-          weak_nodes_to_guard_conditions_.erase(weak_node_ptr);
-          memory_strategy_->remove_guard_condition(node_guard_pair->second);
+    // Clean up any invalid nodes, if they were detected
+    if (has_invalid_weak_nodes) {
+      auto node_it = weak_nodes_.begin();
+      auto gc_it = guard_conditions_.begin();
+      while (node_it != weak_nodes_.end()) {
+        if (node_it->expired()) {
+          node_it = weak_nodes_.erase(node_it);
+          memory_strategy_->remove_guard_condition(*gc_it);
+          gc_it = guard_conditions_.erase(gc_it);
+        } else {
+          ++node_it;
+          ++gc_it;
         }
       }
-      std::for_each(
-        invalid_group_ptrs.begin(), invalid_group_ptrs.end(),
-        [this](rclcpp::CallbackGroup::WeakPtr group_ptr) {
-          if (weak_groups_to_nodes_associated_with_executor_.find(group_ptr) !=
-          weak_groups_to_nodes_associated_with_executor_.end())
-          {
-            weak_groups_to_nodes_associated_with_executor_.erase(group_ptr);
-          }
-          if (weak_groups_associated_with_executor_to_nodes_.find(group_ptr) !=
-          weak_groups_associated_with_executor_to_nodes_.end())
-          {
-            weak_groups_associated_with_executor_to_nodes_.erase(group_ptr);
-          }
-          weak_groups_to_nodes_.erase(group_ptr);
-        });
     }
-
     // clear wait set
     rcl_ret_t ret = rcl_wait_set_clear(&wait_set_);
     if (ret != RCL_RET_OK) {
@@ -717,7 +505,6 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
       throw std::runtime_error("Couldn't fill wait set");
     }
   }
-
   rcl_ret_t status =
     rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());
   if (status == RCL_RET_WAIT_SET_EMPTY) {
@@ -735,18 +522,22 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-Executor::get_node_by_group(
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap weak_groups_to_nodes,
-  rclcpp::CallbackGroup::SharedPtr group)
+Executor::get_node_by_group(rclcpp::CallbackGroup::SharedPtr group)
 {
   if (!group) {
     return nullptr;
   }
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr(group);
-  const auto finder = weak_groups_to_nodes.find(weak_group_ptr);
-  if (finder != weak_groups_to_nodes.end()) {
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr = finder->second.lock();
-    return node_ptr;
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
+      continue;
+    }
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto callback_group = weak_group.lock();
+      if (callback_group == group) {
+        return node;
+      }
+    }
   }
   return nullptr;
 }
@@ -754,103 +545,80 @@ Executor::get_node_by_group(
 rclcpp::CallbackGroup::SharedPtr
 Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
 {
-  for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
-        return timer_ptr == timer;
-      });
-    if (timer_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
+          return timer_ptr == timer;
+        });
+      if (timer_ref) {
+        return group;
+      }
     }
   }
-
-  for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-    auto group = pair.first.lock();
-    if (!group) {
-      continue;
-    }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [timer](const rclcpp::TimerBase::SharedPtr & timer_ptr) -> bool {
-        return timer_ptr == timer;
-      });
-    if (timer_ref) {
-      return group;
-    }
-  }
-  return nullptr;
+  return rclcpp::CallbackGroup::SharedPtr();
 }
 
 bool
 Executor::get_next_ready_executable(AnyExecutable & any_executable)
-{
-  bool success = get_next_ready_executable_from_map(any_executable, weak_groups_to_nodes_);
-  return success;
-}
-
-bool
-Executor::get_next_ready_executable_from_map(
-  AnyExecutable & any_executable,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap weak_groups_to_nodes)
 {
   bool success = false;
   // Check the timers to see if there are any that are ready
-  memory_strategy_->get_next_timer(any_executable, weak_groups_to_nodes);
+  memory_strategy_->get_next_timer(any_executable, weak_nodes_);
   if (any_executable.timer) {
     success = true;
   }
   if (!success) {
     // Check the subscriptions to see if there are any that are ready
-    memory_strategy_->get_next_subscription(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_subscription(any_executable, weak_nodes_);
     if (any_executable.subscription) {
       success = true;
     }
   }
   if (!success) {
     // Check the services to see if there are any that are ready
-    memory_strategy_->get_next_service(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_service(any_executable, weak_nodes_);
     if (any_executable.service) {
       success = true;
     }
   }
   if (!success) {
     // Check the clients to see if there are any that are ready
-    memory_strategy_->get_next_client(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_client(any_executable, weak_nodes_);
     if (any_executable.client) {
       success = true;
     }
   }
   if (!success) {
     // Check the waitables to see if there are any that are ready
-    memory_strategy_->get_next_waitable(any_executable, weak_groups_to_nodes);
+    memory_strategy_->get_next_waitable(any_executable, weak_nodes_);
     if (any_executable.waitable) {
       success = true;
     }
   }
-  // At this point any_executable should be valid with either a valid subscription
+  // At this point any_exec should be valid with either a valid subscription
   // or a valid timer, or it should be a null shared_ptr
-  if (success) {
-    rclcpp::CallbackGroup::WeakPtr weak_group_ptr = any_executable.callback_group;
-    auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-    if (iter == weak_groups_to_nodes.end()) {
-      success = false;
-    }
-  }
-
   if (success) {
     // If it is valid, check to see if the group is mutually exclusive or
-    // not, then mark it accordingly ..Check if the callback_group belongs to this executor
-    if (any_executable.callback_group && any_executable.callback_group->type() == \
-      CallbackGroupType::MutuallyExclusive)
+    // not, then mark it accordingly
+    using callback_group::CallbackGroupType;
+    if (
+      any_executable.callback_group &&
+      any_executable.callback_group->type() == CallbackGroupType::MutuallyExclusive)
     {
       // It should not have been taken otherwise
       assert(any_executable.callback_group->can_be_taken_from().load());
       // Set to false to indicate something is being run from this group
-      // This is reset to true either when the any_executable is executed or when the
-      // any_executable is destructued
+      // This is reset to true either when the any_exec is executed or when the
+      // any_exec is destructued
       any_executable.callback_group->can_be_taken_from().store(false);
     }
   }
@@ -877,18 +645,3 @@ Executor::get_next_executable(AnyExecutable & any_executable, std::chrono::nanos
   }
   return success;
 }
-
-// Returns true iff the weak_groups_to_nodes map has node_ptr as the value in any of its entry.
-bool
-Executor::has_node(
-  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap weak_groups_to_nodes) const
-{
-  return std::find_if(
-    weak_groups_to_nodes.begin(),
-    weak_groups_to_nodes.end(),
-    [&](const WeakCallbackGroupsToNodesMap::value_type & other) -> bool {
-      auto other_ptr = other.second.lock();
-      return other_ptr == node_ptr;
-    }) != weak_groups_to_nodes.end();
-}

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -18,8 +18,6 @@
 #include <memory>
 #include <stdexcept>
 #include <string>
-#include <utility>
-#include <vector>
 
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
@@ -28,40 +26,23 @@ using rclcpp::executors::StaticExecutorEntitiesCollector;
 
 StaticExecutorEntitiesCollector::~StaticExecutorEntitiesCollector()
 {
-  // Disassociate all callback groups and thus nodes.
-  for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
-      has_executor.store(false);
-    }
-  }
-  for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
-      has_executor.store(false);
-    }
-  }
   // Disassociate all nodes
-  for (const auto & weak_node : weak_nodes_) {
+  for (auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();
     if (node) {
       std::atomic_bool & has_executor = node->get_associated_with_executor_atomic();
       has_executor.store(false);
     }
   }
-  weak_groups_associated_with_executor_to_nodes_.clear();
-  weak_groups_to_nodes_associated_with_executor_.clear();
   exec_list_.clear();
   weak_nodes_.clear();
-  weak_nodes_to_guard_conditions_.clear();
+  guard_conditions_.clear();
 }
 
 void
 StaticExecutorEntitiesCollector::init(
   rcl_wait_set_t * p_wait_set,
-  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy,
+  rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
   rcl_guard_condition_t * executor_guard_condition)
 {
   // Empty initialize executable list
@@ -75,7 +56,8 @@ StaticExecutorEntitiesCollector::init(
   memory_strategy_ = memory_strategy;
 
   // Add executor's guard condition
-  memory_strategy_->add_guard_condition(executor_guard_condition);
+  guard_conditions_.push_back(executor_guard_condition);
+
   // Get memory strategy and executable list. Prepare wait_set_
   execute();
 }
@@ -102,41 +84,18 @@ void
 StaticExecutorEntitiesCollector::fill_memory_strategy()
 {
   memory_strategy_->clear_handles();
-  bool has_invalid_weak_groups_or_nodes =
-    memory_strategy_->collect_entities(weak_groups_to_nodes_associated_with_executor_);
+  bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+
   // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_groups_or_nodes) {
-    std::vector<rclcpp::CallbackGroup::WeakPtr> invalid_group_ptrs;
-    for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-      auto & weak_group_ptr = pair.first;
-      auto & weak_node_ptr = pair.second;
-      if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
-        invalid_group_ptrs.push_back(weak_group_ptr);
+  if (has_invalid_weak_nodes) {
+    auto node_it = weak_nodes_.begin();
+    while (node_it != weak_nodes_.end()) {
+      if (node_it->expired()) {
+        node_it = weak_nodes_.erase(node_it);
+      } else {
+        ++node_it;
       }
     }
-    std::for_each(
-      invalid_group_ptrs.begin(), invalid_group_ptrs.end(),
-      [this](rclcpp::CallbackGroup::WeakPtr group_ptr) {
-        weak_groups_to_nodes_associated_with_executor_.erase(group_ptr);
-      });
-  }
-  has_invalid_weak_groups_or_nodes =
-    memory_strategy_->collect_entities(weak_groups_associated_with_executor_to_nodes_);
-  // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_groups_or_nodes) {
-    std::vector<rclcpp::CallbackGroup::WeakPtr> invalid_group_ptrs;
-    for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-      auto & weak_group_ptr = pair.first;
-      const auto & weak_node_ptr = pair.second;
-      if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
-        invalid_group_ptrs.push_back(weak_group_ptr);
-      }
-    }
-    std::for_each(
-      invalid_group_ptrs.begin(), invalid_group_ptrs.end(),
-      [this](rclcpp::CallbackGroup::WeakPtr group_ptr) {
-        weak_groups_associated_with_executor_to_nodes_.erase(group_ptr);
-      });
   }
 
   // Add the static executor waitable to the memory strategy
@@ -147,59 +106,59 @@ void
 StaticExecutorEntitiesCollector::fill_executable_list()
 {
   exec_list_.clear();
-  add_callback_groups_from_nodes_associated_to_executor();
-  fill_executable_list_from_map(weak_groups_associated_with_executor_to_nodes_);
-  fill_executable_list_from_map(weak_groups_to_nodes_associated_with_executor_);
-  // Add the executor's waitable to the executable list
-  exec_list_.add_waitable(shared_from_this());
-}
-void
-StaticExecutorEntitiesCollector::fill_executable_list_from_map(
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes)
-{
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!node || !group || !group->can_be_taken_from().load()) {
+
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    group->find_timer_ptrs_if(
-      [this](const rclcpp::TimerBase::SharedPtr & timer) {
-        if (timer) {
-          exec_list_.add_timer(timer);
-        }
-        return false;
-      });
-    group->find_subscription_ptrs_if(
-      [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-        if (subscription) {
-          exec_list_.add_subscription(subscription);
-        }
-        return false;
-      });
-    group->find_service_ptrs_if(
-      [this](const rclcpp::ServiceBase::SharedPtr & service) {
-        if (service) {
-          exec_list_.add_service(service);
-        }
-        return false;
-      });
-    group->find_client_ptrs_if(
-      [this](const rclcpp::ClientBase::SharedPtr & client) {
-        if (client) {
-          exec_list_.add_client(client);
-        }
-        return false;
-      });
-    group->find_waitable_ptrs_if(
-      [this](const rclcpp::Waitable::SharedPtr & waitable) {
-        if (waitable) {
-          exec_list_.add_waitable(waitable);
-        }
-        return false;
-      });
+    // Check in all the callback groups
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group || !group->can_be_taken_from().load()) {
+        continue;
+      }
+
+      group->find_timer_ptrs_if(
+        [this](const rclcpp::TimerBase::SharedPtr & timer) {
+          if (timer) {
+            exec_list_.add_timer(timer);
+          }
+          return false;
+        });
+      group->find_subscription_ptrs_if(
+        [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
+          if (subscription) {
+            exec_list_.add_subscription(subscription);
+          }
+          return false;
+        });
+      group->find_service_ptrs_if(
+        [this](const rclcpp::ServiceBase::SharedPtr & service) {
+          if (service) {
+            exec_list_.add_service(service);
+          }
+          return false;
+        });
+      group->find_client_ptrs_if(
+        [this](const rclcpp::ClientBase::SharedPtr & client) {
+          if (client) {
+            exec_list_.add_client(client);
+          }
+          return false;
+        });
+      group->find_waitable_ptrs_if(
+        [this](const rclcpp::Waitable::SharedPtr & waitable) {
+          if (waitable) {
+            exec_list_.add_waitable(waitable);
+          }
+          return false;
+        });
+    }
   }
+
+  // Add the executor's waitable to the executable list
+  exec_list_.add_waitable(shared_from_this());
 }
 
 void
@@ -219,14 +178,14 @@ StaticExecutorEntitiesCollector::prepare_wait_set()
 
   if (RCL_RET_OK != ret) {
     throw std::runtime_error(
-            std::string("Couldn't resize the wait set: ") + rcl_get_error_string().str);
+            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
   }
 }
 
 void
 StaticExecutorEntitiesCollector::refresh_wait_set(std::chrono::nanoseconds timeout)
 {
-  // clear wait set (memset to '0' all wait_set_ entities
+  // clear wait set (memeset to '0' all wait_set_ entities
   // but keeps the wait_set_ number of entities)
   if (rcl_wait_set_clear(p_wait_set_) != RCL_RET_OK) {
     throw std::runtime_error("Couldn't clear wait set");
@@ -253,8 +212,7 @@ bool
 StaticExecutorEntitiesCollector::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
   // Add waitable guard conditions (one for each registered node) into the wait set.
-  for (const auto & pair : weak_nodes_to_guard_conditions_) {
-    auto & gc = pair.second;
+  for (const auto & gc : guard_conditions_) {
     rcl_ret_t ret = rcl_wait_set_add_guard_condition(wait_set, gc, NULL);
     if (ret != RCL_RET_OK) {
       throw std::runtime_error("Executor waitable: couldn't add guard condition to wait set");
@@ -265,152 +223,55 @@ StaticExecutorEntitiesCollector::add_to_wait_set(rcl_wait_set_t * wait_set)
 
 size_t StaticExecutorEntitiesCollector::get_number_of_ready_guard_conditions()
 {
-  return weak_nodes_to_guard_conditions_.size();
+  return guard_conditions_.size();
 }
 
-bool
+void
 StaticExecutorEntitiesCollector::add_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  bool is_new_node = false;
-  // If the node already has an executor
-  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Node has already been added to an executor.");
-  }
-  for (const auto & weak_group : node_ptr->get_callback_groups()) {
-    auto group_ptr = weak_group.lock();
-    if (group_ptr != nullptr && !group_ptr->get_associated_with_executor_atomic().load() &&
-      group_ptr->automatically_add_to_executor_with_node())
-    {
-      is_new_node = (add_callback_group(
-          group_ptr,
-          node_ptr,
-          weak_groups_to_nodes_associated_with_executor_) ||
-        is_new_node);
+  // Check to ensure node not already added
+  for (auto & weak_node : weak_nodes_) {
+    auto node = weak_node.lock();
+    if (node == node_ptr) {
+      // TODO(jacquelinekay): Use a different error here?
+      throw std::runtime_error("Cannot add node to executor, node already added.");
     }
   }
+
   weak_nodes_.push_back(node_ptr);
-  return is_new_node;
-}
-
-bool
-StaticExecutorEntitiesCollector::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
-{
-  // If the callback_group already has an executor
-  std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Callback group has already been added to an executor.");
-  }
-  bool is_new_node = !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
-    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_);
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto insert_info = weak_groups_to_nodes.insert(
-    std::make_pair(weak_group_ptr, node_ptr));
-  bool was_inserted = insert_info.second;
-  if (!was_inserted) {
-    throw std::runtime_error("Callback group was already added to executor.");
-  }
-  if (is_new_node) {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_[node_weak_ptr] = node_ptr->get_notify_guard_condition();
-    return true;
-  }
-  return false;
-}
-
-bool
-StaticExecutorEntitiesCollector::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
-{
-  return add_callback_group(group_ptr, node_ptr, weak_groups_associated_with_executor_to_nodes_);
-}
-
-bool
-StaticExecutorEntitiesCollector::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr)
-{
-  return this->remove_callback_group_from_map(
-    group_ptr,
-    weak_groups_associated_with_executor_to_nodes_);
-}
-
-bool
-StaticExecutorEntitiesCollector::remove_callback_group_from_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
-{
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr;
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-  if (iter != weak_groups_to_nodes.end()) {
-    node_ptr = iter->second.lock();
-    if (node_ptr == nullptr) {
-      throw std::runtime_error("Node must not be deleted before its callback group(s).");
-    }
-    weak_groups_to_nodes.erase(iter);
-  } else {
-    throw std::runtime_error("Callback group needs to be associated with executor.");
-  }
-  // If the node was matched and removed, interrupt waiting.
-  if (!has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
-    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_))
-  {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_.erase(node_weak_ptr);
-    return true;
-  }
-  return false;
+  guard_conditions_.push_back(node_ptr->get_notify_guard_condition());
 }
 
 bool
 StaticExecutorEntitiesCollector::remove_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  if (!node_ptr->get_associated_with_executor_atomic().load()) {
-    return false;
-  }
-  bool node_found = false;
   auto node_it = weak_nodes_.begin();
+
   while (node_it != weak_nodes_.end()) {
     bool matched = (node_it->lock() == node_ptr);
     if (matched) {
-      weak_nodes_.erase(node_it);
-      node_found = true;
-      break;
-    }
-    ++node_it;
-  }
-  if (!node_found) {
-    return false;
-  }
-  std::vector<rclcpp::CallbackGroup::SharedPtr> found_group_ptrs;
-  std::for_each(
-    weak_groups_to_nodes_associated_with_executor_.begin(),
-    weak_groups_to_nodes_associated_with_executor_.end(),
-    [&found_group_ptrs, node_ptr](std::pair<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> key_value_pair) {
-      auto & weak_node_ptr = key_value_pair.second;
-      auto shared_node_ptr = weak_node_ptr.lock();
-      auto group_ptr = key_value_pair.first.lock();
-      if (shared_node_ptr == node_ptr) {
-        found_group_ptrs.push_back(group_ptr);
+      // Find and remove node and its guard condition
+      auto gc_it = std::find(
+        guard_conditions_.begin(),
+        guard_conditions_.end(),
+        node_ptr->get_notify_guard_condition());
+
+      if (gc_it != guard_conditions_.end()) {
+        guard_conditions_.erase(gc_it);
+        weak_nodes_.erase(node_it);
+        return true;
       }
-    });
-  std::for_each(
-    found_group_ptrs.begin(), found_group_ptrs.end(), [this]
-      (rclcpp::CallbackGroup::SharedPtr group_ptr) {
-      this->remove_callback_group_from_map(
-        group_ptr,
-        weak_groups_to_nodes_associated_with_executor_);
-    });
-  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-  has_executor.store(false);
-  return true;
+
+      throw std::runtime_error("Didn't find guard condition associated with node.");
+
+    } else {
+      ++node_it;
+    }
+  }
+
+  return false;
 }
 
 bool
@@ -419,13 +280,13 @@ StaticExecutorEntitiesCollector::is_ready(rcl_wait_set_t * p_wait_set)
   // Check wait_set guard_conditions for added/removed entities to/from a node
   for (size_t i = 0; i < p_wait_set->size_of_guard_conditions; ++i) {
     if (p_wait_set->guard_conditions[i] != NULL) {
-      auto found_guard_condition = std::find_if(
-        weak_nodes_to_guard_conditions_.begin(), weak_nodes_to_guard_conditions_.end(),
-        [&](std::pair<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-        const rcl_guard_condition_t *> pair) -> bool {
-          return pair.second == p_wait_set->guard_conditions[i];
-        });
-      if (found_guard_condition != weak_nodes_to_guard_conditions_.end()) {
+      // Check if the guard condition triggered belongs to a node
+      auto it = std::find(
+        guard_conditions_.begin(), guard_conditions_.end(),
+        p_wait_set->guard_conditions[i]);
+
+      // If it does, we are ready to re-collect entities
+      if (it != guard_conditions_.end()) {
         return true;
       }
     }
@@ -433,77 +294,3 @@ StaticExecutorEntitiesCollector::is_ready(rcl_wait_set_t * p_wait_set)
   // None of the guard conditions triggered belong to a registered node
   return false;
 }
-
-// Returns true iff the weak_groups_to_nodes map has node_ptr as the value in any of its entry.
-bool
-StaticExecutorEntitiesCollector::has_node(
-  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes) const
-{
-  return std::find_if(
-    weak_groups_to_nodes.begin(),
-    weak_groups_to_nodes.end(),
-    [&](const WeakCallbackGroupsToNodesMap::value_type & other) -> bool {
-      auto other_ptr = other.second.lock();
-      return other_ptr == node_ptr;
-    }) != weak_groups_to_nodes.end();
-}
-
-void
-StaticExecutorEntitiesCollector::add_callback_groups_from_nodes_associated_to_executor()
-{
-  for (const auto & weak_node : weak_nodes_) {
-    auto node = weak_node.lock();
-    if (node) {
-      auto group_ptrs = node->get_callback_groups();
-      std::for_each(
-        group_ptrs.begin(), group_ptrs.end(),
-        [this, node](rclcpp::CallbackGroup::WeakPtr group_ptr)
-        {
-          auto shared_group_ptr = group_ptr.lock();
-          if (shared_group_ptr && shared_group_ptr->automatically_add_to_executor_with_node() &&
-          !shared_group_ptr->get_associated_with_executor_atomic().load())
-          {
-            add_callback_group(
-              shared_group_ptr,
-              node,
-              weak_groups_to_nodes_associated_with_executor_);
-          }
-        });
-    }
-  }
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticExecutorEntitiesCollector::get_all_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticExecutorEntitiesCollector::get_manually_added_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticExecutorEntitiesCollector::get_automatically_added_callback_groups_from_nodes()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -15,7 +15,6 @@
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
 
 #include <memory>
-#include <vector>
 
 #include "rclcpp/scope_exit.hpp"
 
@@ -51,32 +50,24 @@ StaticSingleThreadedExecutor::spin()
   }
 }
 
-void
-StaticSingleThreadedExecutor::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  bool notify)
-{
-  bool is_new_node = entities_collector_->add_callback_group(group_ptr, node_ptr);
-  if (is_new_node && notify) {
-    // Interrupt waiting to handle new node
-    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string().str);
-    }
-  }
-}
-
 void
 StaticSingleThreadedExecutor::add_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
-  bool is_new_node = entities_collector_->add_node(node_ptr);
-  if (is_new_node && notify) {
+  // If the node already has an executor
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  if (has_executor.exchange(true)) {
+    throw std::runtime_error("Node has already been added to an executor.");
+  }
+
+  if (notify) {
     // Interrupt waiting to handle new node
     if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
       throw std::runtime_error(rcl_get_error_string().str);
     }
   }
+
+  entities_collector_->add_node(node_ptr);
 }
 
 void
@@ -85,51 +76,23 @@ StaticSingleThreadedExecutor::add_node(std::shared_ptr<rclcpp::Node> node_ptr, b
   this->add_node(node_ptr->get_node_base_interface(), notify);
 }
 
-void
-StaticSingleThreadedExecutor::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr, bool notify)
-{
-  bool node_removed = entities_collector_->remove_callback_group(group_ptr);
-  // If the node was matched and removed, interrupt waiting
-  if (node_removed && notify) {
-    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string().str);
-    }
-  }
-}
-
 void
 StaticSingleThreadedExecutor::remove_node(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
 {
   bool node_removed = entities_collector_->remove_node(node_ptr);
-  if (!node_removed) {
-    throw std::runtime_error("Node needs to be associated with this executor.");
-  }
-  // If the node was matched and removed, interrupt waiting
+
   if (notify) {
-    if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
-      throw std::runtime_error(rcl_get_error_string().str);
+    // If the node was matched and removed, interrupt waiting
+    if (node_removed) {
+      if (rcl_trigger_guard_condition(&interrupt_guard_condition_) != RCL_RET_OK) {
+        throw std::runtime_error(rcl_get_error_string().str);
+      }
     }
   }
-}
 
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticSingleThreadedExecutor::get_all_callback_groups()
-{
-  return entities_collector_->get_all_callback_groups();
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticSingleThreadedExecutor::get_manually_added_callback_groups()
-{
-  return entities_collector_->get_manually_added_callback_groups();
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-StaticSingleThreadedExecutor::get_automatically_added_callback_groups_from_nodes()
-{
-  return entities_collector_->get_automatically_added_callback_groups_from_nodes();
+  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
+  has_executor.store(false);
 }
 
 void

rclcpp/src/rclcpp/graph_listener.cpp

@@ -62,27 +62,6 @@ GraphListener::~GraphListener()
   this->shutdown(std::nothrow);
 }
 
-void GraphListener::init_wait_set()
-{
-  auto parent_context = parent_context_.lock();
-  if (!parent_context) {
-    throw std::runtime_error("parent context was destroyed");
-  }
-  rcl_ret_t ret = rcl_wait_set_init(
-    &wait_set_,
-    0,  // number_of_subscriptions
-    2,  // number_of_guard_conditions
-    0,  // number_of_timers
-    0,  // number_of_clients
-    0,  // number_of_services
-    0,  // number_of_events
-    parent_context->get_rcl_context().get(),
-    rcl_get_default_allocator());
-  if (RCL_RET_OK != ret) {
-    throw_from_rcl_error(ret, "failed to initialize wait set");
-  }
-}
-
 void
 GraphListener::start_if_not_started()
 {
@@ -92,8 +71,24 @@ GraphListener::start_if_not_started()
   }
   if (!is_started_) {
     // Initialize the wait set before starting.
-    init_wait_set();
-    // Register an on_shutdown hook to shutdown the graph listener.
+    auto parent_context = parent_context_.lock();
+    if (!parent_context) {
+      throw std::runtime_error("parent context was destroyed");
+    }
+    rcl_ret_t ret = rcl_wait_set_init(
+      &wait_set_,
+      0,  // number_of_subscriptions
+      2,  // number_of_guard_conditions
+      0,  // number_of_timers
+      0,  // number_of_clients
+      0,  // number_of_services
+      0,  // number_of_events
+      parent_context->get_rcl_context().get(),
+      rcl_get_default_allocator());
+    if (RCL_RET_OK != ret) {
+      throw_from_rcl_error(ret, "failed to initialize wait set");
+    }
+    // Register an on_shutdown hook to shtudown the graph listener.
     // This is important to ensure that the wait set is finalized before
     // destruction of static objects occurs.
     std::weak_ptr<GraphListener> weak_this = shared_from_this();
@@ -355,15 +350,6 @@ GraphListener::remove_node(rclcpp::node_interfaces::NodeGraphInterface * node_gr
   remove_node_(&node_graph_interfaces_, node_graph);
 }
 
-void
-GraphListener::cleanup_wait_set()
-{
-  rcl_ret_t ret = rcl_wait_set_fini(&wait_set_);
-  if (RCL_RET_OK != ret) {
-    throw_from_rcl_error(ret, "failed to finalize wait set");
-  }
-}
-
 void
 GraphListener::__shutdown(bool should_throw)
 {
@@ -385,22 +371,14 @@ GraphListener::__shutdown(bool should_throw)
         } else {
           parent_context_ptr->release_interrupt_guard_condition(&wait_set_, std::nothrow);
         }
-      } else {
-        ret = rcl_guard_condition_fini(shutdown_guard_condition_);
-        if (RCL_RET_OK != ret) {
-          if (should_throw) {
-            throw_from_rcl_error(ret, "failed to finalize shutdown guard condition");
-          } else {
-            RCLCPP_ERROR(
-              rclcpp::get_logger("rclcpp"),
-              "failed to finalize shutdown guard condition");
-          }
-        }
       }
       shutdown_guard_condition_ = nullptr;
     }
     if (is_started_) {
-      cleanup_wait_set();
+      ret = rcl_wait_set_fini(&wait_set_);
+      if (RCL_RET_OK != ret) {
+        throw_from_rcl_error(ret, "failed to finalize wait set");
+      }
     }
   }
 }

rclcpp/src/rclcpp/init_options.cpp

@@ -64,8 +64,7 @@ InitOptions &
 InitOptions::operator=(const InitOptions & other)
 {
   if (this != &other) {
-    std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
-    this->finalize_init_options_impl();
+    this->finalize_init_options();
     rcl_ret_t ret = rcl_init_options_copy(other.get_rcl_init_options(), init_options_.get());
     if (RCL_RET_OK != ret) {
       rclcpp::exceptions::throw_from_rcl_error(ret, "failed to copy rcl init options");
@@ -83,13 +82,6 @@ InitOptions::~InitOptions()
 
 void
 InitOptions::finalize_init_options()
-{
-  std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
-  this->finalize_init_options_impl();
-}
-
-void
-InitOptions::finalize_init_options_impl()
 {
   if (init_options_) {
     rcl_ret_t ret = rcl_init_options_fini(init_options_.get());
@@ -109,38 +101,4 @@ InitOptions::get_rcl_init_options() const
   return init_options_.get();
 }
 
-void
-InitOptions::use_default_domain_id()
-{
-  size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
-  rcl_ret_t ret = rcl_get_default_domain_id(&domain_id);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get default domain id");
-  }
-  set_domain_id(domain_id);
-}
-
-void
-InitOptions::set_domain_id(size_t domain_id)
-{
-  std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
-  rcl_ret_t ret = rcl_init_options_set_domain_id(init_options_.get(), domain_id);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to set domain id to rcl init options");
-  }
-}
-
-size_t
-InitOptions::get_domain_id() const
-{
-  std::lock_guard<std::mutex> init_options_lock(init_options_mutex_);
-  size_t domain_id;
-  rcl_ret_t ret = rcl_init_options_get_domain_id(init_options_.get(), &domain_id);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to get domain id from rcl init options");
-  }
-
-  return domain_id;
-}
-
 }  // namespace rclcpp

rclcpp/src/rclcpp/logger.cpp

@@ -14,8 +14,8 @@
 
 #include <string>
 
-#include "rclcpp/exceptions.hpp"
 #include "rclcpp/logger.hpp"
+
 #include "rclcpp/logging.hpp"
 
 namespace rclcpp
@@ -44,22 +44,4 @@ get_node_logger(const rcl_node_t * node)
   return rclcpp::get_logger(logger_name);
 }
 
-void
-Logger::set_level(Level level)
-{
-  rcutils_ret_t rcutils_ret = rcutils_logging_set_logger_level(
-    get_name(),
-    static_cast<RCUTILS_LOG_SEVERITY>(level));
-  if (rcutils_ret != RCUTILS_RET_OK) {
-    if (rcutils_ret == RCUTILS_RET_INVALID_ARGUMENT) {
-      exceptions::throw_from_rcl_error(
-        RCL_RET_INVALID_ARGUMENT, "Invalid parameter",
-        rcutils_get_error_state(), rcutils_reset_error);
-    }
-    exceptions::throw_from_rcl_error(
-      RCL_RET_ERROR, "Couldn't set logger level",
-      rcutils_get_error_state(), rcutils_reset_error);
-  }
-}
-
 }  // namespace rclcpp

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -20,19 +20,25 @@ using rclcpp::memory_strategy::MemoryStrategy;
 rclcpp::SubscriptionBase::SharedPtr
 MemoryStrategy::get_subscription_by_handle(
   std::shared_ptr<const rcl_subscription_t> subscriber_handle,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto match_subscription = group->find_subscription_ptrs_if(
-      [&subscriber_handle](const rclcpp::SubscriptionBase::SharedPtr & subscription) -> bool {
-        return subscription->get_subscription_handle() == subscriber_handle;
-      });
-    if (match_subscription) {
-      return match_subscription;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto match_subscription = group->find_subscription_ptrs_if(
+        [&subscriber_handle](const rclcpp::SubscriptionBase::SharedPtr & subscription) -> bool {
+          return subscription->get_subscription_handle() == subscriber_handle;
+        });
+      if (match_subscription) {
+        return match_subscription;
+      }
     }
   }
   return nullptr;
@@ -41,19 +47,25 @@ MemoryStrategy::get_subscription_by_handle(
 rclcpp::ServiceBase::SharedPtr
 MemoryStrategy::get_service_by_handle(
   std::shared_ptr<const rcl_service_t> service_handle,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto service_ref = group->find_service_ptrs_if(
-      [&service_handle](const rclcpp::ServiceBase::SharedPtr & service) -> bool {
-        return service->get_service_handle() == service_handle;
-      });
-    if (service_ref) {
-      return service_ref;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto service_ref = group->find_service_ptrs_if(
+        [&service_handle](const rclcpp::ServiceBase::SharedPtr & service) -> bool {
+          return service->get_service_handle() == service_handle;
+        });
+      if (service_ref) {
+        return service_ref;
+      }
     }
   }
   return nullptr;
@@ -62,19 +74,25 @@ MemoryStrategy::get_service_by_handle(
 rclcpp::ClientBase::SharedPtr
 MemoryStrategy::get_client_by_handle(
   std::shared_ptr<const rcl_client_t> client_handle,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto client_ref = group->find_client_ptrs_if(
-      [&client_handle](const rclcpp::ClientBase::SharedPtr & client) -> bool {
-        return client->get_client_handle() == client_handle;
-      });
-    if (client_ref) {
-      return client_ref;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto client_ref = group->find_client_ptrs_if(
+        [&client_handle](const rclcpp::ClientBase::SharedPtr & client) -> bool {
+          return client->get_client_handle() == client_handle;
+        });
+      if (client_ref) {
+        return client_ref;
+      }
     }
   }
   return nullptr;
@@ -83,19 +101,25 @@ MemoryStrategy::get_client_by_handle(
 rclcpp::TimerBase::SharedPtr
 MemoryStrategy::get_timer_by_handle(
   std::shared_ptr<const rcl_timer_t> timer_handle,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    if (!group) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [&timer_handle](const rclcpp::TimerBase::SharedPtr & timer) -> bool {
-        return timer->get_timer_handle() == timer_handle;
-      });
-    if (timer_ref) {
-      return timer_ref;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [&timer_handle](const rclcpp::TimerBase::SharedPtr & timer) -> bool {
+          return timer->get_timer_handle() == timer_handle;
+        });
+      if (timer_ref) {
+        return timer_ref;
+      }
     }
   }
   return nullptr;
@@ -104,17 +128,22 @@ MemoryStrategy::get_timer_by_handle(
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 MemoryStrategy::get_node_by_group(
   rclcpp::CallbackGroup::SharedPtr group,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
   if (!group) {
     return nullptr;
   }
-
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr(group);
-  const auto finder = weak_groups_to_nodes.find(weak_group_ptr);
-  if (finder != weak_groups_to_nodes.end()) {
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr = finder->second.lock();
-    return node_ptr;
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
+      continue;
+    }
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto callback_group = weak_group.lock();
+      if (callback_group == group) {
+        return node;
+      }
+    }
   }
   return nullptr;
 }
@@ -122,20 +151,25 @@ MemoryStrategy::get_node_by_group(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_subscription(
   rclcpp::SubscriptionBase::SharedPtr subscription,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto match_sub = group->find_subscription_ptrs_if(
-      [&subscription](const rclcpp::SubscriptionBase::SharedPtr & sub) -> bool {
-        return sub == subscription;
-      });
-    if (match_sub) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto match_sub = group->find_subscription_ptrs_if(
+        [&subscription](const rclcpp::SubscriptionBase::SharedPtr & sub) -> bool {
+          return sub == subscription;
+        });
+      if (match_sub) {
+        return group;
+      }
     }
   }
   return nullptr;
@@ -144,20 +178,25 @@ MemoryStrategy::get_group_by_subscription(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_service(
   rclcpp::ServiceBase::SharedPtr service,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto service_ref = group->find_service_ptrs_if(
-      [&service](const rclcpp::ServiceBase::SharedPtr & serv) -> bool {
-        return serv == service;
-      });
-    if (service_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto service_ref = group->find_service_ptrs_if(
+        [&service](const rclcpp::ServiceBase::SharedPtr & serv) -> bool {
+          return serv == service;
+        });
+      if (service_ref) {
+        return group;
+      }
     }
   }
   return nullptr;
@@ -166,20 +205,25 @@ MemoryStrategy::get_group_by_service(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_client(
   rclcpp::ClientBase::SharedPtr client,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto client_ref = group->find_client_ptrs_if(
-      [&client](const rclcpp::ClientBase::SharedPtr & cli) -> bool {
-        return cli == client;
-      });
-    if (client_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto client_ref = group->find_client_ptrs_if(
+        [&client](const rclcpp::ClientBase::SharedPtr & cli) -> bool {
+          return cli == client;
+        });
+      if (client_ref) {
+        return group;
+      }
     }
   }
   return nullptr;
@@ -188,20 +232,25 @@ MemoryStrategy::get_group_by_client(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_timer(
   rclcpp::TimerBase::SharedPtr timer,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto timer_ref = group->find_timer_ptrs_if(
-      [&timer](const rclcpp::TimerBase::SharedPtr & time) -> bool {
-        return time == timer;
-      });
-    if (timer_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto timer_ref = group->find_timer_ptrs_if(
+        [&timer](const rclcpp::TimerBase::SharedPtr & time) -> bool {
+          return time == timer;
+        });
+      if (timer_ref) {
+        return group;
+      }
     }
   }
   return nullptr;
@@ -210,20 +259,25 @@ MemoryStrategy::get_group_by_timer(
 rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_waitable(
   rclcpp::Waitable::SharedPtr waitable,
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
+  const WeakNodeList & weak_nodes)
 {
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!group || !node) {
+  for (auto & weak_node : weak_nodes) {
+    auto node = weak_node.lock();
+    if (!node) {
       continue;
     }
-    auto waitable_ref = group->find_waitable_ptrs_if(
-      [&waitable](const rclcpp::Waitable::SharedPtr & group_waitable) -> bool {
-        return group_waitable == waitable;
-      });
-    if (waitable_ref) {
-      return group;
+    for (auto & weak_group : node->get_callback_groups()) {
+      auto group = weak_group.lock();
+      if (!group) {
+        continue;
+      }
+      auto waitable_ref = group->find_waitable_ptrs_if(
+        [&waitable](const rclcpp::Waitable::SharedPtr & group_waitable) -> bool {
+          return group_waitable == waitable;
+        });
+      if (waitable_ref) {
+        return group;
+      }
     }
   }
   return nullptr;

rclcpp/src/rclcpp/node.cpp

@@ -138,8 +138,7 @@ Node::Node(
       node_services_,
       node_logging_,
       node_clock_,
-      node_parameters_,
-      options.clock_qos()
+      node_parameters_
     )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
   node_options_(options),
@@ -212,11 +211,15 @@ Node::get_logger() const
 }
 
 rclcpp::CallbackGroup::SharedPtr
-Node::create_callback_group(
-  rclcpp::CallbackGroupType group_type,
-  bool automatically_add_to_executor_with_node)
+Node::create_callback_group(rclcpp::CallbackGroupType group_type)
 {
-  return node_base_->create_callback_group(group_type, automatically_add_to_executor_with_node);
+  return node_base_->create_callback_group(group_type);
+}
+
+bool
+Node::group_in_node(rclcpp::CallbackGroup::SharedPtr group)
+{
+  return node_base_->callback_group_in_node(group);
 }
 
 const rclcpp::ParameterValue &
@@ -325,6 +328,28 @@ Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * co
   return node_parameters_->remove_on_set_parameters_callback(callback);
 }
 
+// suppress deprecated function warning
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+
+rclcpp::Node::OnParametersSetCallbackType
+Node::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
+{
+  return node_parameters_->set_on_parameters_set_callback(callback);
+}
+
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
 std::vector<std::string>
 Node::get_node_names() const
 {

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -216,16 +216,11 @@ NodeBase::get_shared_rcl_node_handle() const
 }
 
 rclcpp::CallbackGroup::SharedPtr
-NodeBase::create_callback_group(
-  rclcpp::CallbackGroupType group_type,
-  bool automatically_add_to_executor_with_node)
+NodeBase::create_callback_group(rclcpp::CallbackGroupType group_type)
 {
   using rclcpp::CallbackGroup;
   using rclcpp::CallbackGroupType;
-  auto group = CallbackGroup::SharedPtr(
-    new CallbackGroup(
-      group_type,
-      automatically_add_to_executor_with_node));
+  auto group = CallbackGroup::SharedPtr(new CallbackGroup(group_type));
   callback_groups_.push_back(group);
   return group;
 }
@@ -288,24 +283,3 @@ NodeBase::get_enable_topic_statistics_default() const
 {
   return enable_topic_statistics_default_;
 }
-
-std::string
-NodeBase::resolve_topic_or_service_name(
-  const std::string & name, bool is_service, bool only_expand) const
-{
-  char * output_cstr = NULL;
-  auto allocator = rcl_get_default_allocator();
-  rcl_ret_t ret = rcl_node_resolve_name(
-    node_handle_.get(),
-    name.c_str(),
-    allocator,
-    is_service,
-    only_expand,
-    &output_cstr);
-  if (RCL_RET_OK != ret) {
-    throw_from_rcl_error(ret, "failed to resolve name", rcl_get_error_state());
-  }
-  std::string output{output_cstr};
-  allocator.deallocate(output_cstr, allocator.state);
-  return output;
-}

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -414,7 +414,7 @@ NodeGraph::wait_for_graph_change(
 }
 
 size_t
-NodeGraph::count_graph_users() const
+NodeGraph::count_graph_users()
 {
   return graph_users_count_.load();
 }

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -874,6 +874,18 @@ NodeParameters::add_on_set_parameters_callback(OnParametersSetCallbackType callb
   return handle;
 }
 
+NodeParameters::OnParametersSetCallbackType
+NodeParameters::set_on_parameters_set_callback(OnParametersSetCallbackType callback)
+{
+  std::lock_guard<std::recursive_mutex> lock(mutex_);
+
+  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
+
+  auto existing_callback = on_parameters_set_callback_;
+  on_parameters_set_callback_ = callback;
+  return existing_callback;
+}
+
 const std::map<std::string, rclcpp::ParameterValue> &
 NodeParameters::get_parameter_overrides() const
 {

rclcpp/src/rclcpp/node_interfaces/node_services.cpp

@@ -78,9 +78,3 @@ NodeServices::add_client(
     }
   }
 }
-
-std::string
-NodeServices::resolve_service_name(const std::string & name, bool only_expand) const
-{
-  return node_base_->resolve_topic_or_service_name(name, true, only_expand);
-}

rclcpp/src/rclcpp/node_interfaces/node_time_source.cpp

@@ -26,16 +26,14 @@ NodeTimeSource::NodeTimeSource(
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
-  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
-  const rclcpp::QoS & qos)
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters)
 : node_base_(node_base),
   node_topics_(node_topics),
   node_graph_(node_graph),
   node_services_(node_services),
   node_logging_(node_logging),
   node_clock_(node_clock),
-  node_parameters_(node_parameters),
-  time_source_(qos)
+  node_parameters_(node_parameters)
 {
   time_source_.attachNode(
     node_base_,

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -129,9 +129,3 @@ NodeTopics::get_node_timers_interface() const
 {
   return node_timers_;
 }
-
-std::string
-NodeTopics::resolve_topic_name(const std::string & name, bool only_expand) const
-{
-  return node_base_->resolve_topic_or_service_name(name, false, only_expand);
-}

rclcpp/src/rclcpp/node_options.cpp

@@ -77,9 +77,7 @@ NodeOptions::operator=(const NodeOptions & other)
     this->enable_topic_statistics_ = other.enable_topic_statistics_;
     this->start_parameter_services_ = other.start_parameter_services_;
     this->start_parameter_event_publisher_ = other.start_parameter_event_publisher_;
-    this->clock_qos_ = other.clock_qos_;
     this->parameter_event_qos_ = other.parameter_event_qos_;
-    this->rosout_qos_ = other.rosout_qos_;
     this->parameter_event_publisher_options_ = other.parameter_event_publisher_options_;
     this->allow_undeclared_parameters_ = other.allow_undeclared_parameters_;
     this->automatically_declare_parameters_from_overrides_ =
@@ -98,8 +96,8 @@ NodeOptions::get_rcl_node_options() const
     *node_options_ = rcl_node_get_default_options();
     node_options_->allocator = this->allocator_;
     node_options_->use_global_arguments = this->use_global_arguments_;
+    node_options_->domain_id = this->get_domain_id_from_env();
     node_options_->enable_rosout = this->enable_rosout_;
-    node_options_->rosout_qos = this->rosout_qos_.get_rmw_qos_profile();
 
     int c_argc = 0;
     std::unique_ptr<const char *[]> c_argv;
@@ -259,19 +257,6 @@ NodeOptions::start_parameter_event_publisher(bool start_parameter_event_publishe
   return *this;
 }
 
-const rclcpp::QoS &
-NodeOptions::clock_qos() const
-{
-  return this->clock_qos_;
-}
-
-NodeOptions &
-NodeOptions::clock_qos(const rclcpp::QoS & clock_qos)
-{
-  this->clock_qos_ = clock_qos;
-  return *this;
-}
-
 const rclcpp::QoS &
 NodeOptions::parameter_event_qos() const
 {
@@ -285,20 +270,6 @@ NodeOptions::parameter_event_qos(const rclcpp::QoS & parameter_event_qos)
   return *this;
 }
 
-const rclcpp::QoS &
-NodeOptions::rosout_qos() const
-{
-  return this->rosout_qos_;
-}
-
-NodeOptions &
-NodeOptions::rosout_qos(const rclcpp::QoS & rosout_qos)
-{
-  this->node_options_.reset();
-  this->rosout_qos_ = rosout_qos;
-  return *this;
-}
-
 const rclcpp::PublisherOptionsBase &
 NodeOptions::parameter_event_publisher_options() const
 {
@@ -355,4 +326,36 @@ NodeOptions::allocator(rcl_allocator_t allocator)
   return *this;
 }
 
+// TODO(wjwwood): reuse rcutils_get_env() to avoid code duplication.
+//   See also: https://github.com/ros2/rcl/issues/119
+size_t
+NodeOptions::get_domain_id_from_env() const
+{
+  // Determine the domain id based on the options and the ROS_DOMAIN_ID env variable.
+  size_t domain_id = std::numeric_limits<size_t>::max();
+  char * ros_domain_id = nullptr;
+  const char * env_var = "ROS_DOMAIN_ID";
+#ifndef _WIN32
+  ros_domain_id = getenv(env_var);
+#else
+  size_t ros_domain_id_size;
+  _dupenv_s(&ros_domain_id, &ros_domain_id_size, env_var);
+#endif
+  if (ros_domain_id) {
+    uint32_t number = static_cast<uint32_t>(strtoul(ros_domain_id, NULL, 0));
+    if (number == (std::numeric_limits<uint32_t>::max)()) {
+#ifdef _WIN32
+      // free the ros_domain_id before throwing, if getenv was used on Windows
+      free(ros_domain_id);
+#endif
+      throw std::runtime_error("failed to interpret ROS_DOMAIN_ID as integral number");
+    }
+    domain_id = static_cast<size_t>(number);
+#ifdef _WIN32
+    free(ros_domain_id);
+#endif
+  }
+  return domain_id;
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/parameter_client.cpp

@@ -104,6 +104,36 @@ AsyncParametersClient::AsyncParametersClient(
   node_services_interface->add_client(describe_parameters_base, group);
 }
 
+AsyncParametersClient::AsyncParametersClient(
+  const rclcpp::Node::SharedPtr node,
+  const std::string & remote_node_name,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::CallbackGroup::SharedPtr group)
+: AsyncParametersClient(
+    node->get_node_base_interface(),
+    node->get_node_topics_interface(),
+    node->get_node_graph_interface(),
+    node->get_node_services_interface(),
+    remote_node_name,
+    qos_profile,
+    group)
+{}
+
+AsyncParametersClient::AsyncParametersClient(
+  rclcpp::Node * node,
+  const std::string & remote_node_name,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::CallbackGroup::SharedPtr group)
+: AsyncParametersClient(
+    node->get_node_base_interface(),
+    node->get_node_topics_interface(),
+    node->get_node_graph_interface(),
+    node->get_node_services_interface(),
+    remote_node_name,
+    qos_profile,
+    group)
+{}
+
 std::shared_future<std::vector<rclcpp::Parameter>>
 AsyncParametersClient::get_parameters(
   const std::vector<std::string> & names,
@@ -312,6 +342,78 @@ AsyncParametersClient::wait_for_service_nanoseconds(std::chrono::nanoseconds tim
   return true;
 }
 
+SyncParametersClient::SyncParametersClient(
+  rclcpp::Node::SharedPtr 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,
+    qos_profile)
+{}
+
+SyncParametersClient::SyncParametersClient(
+  rclcpp::Executor::SharedPtr executor,
+  rclcpp::Node::SharedPtr 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,
+    qos_profile)
+{}
+
+SyncParametersClient::SyncParametersClient(
+  rclcpp::Node * 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,
+    qos_profile)
+{}
+
+SyncParametersClient::SyncParametersClient(
+  rclcpp::Executor::SharedPtr executor,
+  rclcpp::Node * 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,
+    qos_profile)
+{}
+
+SyncParametersClient::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,
+    qos_profile);
+}
+
 std::vector<rclcpp::Parameter>
 SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_names)
 {

rclcpp/src/rclcpp/publisher_base.cpp

@@ -262,9 +262,7 @@ PublisherBase::default_incompatible_qos_callback(
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(
     rclcpp::get_logger(rcl_node_get_logger_name(rcl_node_handle_.get())),
-    "New subscription discovered on topic '%s', requesting incompatible QoS. "
+    "New subscription discovered on this topic, requesting incompatible QoS. "
     "No messages will be sent to it. "
-    "Last incompatible policy: %s",
-    get_topic_name(),
-    policy_name.c_str());
+    "Last incompatible policy: %s", policy_name.c_str());
 }

rclcpp/src/rclcpp/qos.cpp

@@ -235,12 +235,6 @@ bool operator!=(const QoS & left, const QoS & right)
   return !(left == right);
 }
 
-ClockQoS::ClockQoS(const QoSInitialization & qos_initialization)
-// Using `rmw_qos_profile_sensor_data` intentionally.
-// It's best effort and `qos_initialization` is overriding the depth to 1.
-: QoS(qos_initialization, rmw_qos_profile_sensor_data)
-{}
-
 SensorDataQoS::SensorDataQoS(const QoSInitialization & qos_initialization)
 : QoS(qos_initialization, rmw_qos_profile_sensor_data)
 {}
@@ -257,10 +251,6 @@ ParameterEventsQoS::ParameterEventsQoS(const QoSInitialization & qos_initializat
 : QoS(qos_initialization, rmw_qos_profile_parameter_events)
 {}
 
-RosoutQoS::RosoutQoS(const QoSInitialization & rosout_initialization)
-: QoS(rosout_initialization, rcl_qos_profile_rosout_default)
-{}
-
 SystemDefaultsQoS::SystemDefaultsQoS(const QoSInitialization & qos_initialization)
 : QoS(qos_initialization, rmw_qos_profile_system_default)
 {}

rclcpp/src/rclcpp/subscription_base.cpp

@@ -245,11 +245,9 @@ SubscriptionBase::default_incompatible_qos_callback(
   std::string policy_name = qos_policy_name_from_kind(event.last_policy_kind);
   RCLCPP_WARN(
     rclcpp::get_logger(rcl_node_get_logger_name(node_handle_.get())),
-    "New publisher discovered on topic '%s', offering incompatible QoS. "
+    "New publisher discovered on this topic, offering incompatible QoS. "
     "No messages will be sent to it. "
-    "Last incompatible policy: %s",
-    get_topic_name(),
-    policy_name.c_str());
+    "Last incompatible policy: %s", policy_name.c_str());
 }
 
 bool

rclcpp/src/rclcpp/time.cpp

@@ -199,7 +199,7 @@ Time::operator-(const rclcpp::Time & rhs) const
     throw std::underflow_error("time subtraction leads to int64_t underflow");
   }
 
-  return Duration::from_nanoseconds(rcl_time_.nanoseconds - rhs.rcl_time_.nanoseconds);
+  return Duration(rcl_time_.nanoseconds - rhs.rcl_time_.nanoseconds);
 }
 
 Time

rclcpp/src/rclcpp/time_source.cpp

@@ -33,16 +33,17 @@
 namespace rclcpp
 {
 
-TimeSource::TimeSource(std::shared_ptr<rclcpp::Node> node, const rclcpp::QoS & qos)
+TimeSource::TimeSource(std::shared_ptr<rclcpp::Node> node)
 : logger_(rclcpp::get_logger("rclcpp")),
-  qos_(qos)
+  clock_subscription_(nullptr),
+  ros_time_active_(false)
 {
   this->attachNode(node);
 }
 
-TimeSource::TimeSource(const rclcpp::QoS & qos)
+TimeSource::TimeSource()
 : logger_(rclcpp::get_logger("rclcpp")),
-  qos_(qos)
+  ros_time_active_(false)
 {
 }
 
@@ -184,21 +185,11 @@ void TimeSource::set_clock(
   const builtin_interfaces::msg::Time::SharedPtr msg, bool set_ros_time_enabled,
   std::shared_ptr<rclcpp::Clock> clock)
 {
-  std::lock_guard<std::mutex> clock_guard(clock->get_clock_mutex());
-
   // Do change
   if (!set_ros_time_enabled && clock->ros_time_is_active()) {
-    auto ret = rcl_disable_ros_time_override(clock->get_clock_handle());
-    if (ret != RCL_RET_OK) {
-      rclcpp::exceptions::throw_from_rcl_error(
-        ret, "Failed to disable ros_time_override_status");
-    }
+    disable_ros_time(clock);
   } else if (set_ros_time_enabled && !clock->ros_time_is_active()) {
-    auto ret = rcl_enable_ros_time_override(clock->get_clock_handle());
-    if (ret != RCL_RET_OK) {
-      rclcpp::exceptions::throw_from_rcl_error(
-        ret, "Failed to enable ros_time_override_status");
-    }
+    enable_ros_time(clock);
   }
 
   auto ret = rcl_set_ros_time_override(clock->get_clock_handle(), rclcpp::Time(*msg).nanoseconds());
@@ -236,7 +227,7 @@ void TimeSource::create_clock_sub()
   clock_subscription_ = rclcpp::create_subscription<rosgraph_msgs::msg::Clock>(
     node_topics_,
     "/clock",
-    rclcpp::QoS(KeepLast(1)).best_effort(),
+    rclcpp::QoS(QoSInitialization::from_rmw(rmw_qos_profile_default)),
     std::bind(&TimeSource::clock_cb, this, std::placeholders::_1)
   );
 }
@@ -282,6 +273,24 @@ void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::S
   }
 }
 
+void TimeSource::enable_ros_time(std::shared_ptr<rclcpp::Clock> clock)
+{
+  auto ret = rcl_enable_ros_time_override(clock->get_clock_handle());
+  if (ret != RCL_RET_OK) {
+    rclcpp::exceptions::throw_from_rcl_error(
+      ret, "Failed to enable ros_time_override_status");
+  }
+}
+
+void TimeSource::disable_ros_time(std::shared_ptr<rclcpp::Clock> clock)
+{
+  auto ret = rcl_disable_ros_time_override(clock->get_clock_handle());
+  if (ret != RCL_RET_OK) {
+    rclcpp::exceptions::throw_from_rcl_error(
+      ret, "Failed to enable ros_time_override_status");
+  }
+}
+
 void TimeSource::enable_ros_time()
 {
   if (ros_time_active_) {

rclcpp/src/rclcpp/utilities.cpp

@@ -21,7 +21,6 @@
 
 #include "./signal_handler.hpp"
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/detail/utilities.hpp"
 #include "rclcpp/exceptions.hpp"
 
 #include "rcl/error_handling.h"
@@ -57,47 +56,6 @@ uninstall_signal_handlers()
   return SignalHandler::get_global_signal_handler().uninstall();
 }
 
-static
-std::vector<std::string>
-_remove_ros_arguments(
-  char const * const argv[],
-  const rcl_arguments_t * args,
-  rcl_allocator_t alloc)
-{
-  rcl_ret_t ret;
-  int nonros_argc = 0;
-  const char ** nonros_argv = NULL;
-
-  ret = rcl_remove_ros_arguments(
-    argv,
-    args,
-    alloc,
-    &nonros_argc,
-    &nonros_argv);
-
-  if (RCL_RET_OK != ret || nonros_argc < 0) {
-    // Not using throw_from_rcl_error, because we may need to append deallocation failures.
-    exceptions::RCLError exc(ret, rcl_get_error_state(), "");
-    rcl_reset_error();
-    if (NULL != nonros_argv) {
-      alloc.deallocate(nonros_argv, alloc.state);
-    }
-    throw exc;
-  }
-
-  std::vector<std::string> return_arguments(static_cast<size_t>(nonros_argc));
-
-  for (size_t ii = 0; ii < static_cast<size_t>(nonros_argc); ++ii) {
-    return_arguments[ii] = std::string(nonros_argv[ii]);
-  }
-
-  if (NULL != nonros_argv) {
-    alloc.deallocate(nonros_argv, alloc.state);
-  }
-
-  return return_arguments;
-}
-
 std::vector<std::string>
 init_and_remove_ros_arguments(
   int argc,
@@ -105,10 +63,7 @@ init_and_remove_ros_arguments(
   const InitOptions & init_options)
 {
   init(argc, argv, init_options);
-
-  using rclcpp::contexts::get_global_default_context;
-  auto rcl_context = get_global_default_context()->get_rcl_context();
-  return _remove_ros_arguments(argv, &(rcl_context->global_arguments), rcl_get_default_allocator());
+  return remove_ros_arguments(argc, argv);
 }
 
 std::vector<std::string>
@@ -124,17 +79,40 @@ remove_ros_arguments(int argc, char const * const argv[])
     exceptions::throw_from_rcl_error(ret, "failed to parse arguments");
   }
 
-  std::vector<std::string> return_arguments;
-  try {
-    return_arguments = _remove_ros_arguments(argv, &parsed_args, alloc);
-  } catch (exceptions::RCLError & exc) {
+  int nonros_argc = 0;
+  const char ** nonros_argv = NULL;
+
+  ret = rcl_remove_ros_arguments(
+    argv,
+    &parsed_args,
+    alloc,
+    &nonros_argc,
+    &nonros_argv);
+
+  if (RCL_RET_OK != ret || nonros_argc < 0) {
+    // Not using throw_from_rcl_error, because we may need to append deallocation failures.
+    exceptions::RCLErrorBase base_exc(ret, rcl_get_error_state());
+    rcl_reset_error();
+    if (NULL != nonros_argv) {
+      alloc.deallocate(nonros_argv, alloc.state);
+    }
     if (RCL_RET_OK != rcl_arguments_fini(&parsed_args)) {
-      exc.formatted_message += std::string(
+      base_exc.formatted_message += std::string(
         ", failed also to cleanup parsed arguments, leaking memory: ") +
         rcl_get_error_string().str;
       rcl_reset_error();
     }
-    throw exc;
+    throw exceptions::RCLError(base_exc, "");
+  }
+
+  std::vector<std::string> return_arguments(static_cast<size_t>(nonros_argc));
+
+  for (size_t ii = 0; ii < static_cast<size_t>(nonros_argc); ++ii) {
+    return_arguments[ii] = std::string(nonros_argv[ii]);
+  }
+
+  if (NULL != nonros_argv) {
+    alloc.deallocate(nonros_argv, alloc.state);
   }
 
   ret = rcl_arguments_fini(&parsed_args);

rclcpp/test/benchmark/CMakeLists.txt

@@ -1,3 +1,4 @@
+find_package(ament_cmake_google_benchmark REQUIRED)
 find_package(performance_test_fixture REQUIRED)
 
 # These benchmarks are only being created and run for the default RMW
@@ -31,6 +32,11 @@ if(TARGET benchmark_node_parameters_interface)
   target_link_libraries(benchmark_node_parameters_interface ${PROJECT_NAME})
 endif()
 
+ament_add_google_benchmark(benchmark_parameter_client benchmark_parameter_client.cpp)
+if(TARGET benchmark_parameter_client)
+  target_link_libraries(benchmark_parameter_client ${PROJECT_NAME})
+endif()
+
 add_performance_test(benchmark_service benchmark_service.cpp)
 if(TARGET benchmark_service)
   target_link_libraries(benchmark_service ${PROJECT_NAME})

rclcpp/test/benchmark/benchmark_parameter_client.cpp

@@ -0,0 +1,324 @@
+// 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.
+
+#include <memory>
+#include <vector>
+#include <string>
+
+#include "benchmark/benchmark.h"
+
+#include "rclcpp/rclcpp.hpp"
+
+class RemoteNodeTest : public benchmark::Fixture
+{
+public:
+  RemoteNodeTest()
+  : remote_node_name("my_remote_node")
+  {
+  }
+
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Woverloaded-virtual"
+#endif
+  void SetUp(benchmark::State &)
+  {
+    remote_context = std::make_shared<rclcpp::Context>();
+    remote_context->init(0, nullptr, rclcpp::InitOptions().auto_initialize_logging(false));
+
+    rclcpp::ExecutorOptions exec_options;
+    exec_options.context = remote_context;
+
+    remote_executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>(exec_options);
+
+    remote_node = std::make_shared<rclcpp::Node>(
+      remote_node_name, rclcpp::NodeOptions().context(remote_context));
+    remote_executor->add_node(remote_node);
+
+    remote_thread = std::thread(&rclcpp::executors::SingleThreadedExecutor::spin, remote_executor);
+  }
+
+  void TearDown(benchmark::State &)
+  {
+    remote_executor->cancel();
+    remote_context->shutdown("Test is complete");
+    remote_thread.join();
+
+    remote_node.reset();
+    remote_executor.reset();
+    remote_context.reset();
+  }
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
+  const std::string remote_node_name;
+
+protected:
+  rclcpp::Context::SharedPtr remote_context;
+  rclcpp::executors::SingleThreadedExecutor::SharedPtr remote_executor;
+  rclcpp::Node::SharedPtr remote_node;
+  std::thread remote_thread;
+};
+
+class ParameterClientTest : public RemoteNodeTest
+{
+public:
+  ParameterClientTest()
+  : node_name("my_node"),
+    param_prefix("my_prefix"),
+    param1_name(param_prefix + ".my_param_1"),
+    param2_name(param_prefix + ".my_param_2"),
+    param3_name(param_prefix + ".my_param_3")
+  {
+  }
+
+  void SetUp(benchmark::State & state)
+  {
+    RemoteNodeTest::SetUp(state);
+
+    rclcpp::init(0, nullptr);
+    node = std::make_shared<rclcpp::Node>(node_name);
+
+    remote_node->declare_parameter(
+      param1_name, rclcpp::ParameterValue("param1_value"));
+    remote_node->declare_parameter(
+      param2_name, rclcpp::ParameterValue(std::vector<int> {1, 2, 3}));
+    remote_node->declare_parameter(param3_name);
+    remote_node->undeclare_parameter(param3_name);
+
+    params_client = std::make_shared<rclcpp::SyncParametersClient>(node, remote_node_name);
+
+    if (!params_client->wait_for_service()) {
+      state.SkipWithError("Client failed to become ready");
+    }
+  }
+
+  void TearDown(benchmark::State & state)
+  {
+    RemoteNodeTest::TearDown(state);
+
+    rclcpp::shutdown();
+    node.reset();
+    params_client.reset();
+  }
+
+  const std::string node_name;
+  const std::string param_prefix;
+  const std::string param1_name;
+  const std::string param2_name;
+  const std::string param3_name;
+
+protected:
+  rclcpp::Node::SharedPtr node;
+  rclcpp::SyncParametersClient::SharedPtr params_client;
+};
+
+static bool result_is_successful(rcl_interfaces::msg::SetParametersResult result)
+{
+  return result.successful;
+}
+
+BENCHMARK_F(ParameterClientTest, create_destroy_client)(benchmark::State & state)
+{
+  for (auto _ : state) {
+    params_client.reset();
+    params_client = std::make_shared<rclcpp::SyncParametersClient>(node, remote_node_name);
+    if (!params_client->wait_for_service()) {
+      state.SkipWithError("Client failed to become ready");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ParameterClientTest, has_parameter_hit)(benchmark::State & state)
+{
+  for (auto _ : state) {
+    if (!params_client->has_parameter(param1_name)) {
+      state.SkipWithError("Parameter was expected");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ParameterClientTest, has_parameter_miss)(benchmark::State & state)
+{
+  for (auto _ : state) {
+    if (params_client->has_parameter(param3_name)) {
+      state.SkipWithError("Parameter was not expected");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ParameterClientTest, set_parameters_bool)(benchmark::State & state)
+{
+  const std::vector<rclcpp::Parameter> param_values1
+  {
+    rclcpp::Parameter(param1_name, true),
+    rclcpp::Parameter(param2_name, false),
+  };
+  const std::vector<rclcpp::Parameter> param_values2
+  {
+    rclcpp::Parameter(param1_name, false),
+    rclcpp::Parameter(param2_name, true),
+  };
+
+  for (auto _ : state) {
+    std::vector<rcl_interfaces::msg::SetParametersResult> results =
+      params_client->set_parameters(param_values2);
+    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
+      state.SkipWithError("Failed to set one or more parameters");
+      break;
+    }
+
+    results = params_client->set_parameters(param_values1);
+    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
+      state.SkipWithError("Failed to set one or more parameters");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ParameterClientTest, set_parameters_atomically_bool)(benchmark::State & state)
+{
+  const std::vector<rclcpp::Parameter> param_values1
+  {
+    rclcpp::Parameter(param1_name, true),
+    rclcpp::Parameter(param2_name, false),
+  };
+  const std::vector<rclcpp::Parameter> param_values2
+  {
+    rclcpp::Parameter(param1_name, false),
+    rclcpp::Parameter(param2_name, true),
+  };
+
+  for (auto _ : state) {
+    rcl_interfaces::msg::SetParametersResult result =
+      params_client->set_parameters_atomically(param_values2);
+    if (!result.successful) {
+      state.SkipWithError(("Failed to set parameters: " + result.reason).c_str());
+      break;
+    }
+
+    result = params_client->set_parameters_atomically(param_values1);
+    if (!result.successful) {
+      state.SkipWithError(("Failed to set parameters: " + result.reason).c_str());
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ParameterClientTest, set_parameters_string)(benchmark::State & state)
+{
+  const std::vector<rclcpp::Parameter> param_values1
+  {
+    rclcpp::Parameter(param1_name, "param 1 value A"),
+    rclcpp::Parameter(param2_name, "param 2 value B"),
+  };
+  const std::vector<rclcpp::Parameter> param_values2
+  {
+    rclcpp::Parameter(param1_name, "param 1 value B"),
+    rclcpp::Parameter(param2_name, "param 2 value A"),
+  };
+
+  for (auto _ : state) {
+    std::vector<rcl_interfaces::msg::SetParametersResult> results =
+      params_client->set_parameters(param_values2);
+    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
+      state.SkipWithError("Failed to set one or more parameters");
+      break;
+    }
+
+    results = params_client->set_parameters(param_values1);
+    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
+      state.SkipWithError("Failed to set one or more parameters");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ParameterClientTest, set_parameters_array)(benchmark::State & state)
+{
+  const std::vector<rclcpp::Parameter> param_values1
+  {
+    rclcpp::Parameter(param1_name, std::vector<int> {0, 1, 2}),
+    rclcpp::Parameter(param2_name, std::vector<int> {3, 4, 5}),
+  };
+  const std::vector<rclcpp::Parameter> param_values2
+  {
+    rclcpp::Parameter(param1_name, std::vector<int> {4, 5, 6}),
+    rclcpp::Parameter(param2_name, std::vector<int> {7, 8, 9}),
+  };
+
+  for (auto _ : state) {
+    std::vector<rcl_interfaces::msg::SetParametersResult> results =
+      params_client->set_parameters(param_values2);
+    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
+      state.SkipWithError("Failed to set one or more parameters");
+      break;
+    }
+
+    results = params_client->set_parameters(param_values1);
+    if (!std::all_of(results.begin(), results.end(), result_is_successful)) {
+      state.SkipWithError("Failed to set one or more parameters");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ParameterClientTest, get_parameters)(benchmark::State & state)
+{
+  for (auto _ : state) {
+    std::vector<rclcpp::Parameter> results = params_client->get_parameters({param1_name});
+    if (results.size() != 1 || results[0].get_name() != param1_name) {
+      state.SkipWithError("Got the wrong parameter(s)");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ParameterClientTest, list_parameters_hit)(benchmark::State & state)
+{
+  const std::vector<std::string> prefixes
+  {
+    param_prefix,
+  };
+
+  for (auto _ : state) {
+    rcl_interfaces::msg::ListParametersResult param_list =
+      params_client->list_parameters(prefixes, 10);
+    if (param_list.names.size() != 2) {
+      state.SkipWithError("Expected parameters");
+      break;
+    }
+  }
+}
+
+BENCHMARK_F(ParameterClientTest, list_parameters_miss)(benchmark::State & state)
+{
+  const std::vector<std::string> prefixes
+  {
+    "your_prefix",
+  };
+
+  for (auto _ : state) {
+    rcl_interfaces::msg::ListParametersResult param_list =
+      params_client->list_parameters(prefixes, 10);
+    if (param_list.names.size() != 0) {
+      state.SkipWithError("Expected no parameters");
+      break;
+    }
+  }
+}

rclcpp/test/rclcpp/CMakeLists.txt

@@ -97,15 +97,6 @@ if(TARGET test_create_subscription)
     "test_msgs"
   )
 endif()
-ament_add_gtest(test_add_callback_groups_to_executor
-  test_add_callback_groups_to_executor.cpp
-  TIMEOUT 120)
-if(TARGET test_add_callback_groups_to_executor)
-  target_link_libraries(test_add_callback_groups_to_executor ${PROJECT_NAME})
-  ament_target_dependencies(test_add_callback_groups_to_executor
-    "test_msgs"
-  )
-endif()
 ament_add_gtest(test_expand_topic_or_service_name test_expand_topic_or_service_name.cpp)
 if(TARGET test_expand_topic_or_service_name)
   ament_target_dependencies(test_expand_topic_or_service_name
@@ -633,12 +624,6 @@ if(TARGET test_thread_safe_synchronization)
   target_link_libraries(test_thread_safe_synchronization ${PROJECT_NAME})
 endif()
 
-ament_add_gtest(test_rosout_qos test_rosout_qos.cpp)
-if(TARGET test_rosout_qos)
-  ament_target_dependencies(test_rosout_qos "rcl")
-  target_link_libraries(test_rosout_qos ${PROJECT_NAME})
-endif()
-
 ament_add_gtest(test_executor test_executor.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}"
   TIMEOUT 120)

rclcpp/test/rclcpp/executors/test_executors.cpp

@@ -115,9 +115,9 @@ public:
   }
 };
 
-// TYPED_TEST_SUITE is deprecated as of gtest 1.9, use TYPED_TEST_SUITE when gtest dependency
+// TYPED_TEST_CASE is deprecated as of gtest 1.9, use TYPED_TEST_SUITE when gtest dependency
 // is updated.
-TYPED_TEST_SUITE(TestExecutors, ExecutorTypes, ExecutorTypeNames);
+TYPED_TEST_CASE(TestExecutors, ExecutorTypes, ExecutorTypeNames);
 
 // StaticSingleThreadedExecutor is not included in these tests for now, due to:
 // https://github.com/ros2/rclcpp/issues/1219
@@ -125,7 +125,7 @@ using StandardExecutors =
   ::testing::Types<
   rclcpp::executors::SingleThreadedExecutor,
   rclcpp::executors::MultiThreadedExecutor>;
-TYPED_TEST_SUITE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);
+TYPED_TEST_CASE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);
 
 // Make sure that executors detach from nodes when destructing
 TYPED_TEST(TestExecutors, detachOnDestruction) {
@@ -241,157 +241,6 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureComplete) {
   EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
 }
 
-// Same test, but uses a shared future.
-TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete) {
-  using ExecutorType = TypeParam;
-  ExecutorType executor;
-  executor.add_node(this->node);
-
-  // test success of an immediately finishing future
-  std::promise<bool> promise;
-  std::future<bool> future = promise.get_future();
-  promise.set_value(true);
-
-  // spin_until_future_complete is expected to exit immediately, but would block up until its
-  // timeout if the future is not checked before spin_once_impl.
-  auto shared_future = future.share();
-  auto start = std::chrono::steady_clock::now();
-  auto ret = executor.spin_until_future_complete(shared_future, 1s);
-  executor.remove_node(this->node, true);
-
-  // Check it didn't reach timeout
-  EXPECT_GT(500ms, (std::chrono::steady_clock::now() - start));
-  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
-}
-
-// For a longer running future that should require several iterations of spin_once
-TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout) {
-  using ExecutorType = TypeParam;
-  ExecutorType executor;
-  executor.add_node(this->node);
-
-  // This future doesn't immediately terminate, so some work gets performed.
-  std::future<void> future = std::async(
-    std::launch::async,
-    [this]() {
-      auto start = std::chrono::steady_clock::now();
-      while (this->callback_count < 1 && (std::chrono::steady_clock::now() - start) < 1s) {
-        std::this_thread::sleep_for(1ms);
-      }
-    });
-
-  bool spin_exited = false;
-
-  // Timeout set to negative for no timeout.
-  std::thread spinner([&]() {
-      auto ret = executor.spin_until_future_complete(future, -1s);
-      EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
-      executor.remove_node(this->node, true);
-      executor.cancel();
-      spin_exited = true;
-    });
-
-  // Do some work for longer than the future needs.
-  for (int i = 0; i < 100; ++i) {
-    this->publisher->publish(test_msgs::msg::Empty());
-    std::this_thread::sleep_for(1ms);
-    if (spin_exited) {
-      break;
-    }
-  }
-
-  // Not testing accuracy, just want to make sure that some work occurred.
-  EXPECT_LT(0, this->callback_count);
-
-  // If this fails, the test will probably crash because spinner goes out of scope while the thread
-  // is active. However, it beats letting this run until the gtest timeout.
-  ASSERT_TRUE(spin_exited);
-  executor.cancel();
-  spinner.join();
-}
-
-// Check spin_until_future_complete timeout works as expected
-TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteWithTimeout) {
-  using ExecutorType = TypeParam;
-  ExecutorType executor;
-  executor.add_node(this->node);
-
-  bool spin_exited = false;
-
-  // Needs to run longer than spin_until_future_complete's timeout.
-  std::future<void> future = std::async(
-    std::launch::async,
-    [&spin_exited]() {
-      auto start = std::chrono::steady_clock::now();
-      while (!spin_exited && (std::chrono::steady_clock::now() - start) < 1s) {
-        std::this_thread::sleep_for(1ms);
-      }
-    });
-
-  // Short timeout
-  std::thread spinner([&]() {
-      auto ret = executor.spin_until_future_complete(future, 1ms);
-      EXPECT_EQ(rclcpp::FutureReturnCode::TIMEOUT, ret);
-      executor.remove_node(this->node, true);
-      spin_exited = true;
-    });
-
-  // Do some work for longer than timeout needs.
-  for (int i = 0; i < 100; ++i) {
-    this->publisher->publish(test_msgs::msg::Empty());
-    std::this_thread::sleep_for(1ms);
-    if (spin_exited) {
-      break;
-    }
-  }
-
-  EXPECT_TRUE(spin_exited);
-  spinner.join();
-}
-
-// Check spin_until_future_complete can be properly interrupted.
-TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted) {
-  using ExecutorType = TypeParam;
-  ExecutorType executor;
-  executor.add_node(this->node);
-
-  bool spin_exited = false;
-
-  // This needs to block longer than it takes to get to the shutdown call below and for
-  // spin_until_future_complete to return
-  std::future<void> future = std::async(
-    std::launch::async,
-    [&spin_exited]() {
-      auto start = std::chrono::steady_clock::now();
-      while (!spin_exited && (std::chrono::steady_clock::now() - start) < 1s) {
-        std::this_thread::sleep_for(1ms);
-      }
-    });
-
-  // Long timeout
-  std::thread spinner([&spin_exited, &executor, &future]() {
-      auto ret = executor.spin_until_future_complete(future, 1s);
-      EXPECT_EQ(rclcpp::FutureReturnCode::INTERRUPTED, ret);
-      spin_exited = true;
-    });
-
-  // Do some minimal work
-  this->publisher->publish(test_msgs::msg::Empty());
-  std::this_thread::sleep_for(1ms);
-
-  // Force interruption
-  rclcpp::shutdown();
-
-  // Give it time to exit
-  auto start = std::chrono::steady_clock::now();
-  while (!spin_exited && (std::chrono::steady_clock::now() - start) < 1s) {
-    std::this_thread::sleep_for(1ms);
-  }
-
-  EXPECT_TRUE(spin_exited);
-  spinner.join();
-}
-
 class TestWaitable : public rclcpp::Waitable
 {
 public:
@@ -457,46 +306,6 @@ private:
   rcl_guard_condition_t gc_;
 };
 
-TYPED_TEST(TestExecutorsStable, spinAll) {
-  using ExecutorType = TypeParam;
-  ExecutorType executor;
-  auto waitable_interfaces = this->node->get_node_waitables_interface();
-  auto my_waitable = std::make_shared<TestWaitable>();
-  waitable_interfaces->add_waitable(my_waitable, nullptr);
-  executor.add_node(this->node);
-
-  // Long timeout, but should not block test if spin_all works as expected as we cancel the
-  // executor.
-  bool spin_exited = false;
-  std::thread spinner([&spin_exited, &executor, this]() {
-      executor.spin_all(1s);
-      executor.remove_node(this->node, true);
-      spin_exited = true;
-    });
-
-  // Do some work until sufficient calls to the waitable occur
-  auto start = std::chrono::steady_clock::now();
-  while (
-    my_waitable->get_count() <= 1 &&
-    !spin_exited &&
-    (std::chrono::steady_clock::now() - start < 1s))
-  {
-    this->publisher->publish(test_msgs::msg::Empty());
-    std::this_thread::sleep_for(1ms);
-  }
-
-  executor.cancel();
-  start = std::chrono::steady_clock::now();
-  while (!spin_exited && (std::chrono::steady_clock::now() - start) < 1s) {
-    std::this_thread::sleep_for(1ms);
-  }
-
-  EXPECT_LT(1u, my_waitable->get_count());
-  waitable_interfaces->remove_waitable(my_waitable, nullptr);
-  ASSERT_TRUE(spin_exited);
-  spinner.join();
-}
-
 TYPED_TEST(TestExecutorsStable, spinSome) {
   using ExecutorType = TypeParam;
   ExecutorType executor;

rclcpp/test/rclcpp/executors/test_static_executor_entities_collector.cpp

@@ -14,18 +14,13 @@
 
 #include <gtest/gtest.h>
 
-#include <chrono>
 #include <memory>
-#include <stdexcept>
 
 #include "rclcpp/rclcpp.hpp"
 
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/srv/empty.hpp"
 
-#include "../../mocking_utils/patch.hpp"
-#include "../../utils/rclcpp_gtest_macros.hpp"
-
 namespace
 {
 
@@ -110,9 +105,7 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node) {
   EXPECT_NO_THROW(entities_collector_->add_node(node1->get_node_base_interface()));
 
   // Check adding second time
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->add_node(node1->get_node_base_interface()),
-    std::runtime_error("Node has already been added to an executor."));
+  EXPECT_THROW(entities_collector_->add_node(node1->get_node_base_interface()), std::runtime_error);
 
   auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
   EXPECT_FALSE(entities_collector_->remove_node(node2->get_node_base_interface()));
@@ -121,10 +114,6 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node) {
   EXPECT_TRUE(entities_collector_->remove_node(node1->get_node_base_interface()));
   EXPECT_FALSE(entities_collector_->remove_node(node1->get_node_base_interface()));
   EXPECT_TRUE(entities_collector_->remove_node(node2->get_node_base_interface()));
-
-  auto node3 = std::make_shared<rclcpp::Node>("node3", "ns");
-  node3->get_node_base_interface()->get_associated_with_executor_atomic().exchange(true);
-  EXPECT_FALSE(entities_collector_->remove_node(node3->get_node_base_interface()));
 }
 
 TEST_F(TestStaticExecutorEntitiesCollector, init_bad_arguments) {
@@ -307,316 +296,3 @@ TEST_F(TestStaticExecutorEntitiesCollector, add_remove_node_with_entities) {
   // Still one for the executor
   EXPECT_EQ(1u, entities_collector_->get_number_of_waitables());
 }
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_callback_group) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_callback_group_after_add_node) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_node(node->get_node_base_interface());
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->add_callback_group(cb_group, node->get_node_base_interface()),
-    std::runtime_error("Callback group has already been added to an executor."));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_callback_group_twice) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-  cb_group->get_associated_with_executor_atomic().exchange(false);
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->add_callback_group(cb_group, node->get_node_base_interface()),
-    std::runtime_error("Callback group was already added to executor."));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_clear_error) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
-
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
-
-  {
-    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_clear, RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      entities_collector_->execute(),
-      std::runtime_error("Couldn't clear wait set"));
-  }
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, prepare_wait_set_rcl_wait_set_resize_error) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
-
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
-
-  {
-    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_resize, RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      entities_collector_->execute(),
-      std::runtime_error("Couldn't resize the wait set: error not set"));
-  }
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_not_initialized) {
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->refresh_wait_set(std::chrono::nanoseconds(1000)),
-    std::runtime_error("Couldn't clear wait set"));
-  rcl_reset_error();
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_rcl_wait_failed) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
-
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
-
-  {
-    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait, RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      entities_collector_->refresh_wait_set(std::chrono::nanoseconds(1000)),
-      std::runtime_error("rcl_wait() failed: error not set"));
-  }
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, refresh_wait_set_add_handles_to_wait_set_failed) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-
-  // Create 1 of each entity type
-  auto subscription =
-    node->create_subscription<test_msgs::msg::Empty>(
-    "topic", rclcpp::QoS(10), [](test_msgs::msg::Empty::SharedPtr) {});
-  auto timer =
-    node->create_wall_timer(std::chrono::seconds(60), []() {});
-  auto service =
-    node->create_service<test_msgs::srv::Empty>(
-    "service",
-    [](
-      const test_msgs::srv::Empty::Request::SharedPtr,
-      test_msgs::srv::Empty::Response::SharedPtr) {});
-  auto client = node->create_client<test_msgs::srv::Empty>("service");
-  auto waitable = std::make_shared<TestWaitable>();
-
-  node->get_node_waitables_interface()->add_waitable(waitable, nullptr);
-
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-
-  rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
-
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
-
-  {
-    auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_wait_set_add_subscription,
-      RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      entities_collector_->refresh_wait_set(std::chrono::nanoseconds(1000)),
-      std::runtime_error("Couldn't fill wait set"));
-  }
-
-  entities_collector_->remove_node(node->get_node_base_interface());
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, add_to_wait_set_nullptr) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
-
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
-
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->add_to_wait_set(nullptr),
-    std::runtime_error("Executor waitable: couldn't add guard condition to wait set"));
-  rcl_reset_error();
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, fill_memory_strategy_invalid_group) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
-
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 2u);
-
-  cb_group.reset();
-
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, remove_callback_group_after_node) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-
-  node.reset();
-
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->remove_callback_group(cb_group),
-    std::runtime_error("Node must not be deleted before its callback group(s)."));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, remove_callback_group_twice) {
-  auto node = std::make_shared<rclcpp::Node>("node1", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  ASSERT_EQ(entities_collector_->get_all_callback_groups().size(), 1u);
-
-  entities_collector_->remove_callback_group(cb_group);
-
-  RCLCPP_EXPECT_THROW_EQ(
-    entities_collector_->remove_callback_group(cb_group),
-    std::runtime_error("Callback group needs to be associated with executor."));
-}
-
-TEST_F(TestStaticExecutorEntitiesCollector, remove_node_opposite_order) {
-  auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
-  EXPECT_NO_THROW(entities_collector_->add_node(node1->get_node_base_interface()));
-
-  auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
-  EXPECT_NO_THROW(entities_collector_->add_node(node2->get_node_base_interface()));
-
-  EXPECT_TRUE(entities_collector_->remove_node(node2->get_node_base_interface()));
-}
-
-TEST_F(
-  TestStaticExecutorEntitiesCollector,
-  add_callback_groups_from_nodes_associated_to_executor_add) {
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  entities_collector_->add_callback_group(cb_group, node->get_node_base_interface());
-  entities_collector_->add_node(node->get_node_base_interface());
-
-  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto shared_context = node->get_node_base_interface()->get_context();
-  rcl_context_t * context = shared_context->get_rcl_context().get();
-  EXPECT_EQ(
-    RCL_RET_OK,
-    rcl_wait_set_init(&wait_set, 100, 100, 100, 100, 100, 100, context, allocator));
-  RCLCPP_SCOPE_EXIT({EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));});
-
-  auto memory_strategy = rclcpp::memory_strategies::create_default_strategy();
-  rclcpp::GuardCondition guard_condition(shared_context);
-  rcl_guard_condition_t rcl_guard_condition = guard_condition.get_rcl_guard_condition();
-
-  entities_collector_->init(&wait_set, memory_strategy, &rcl_guard_condition);
-  RCLCPP_SCOPE_EXIT(entities_collector_->fini());
-
-  cb_group->get_associated_with_executor_atomic().exchange(false);
-  entities_collector_->execute();
-
-  EXPECT_TRUE(entities_collector_->remove_node(node->get_node_base_interface()));
-}

rclcpp/test/rclcpp/executors/test_static_single_threaded_executor.cpp

@@ -15,20 +15,13 @@
 #include <gtest/gtest.h>
 
 #include <chrono>
-#include <future>
 #include <memory>
-#include <stdexcept>
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp/executors.hpp"
 
-#include "test_msgs/srv/empty.hpp"
-
-#include "../../mocking_utils/patch.hpp"
-#include "../../utils/rclcpp_gtest_macros.hpp"
-
 using namespace std::chrono_literals;
 
 class TestStaticSingleThreadedExecutor : public ::testing::Test
@@ -51,102 +44,5 @@ TEST_F(TestStaticSingleThreadedExecutor, check_unimplemented) {
   executor.add_node(node);
 
   EXPECT_THROW(executor.spin_some(), rclcpp::exceptions::UnimplementedError);
-  EXPECT_THROW(executor.spin_all(0ns), rclcpp::exceptions::UnimplementedError);
   EXPECT_THROW(executor.spin_once(0ns), rclcpp::exceptions::UnimplementedError);
 }
-
-TEST_F(TestStaticSingleThreadedExecutor, add_callback_group_trigger_guard_failed) {
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  {
-    auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      executor.add_callback_group(cb_group, node->get_node_base_interface(), true),
-      std::runtime_error("error not set"));
-  }
-}
-
-TEST_F(TestStaticSingleThreadedExecutor, add_node_trigger_guard_failed) {
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-
-  {
-    auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      executor.add_node(node),
-      std::runtime_error("error not set"));
-  }
-}
-
-TEST_F(TestStaticSingleThreadedExecutor, remove_callback_group_trigger_guard_failed) {
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  executor.add_callback_group(cb_group, node->get_node_base_interface(), true);
-
-  {
-    auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      executor.remove_callback_group(cb_group, true),
-      std::runtime_error("error not set"));
-  }
-}
-
-TEST_F(TestStaticSingleThreadedExecutor, remove_node_failed) {
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-
-  {
-    auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      executor.remove_node(node, true),
-      std::runtime_error("Node needs to be associated with this executor."));
-  }
-}
-
-TEST_F(TestStaticSingleThreadedExecutor, remove_node_trigger_guard_failed) {
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-
-  executor.add_node(node);
-
-  {
-    auto mock = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
-    RCLCPP_EXPECT_THROW_EQ(
-      executor.remove_node(node, true),
-      std::runtime_error("error not set"));
-  }
-}
-
-TEST_F(TestStaticSingleThreadedExecutor, execute_service) {
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  executor.add_node(node);
-
-  auto service =
-    node->create_service<test_msgs::srv::Empty>(
-    "service",
-    [](
-      const test_msgs::srv::Empty::Request::SharedPtr,
-      test_msgs::srv::Empty::Response::SharedPtr) {});
-  auto client = node->create_client<test_msgs::srv::Empty>("service");
-
-  std::promise<void> promise;
-  std::future<void> future = promise.get_future();
-  EXPECT_EQ(
-    rclcpp::FutureReturnCode::TIMEOUT,
-    executor.spin_until_future_complete(future, std::chrono::milliseconds(1)));
-
-  executor.remove_node(node);
-  executor.spin_until_future_complete(future, std::chrono::milliseconds(1));
-}

rclcpp/test/rclcpp/node_interfaces/test_node_graph.cpp

@@ -91,7 +91,7 @@ TEST_F(TestNodeGraph, construct_from_node)
 
   // get_graph_event is non-const
   EXPECT_NE(nullptr, node()->get_node_graph_interface()->get_graph_event());
-  EXPECT_EQ(1u, node_graph()->count_graph_users());
+  EXPECT_EQ(1u, node()->get_node_graph_interface()->count_graph_users());
 }
 
 TEST_F(TestNodeGraph, get_topic_names_and_types)

rclcpp/test/rclcpp/node_interfaces/test_node_services.cpp

@@ -16,7 +16,6 @@
 
 #include <memory>
 #include <string>
-#include <vector>
 
 #include "rcl/node_options.h"
 #include "rclcpp/node.hpp"
@@ -56,9 +55,7 @@ public:
   {
     rclcpp::init(0, nullptr);
 
-    rclcpp::NodeOptions options{};
-    options.arguments(std::vector<std::string>{"-r", "foo:=bar"});
-    node = std::make_shared<rclcpp::Node>("node", "ns", options);
+    node = std::make_shared<rclcpp::Node>("node", "ns");
 
     // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
     // the proper type is being tested and covered.
@@ -132,13 +129,3 @@ TEST_F(TestNodeService, add_client_rcl_trigger_guard_condition_error)
     node_services->add_client(client, callback_group),
     std::runtime_error("Failed to notify wait set on client creation: error not set"));
 }
-
-TEST_F(TestNodeService, resolve_service_name)
-{
-  EXPECT_EQ("/ns/bar", node_services->resolve_service_name("foo", false));
-  EXPECT_EQ("/ns/foo", node_services->resolve_service_name("foo", true));
-  EXPECT_EQ("/foo", node_services->resolve_service_name("/foo", true));
-  EXPECT_THROW(
-    node_services->resolve_service_name("this is not a valid name!~>", true),
-    rclcpp::exceptions::RCLError);
-}

rclcpp/test/rclcpp/node_interfaces/test_node_topics.cpp

@@ -17,7 +17,6 @@
 #include <memory>
 #include <string>
 #include <type_traits>
-#include <vector>
 
 #include "rcl/node_options.h"
 #include "rclcpp/node.hpp"
@@ -81,9 +80,7 @@ public:
   void SetUp()
   {
     rclcpp::init(0, nullptr);
-    rclcpp::NodeOptions options{};
-    options.arguments(std::vector<std::string>{"-r", "foo:=bar"});
-    node = std::make_shared<rclcpp::Node>("node", "ns", options);
+    node = std::make_shared<rclcpp::Node>("node", "ns");
 
     // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
     // the proper type is being tested and covered.
@@ -157,13 +154,3 @@ TEST_F(TestNodeTopics, add_subscription_rcl_trigger_guard_condition_error)
     node_topics->add_subscription(subscription, callback_group),
     std::runtime_error("failed to notify wait set on subscription creation: error not set"));
 }
-
-TEST_F(TestNodeTopics, resolve_topic_name)
-{
-  EXPECT_EQ("/ns/bar", node_topics->resolve_topic_name("foo", false));
-  EXPECT_EQ("/ns/foo", node_topics->resolve_topic_name("foo", true));
-  EXPECT_EQ("/foo", node_topics->resolve_topic_name("/foo", true));
-  EXPECT_THROW(
-    node_topics->resolve_topic_name("this is not a valid name!~>", true),
-    rclcpp::exceptions::RCLError);
-}

rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <list>
-#include <map>
 #include <memory>
 #include <string>
 #include <vector>
@@ -27,9 +26,7 @@
 #include "test_msgs/srv/empty.hpp"
 
 using rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy;
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
+using WeakNodeList = std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
 
 static bool test_waitable_result = false;
 
@@ -191,19 +188,10 @@ protected:
     std::shared_ptr<rclcpp::Node> node,
     const RclWaitSetSizes & expected)
   {
-    WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes,
-      &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+    WeakNodeList nodes;
+    nodes.push_back(node->get_node_base_interface());
+
+    allocator_memory_strategy()->collect_entities(nodes);
     EXPECT_EQ(
       expected.size_of_subscriptions, allocator_memory_strategy()->number_of_ready_subscriptions());
     EXPECT_EQ(
@@ -224,19 +212,9 @@ protected:
     std::shared_ptr<rclcpp::Node> node,
     const RclWaitSetSizes & insufficient_capacities)
   {
-    WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes,
-      &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+    WeakNodeList nodes;
+    nodes.push_back(node->get_node_base_interface());
+    allocator_memory_strategy()->collect_entities(nodes);
 
     auto context = node->get_node_base_interface()->get_context();
     rcl_context_t * rcl_context = context->get_rcl_context().get();
@@ -303,65 +281,26 @@ protected:
   ::testing::AssertionResult TestGetNextEntity(
     std::shared_ptr<rclcpp::Node> node_with_entity1,
     std::shared_ptr<rclcpp::Node> node_with_entity2,
-    std::function<rclcpp::AnyExecutable(WeakCallbackGroupsToNodesMap)> get_next_entity_func)
+    std::function<rclcpp::AnyExecutable(WeakNodeList)> get_next_entity_func)
   {
-    auto basic_node = create_node_with_disabled_callback_groups("basic_node");
-    WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = basic_node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes,
-      &basic_node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            basic_node->get_node_base_interface()));
-      });
-    auto callback_groups1 = node_with_entity1->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups1.begin(), callback_groups1.end(),
-      [&weak_groups_to_nodes,
-      &node_with_entity1](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node_with_entity1->get_node_base_interface()));
-      });
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+    WeakNodeList nodes;
+    auto basic_node = std::make_shared<rclcpp::Node>("basic_node", "ns");
+    nodes.push_back(node_with_entity1->get_node_base_interface());
+    nodes.push_back(basic_node->get_node_base_interface());
+    allocator_memory_strategy()->collect_entities(nodes);
 
-    rclcpp::AnyExecutable result = get_next_entity_func(weak_groups_to_nodes);
+    rclcpp::AnyExecutable result = get_next_entity_func(nodes);
     if (result.node_base != node_with_entity1->get_node_base_interface()) {
       return ::testing::AssertionFailure() <<
              "Failed to get expected entity with specified get_next_*() function";
     }
 
+    WeakNodeList uncollected_nodes;
     auto basic_node2 = std::make_shared<rclcpp::Node>("basic_node2", "ns");
-    WeakCallbackGroupsToNodesMap weak_groups_to_uncollected_nodes;
-    auto callback_groups2 = basic_node2->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups2.begin(), callback_groups2.end(),
-      [&weak_groups_to_uncollected_nodes,
-      &basic_node2](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_uncollected_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            basic_node2->get_node_base_interface()));
-      });
-    auto callback_groups3 = node_with_entity2->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups3.begin(), callback_groups3.end(),
-      [&weak_groups_to_uncollected_nodes,
-      &node_with_entity2](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_uncollected_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node_with_entity2->get_node_base_interface()));
-      });
-    rclcpp::AnyExecutable failed_result = get_next_entity_func(weak_groups_to_uncollected_nodes);
+    uncollected_nodes.push_back(node_with_entity2->get_node_base_interface());
+    uncollected_nodes.push_back(basic_node2->get_node_base_interface());
+
+    rclcpp::AnyExecutable failed_result = get_next_entity_func(uncollected_nodes);
     if (nullptr != failed_result.node_base) {
       return ::testing::AssertionFailure() <<
              "A node was retrieved with the specified get_next_*() function despite"
@@ -373,33 +312,16 @@ protected:
 
   ::testing::AssertionResult TestGetNextEntityMutuallyExclusive(
     std::shared_ptr<rclcpp::Node> node_with_entity,
-    std::function<rclcpp::AnyExecutable(WeakCallbackGroupsToNodesMap)> get_next_entity_func)
+    std::function<rclcpp::AnyExecutable(WeakNodeList)> get_next_entity_func)
   {
+    WeakNodeList nodes;
     auto basic_node = std::make_shared<rclcpp::Node>("basic_node", "ns");
-    auto basic_node_base = basic_node->get_node_base_interface();
+
     auto node_base = node_with_entity->get_node_base_interface();
-    WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    auto callback_groups = basic_node_base->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &basic_node_base](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            basic_node_base));
-      });
-    callback_groups = node_base->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node_base](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node_base));
-      });
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+    auto basic_node_base = basic_node->get_node_base_interface();
+    nodes.push_back(node_base);
+    nodes.push_back(basic_node_base);
+    allocator_memory_strategy()->collect_entities(nodes);
 
     // It's important that these be set after collect_entities() otherwise collect_entities() will
     // not do anything
@@ -409,7 +331,7 @@ protected:
       callback_group->can_be_taken_from() = false;
     }
 
-    rclcpp::AnyExecutable result = get_next_entity_func(weak_groups_to_nodes);
+    rclcpp::AnyExecutable result = get_next_entity_func(nodes);
 
     if (nullptr != result.node_base) {
       return ::testing::AssertionFailure() <<
@@ -436,19 +358,10 @@ private:
 };
 
 TEST_F(TestAllocatorMemoryStrategy, construct_destruct) {
+  WeakNodeList nodes;
   auto basic_node = create_node_with_disabled_callback_groups("basic_node");
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  auto callback_groups = basic_node->get_node_base_interface()->get_callback_groups();
-  std::for_each(
-    callback_groups.begin(), callback_groups.end(),
-    [&weak_groups_to_nodes, &basic_node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-      weak_groups_to_nodes.insert(
-        std::pair<rclcpp::CallbackGroup::WeakPtr,
-        rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          weak_group_ptr,
-          basic_node->get_node_base_interface()));
-    });
-  allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+  nodes.push_back(basic_node->get_node_base_interface());
+  allocator_memory_strategy()->collect_entities(nodes);
   EXPECT_EQ(0u, allocator_memory_strategy()->number_of_ready_subscriptions());
   EXPECT_EQ(0u, allocator_memory_strategy()->number_of_ready_services());
   EXPECT_EQ(0u, allocator_memory_strategy()->number_of_ready_events());
@@ -536,18 +449,9 @@ TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_timer) {
 
 TEST_F(TestAllocatorMemoryStrategy, add_handles_to_wait_set_bad_arguments) {
   auto node = create_node_with_subscription("subscription_node");
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-  std::for_each(
-    callback_groups.begin(), callback_groups.end(),
-    [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-      weak_groups_to_nodes.insert(
-        std::pair<rclcpp::CallbackGroup::WeakPtr,
-        rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          weak_group_ptr,
-          node->get_node_base_interface()));
-    });
-  allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+  WeakNodeList nodes;
+  nodes.push_back(node->get_node_base_interface());
+  allocator_memory_strategy()->collect_entities(nodes);
   EXPECT_FALSE(allocator_memory_strategy()->add_handles_to_wait_set(nullptr));
   EXPECT_TRUE(rcl_error_is_set());
   rcl_reset_error();
@@ -624,9 +528,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_subscription) {
   auto node1 = create_node_with_subscription("node1");
   auto node2 = create_node_with_subscription("node2");
 
-  auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this](const WeakNodeList & nodes) {
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_subscription(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_subscription(result, nodes);
       return result;
     };
 
@@ -637,9 +541,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service) {
   auto node1 = create_node_with_service("node1");
   auto node2 = create_node_with_service("node2");
 
-  auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this](const WeakNodeList & nodes) {
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_service(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_service(result, nodes);
       return result;
     };
 
@@ -650,9 +554,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_client) {
   auto node1 = create_node_with_client("node1");
   auto node2 = create_node_with_client("node2");
 
-  auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this](const WeakNodeList & nodes) {
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_client(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_client(result, nodes);
       return result;
     };
 
@@ -663,9 +567,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_timer) {
   auto node1 = create_node_with_timer("node1");
   auto node2 = create_node_with_timer("node2");
 
-  auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this](const WeakNodeList & nodes) {
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_timer(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_timer(result, nodes);
       return result;
     };
 
@@ -680,9 +584,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable) {
   node1->get_node_waitables_interface()->add_waitable(waitable1, nullptr);
   node2->get_node_waitables_interface()->add_waitable(waitable2, nullptr);
 
-  auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this](const WeakNodeList & nodes) {
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_waitable(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_waitable(result, nodes);
       return result;
     };
 
@@ -692,9 +596,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable) {
 TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_mutually_exclusive) {
   auto node = create_node_with_subscription("node");
 
-  auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this](const WeakNodeList & nodes) {
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_subscription(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_subscription(result, nodes);
       return result;
     };
 
@@ -704,9 +608,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_mutually_exclusive) {
 TEST_F(TestAllocatorMemoryStrategy, get_next_service_mutually_exclusive) {
   auto node = create_node_with_service("node");
 
-  auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this](const WeakNodeList & nodes) {
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_service(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_service(result, nodes);
       return result;
     };
 
@@ -716,9 +620,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service_mutually_exclusive) {
 TEST_F(TestAllocatorMemoryStrategy, get_next_client_mutually_exclusive) {
   auto node = create_node_with_client("node");
 
-  auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this](const WeakNodeList & nodes) {
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_client(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_client(result, nodes);
       return result;
     };
 
@@ -728,9 +632,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_client_mutually_exclusive) {
 TEST_F(TestAllocatorMemoryStrategy, get_next_timer_mutually_exclusive) {
   auto node = create_node_with_timer("node");
 
-  auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this](const WeakNodeList & nodes) {
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_timer(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_timer(result, nodes);
       return result;
     };
 
@@ -744,14 +648,13 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_mutually_exclusive) {
     node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   node->get_node_waitables_interface()->add_waitable(waitable, callback_group);
 
-  auto get_next_entity =
-    [this, callback_group](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
+  auto get_next_entity = [this, callback_group](const WeakNodeList & nodes) {
       // This callback group isn't in the base class' callback_group list, so this needs to be done
       // before get_next_waitable() is called.
       callback_group->can_be_taken_from() = false;
 
       rclcpp::AnyExecutable result;
-      allocator_memory_strategy()->get_next_waitable(result, weak_groups_to_nodes);
+      allocator_memory_strategy()->get_next_waitable(result, nodes);
       return result;
     };
 
@@ -759,8 +662,9 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_mutually_exclusive) {
 }
 
 TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_out_of_scope) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   auto node = create_node_with_disabled_callback_groups("node");
+  nodes.push_back(node->get_node_base_interface());
   // Force subscription to go out of scope and cleanup after collecting entities.
   {
     rclcpp::SubscriptionOptions subscription_options;
@@ -778,28 +682,19 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_out_of_scope) {
       test_msgs::msg::Empty, decltype(subscription_callback)>(
       "topic", qos, std::move(subscription_callback), subscription_options);
 
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+    allocator_memory_strategy()->collect_entities(nodes);
   }
   EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_subscriptions());
 
   rclcpp::AnyExecutable result;
-  allocator_memory_strategy()->get_next_subscription(result, weak_groups_to_nodes);
+  allocator_memory_strategy()->get_next_subscription(result, nodes);
   EXPECT_EQ(nullptr, result.node_base);
 }
 
 TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   auto node = create_node_with_disabled_callback_groups("node");
+  nodes.push_back(node->get_node_base_interface());
   // Force service to go out of scope and cleanup after collecting entities.
   {
     auto callback_group =
@@ -812,38 +707,19 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_service_out_of_scope) {
     auto service = node->create_service<test_msgs::srv::Empty>(
       "service", std::move(service_callback), rmw_qos_profile_services_default, callback_group);
 
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+    allocator_memory_strategy()->collect_entities(nodes);
   }
   EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_services());
 
   rclcpp::AnyExecutable result;
-  allocator_memory_strategy()->get_next_service(result, weak_groups_to_nodes);
+  allocator_memory_strategy()->get_next_service(result, nodes);
   EXPECT_EQ(nullptr, result.node_base);
 }
 
 TEST_F(TestAllocatorMemoryStrategy, get_next_client_out_of_scope) {
+  WeakNodeList nodes;
   auto node = create_node_with_disabled_callback_groups("node");
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-  std::for_each(
-    callback_groups.begin(), callback_groups.end(),
-    [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-      weak_groups_to_nodes.insert(
-        std::pair<rclcpp::CallbackGroup::WeakPtr,
-        rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          weak_group_ptr,
-          node->get_node_base_interface()));
-    });
+  nodes.push_back(node->get_node_base_interface());
   // Force client to go out of scope and cleanup after collecting entities.
   {
     auto callback_group =
@@ -852,69 +728,49 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_client_out_of_scope) {
     auto client = node->create_client<test_msgs::srv::Empty>(
       "service", rmw_qos_profile_services_default, callback_group);
 
-    weak_groups_to_nodes.insert(
-      std::pair<rclcpp::CallbackGroup::WeakPtr,
-      rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-        rclcpp::CallbackGroup::WeakPtr(callback_group),
-        node->get_node_base_interface()));
-
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+    allocator_memory_strategy()->collect_entities(nodes);
   }
   EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_clients());
 
   rclcpp::AnyExecutable result;
-  allocator_memory_strategy()->get_next_client(result, weak_groups_to_nodes);
+  allocator_memory_strategy()->get_next_client(result, nodes);
   EXPECT_EQ(nullptr, result.node_base);
 }
 
 TEST_F(TestAllocatorMemoryStrategy, get_next_timer_out_of_scope) {
+  WeakNodeList nodes;
   auto node = create_node_with_disabled_callback_groups("node");
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  nodes.push_back(node->get_node_base_interface());
+
   // Force timer to go out of scope and cleanup after collecting entities.
   {
     auto callback_group =
       node->create_callback_group(
       rclcpp::CallbackGroupType::MutuallyExclusive);
+
     auto timer = node->create_wall_timer(
       std::chrono::seconds(10), []() {}, callback_group);
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+
+    allocator_memory_strategy()->collect_entities(nodes);
   }
   EXPECT_EQ(1u, allocator_memory_strategy()->number_of_ready_timers());
 
   rclcpp::AnyExecutable result;
-  allocator_memory_strategy()->get_next_timer(result, weak_groups_to_nodes);
+  allocator_memory_strategy()->get_next_timer(result, nodes);
   EXPECT_EQ(nullptr, result.node_base);
 }
 
 TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_out_of_scope) {
+  WeakNodeList nodes;
   auto node = create_node_with_disabled_callback_groups("node");
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  nodes.push_back(node->get_node_base_interface());
+
   // Force waitable to go out of scope and cleanup after collecting entities.
   {
     auto callback_group =
       node->create_callback_group(
       rclcpp::CallbackGroupType::MutuallyExclusive);
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
+    allocator_memory_strategy()->collect_entities(nodes);
     auto waitable = std::make_shared<TestWaitable>();
     node->get_node_waitables_interface()->add_waitable(waitable, callback_group);
     allocator_memory_strategy()->add_waitable_handle(waitable);
@@ -923,6 +779,6 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_waitable_out_of_scope) {
   EXPECT_EQ(1u, allocator_memory_strategy()->number_of_waitables());
 
   rclcpp::AnyExecutable result;
-  allocator_memory_strategy()->get_next_waitable(result, weak_groups_to_nodes);
+  allocator_memory_strategy()->get_next_waitable(result, nodes);
   EXPECT_EQ(nullptr, result.node_base);
 }

rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp

@@ -1,303 +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.
-
-#include <gtest/gtest.h>
-
-#include <chrono>
-#include <map>
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "rclcpp/node.hpp"
-#include "test_msgs/msg/empty.hpp"
-#include "test_msgs/msg/empty.h"
-
-#include "rclcpp/exceptions.hpp"
-#include "rclcpp/executors.hpp"
-#include "rclcpp/executor.hpp"
-#include "rclcpp/rclcpp.hpp"
-
-// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
-// that this test can complete fully, or adjust the timeout as necessary.
-// See https://github.com/ros2/rmw_connext/issues/325 for resolution]
-
-using namespace std::chrono_literals;
-
-template<typename T>
-class TestAddCallbackGroupsToExecutor : public ::testing::Test
-{
-public:
-  static void SetUpTestCase()
-  {
-    rclcpp::init(0, nullptr);
-  }
-  static void TearDownTestCase()
-  {
-    rclcpp::shutdown();
-  }
-};
-
-using ExecutorTypes =
-  ::testing::Types<
-  rclcpp::executors::SingleThreadedExecutor,
-  rclcpp::executors::MultiThreadedExecutor,
-  rclcpp::executors::StaticSingleThreadedExecutor>;
-
-class ExecutorTypeNames
-{
-public:
-  template<typename T>
-  static std::string GetName(int idx)
-  {
-    (void)idx;
-    if (std::is_same<T, rclcpp::executors::SingleThreadedExecutor>()) {
-      return "SingleThreadedExecutor";
-    }
-
-    if (std::is_same<T, rclcpp::executors::MultiThreadedExecutor>()) {
-      return "MultiThreadedExecutor";
-    }
-
-    if (std::is_same<T, rclcpp::executors::StaticSingleThreadedExecutor>()) {
-      return "StaticSingleThreadedExecutor";
-    }
-
-    return "";
-  }
-};
-
-TYPED_TEST_SUITE(TestAddCallbackGroupsToExecutor, ExecutorTypes, ExecutorTypeNames);
-
-/*
- * Test adding callback groups.
- */
-TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups) {
-  using ExecutorType = TypeParam;
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-  auto timer_callback = []() {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  rclcpp::TimerBase::SharedPtr timer_ = node->create_wall_timer(
-    2s, timer_callback, cb_grp);
-  ExecutorType executor;
-  executor.add_callback_group(cb_grp, node->get_node_base_interface());
-  ASSERT_EQ(executor.get_all_callback_groups().size(), 1u);
-  ASSERT_EQ(executor.get_manually_added_callback_groups().size(), 1u);
-  ASSERT_EQ(executor.get_automatically_added_callback_groups_from_nodes().size(), 0u);
-
-  const rclcpp::QoS qos(10);
-  auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp2 = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  options.callback_group = cb_grp2;
-  auto subscription =
-    node->create_subscription<test_msgs::msg::Empty>("topic_name", qos, callback, options);
-  executor.add_callback_group(cb_grp2, node->get_node_base_interface());
-  ASSERT_EQ(executor.get_all_callback_groups().size(), 2u);
-  ASSERT_EQ(executor.get_manually_added_callback_groups().size(), 2u);
-  ASSERT_EQ(executor.get_automatically_added_callback_groups_from_nodes().size(), 0u);
-
-  executor.add_node(node);
-  ASSERT_EQ(executor.get_manually_added_callback_groups().size(), 2u);
-  ASSERT_EQ(executor.get_automatically_added_callback_groups_from_nodes().size(), 1u);
-
-  executor.remove_node(node);
-  ASSERT_EQ(executor.get_manually_added_callback_groups().size(), 2u);
-  ASSERT_EQ(executor.get_automatically_added_callback_groups_from_nodes().size(), 0u);
-
-  executor.remove_callback_group(cb_grp);
-  ASSERT_EQ(executor.get_manually_added_callback_groups().size(), 1u);
-  ASSERT_EQ(executor.get_automatically_added_callback_groups_from_nodes().size(), 0u);
-
-  executor.remove_callback_group(cb_grp2);
-  ASSERT_EQ(executor.get_manually_added_callback_groups().size(), 0u);
-  ASSERT_EQ(executor.get_automatically_added_callback_groups_from_nodes().size(), 0u);
-}
-
-/*
- * Test removing callback groups.
- */
-TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_groups) {
-  using ExecutorType = TypeParam;
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-  auto timer_callback = []() {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  rclcpp::TimerBase::SharedPtr timer_ = node->create_wall_timer(
-    2s, timer_callback, cb_grp);
-  ExecutorType executor;
-  executor.add_callback_group(cb_grp, node->get_node_base_interface());
-  const rclcpp::QoS qos(10);
-  auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp2 = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  options.callback_group = cb_grp2;
-  auto subscription =
-    node->create_subscription<test_msgs::msg::Empty>("topic_name", qos, callback, options);
-  executor.add_callback_group(cb_grp2, node->get_node_base_interface());
-
-  executor.remove_callback_group(cb_grp);
-  ASSERT_EQ(executor.get_all_callback_groups().size(), 1u);
-  executor.remove_callback_group(cb_grp2);
-  ASSERT_EQ(executor.get_all_callback_groups().size(), 0u);
-}
-
-/*
- * Test adding duplicate callback groups to executor.
- */
-TYPED_TEST(TestAddCallbackGroupsToExecutor, add_duplicate_callback_groups)
-{
-  rclcpp::executors::MultiThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-  auto timer_callback = []() {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  rclcpp::TimerBase::SharedPtr timer_ = node->create_wall_timer(
-    2s, timer_callback, cb_grp);
-  executor.add_callback_group(cb_grp, node->get_node_base_interface());
-  EXPECT_THROW(
-    executor.add_callback_group(cb_grp, node->get_node_base_interface()),
-    std::exception);
-}
-
-/*
- * Test adding callback group after node is added to executor.
- */
-TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups_after_add_node_to_executor)
-{
-  rclcpp::executors::MultiThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-  executor.add_node(node->get_node_base_interface());
-  ASSERT_EQ(executor.get_all_callback_groups().size(), 1u);
-  std::atomic_int timer_count {0};
-  auto timer_callback = [&executor, &timer_count]() {
-      if (timer_count > 0) {
-        ASSERT_EQ(executor.get_all_callback_groups().size(), 3u);
-        executor.cancel();
-      }
-      timer_count++;
-    };
-  rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  rclcpp::TimerBase::SharedPtr timer_ = node->create_wall_timer(
-    2s, timer_callback, cb_grp);
-  rclcpp::CallbackGroup::SharedPtr cb_grp2 = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive, false);
-  auto timer2_callback = []() {};
-  rclcpp::TimerBase::SharedPtr timer2_ = node->create_wall_timer(
-    2s, timer2_callback, cb_grp2);
-  rclcpp::CallbackGroup::SharedPtr cb_grp3 = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive, true);
-  auto timer3_callback = []() {};
-  rclcpp::TimerBase::SharedPtr timer3_ = node->create_wall_timer(
-    2s, timer3_callback, cb_grp3);
-  executor.spin();
-}
-
-/*
- * Test adding unallowable callback group.
- */
-TYPED_TEST(TestAddCallbackGroupsToExecutor, add_unallowable_callback_groups)
-{
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-  auto timer_callback = []() {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive, false);
-  rclcpp::TimerBase::SharedPtr timer_ = node->create_wall_timer(
-    2s, timer_callback, cb_grp);
-  rclcpp::executors::MultiThreadedExecutor executor;
-  executor.add_callback_group(cb_grp, node->get_node_base_interface());
-  ASSERT_EQ(executor.get_all_callback_groups().size(), 1u);
-
-  const rclcpp::QoS qos(10);
-  auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp2 = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive, false);
-  options.callback_group = cb_grp2;
-  auto subscription =
-    node->create_subscription<test_msgs::msg::Empty>("topic_name", qos, callback, options);
-  executor.add_callback_group(cb_grp2, node->get_node_base_interface());
-  ASSERT_EQ(executor.get_all_callback_groups().size(), 2u);
-
-  auto timer2_callback = []() {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp3 = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive, false);
-  rclcpp::TimerBase::SharedPtr timer2_ = node->create_wall_timer(
-    2s, timer2_callback, cb_grp3);
-  executor.add_node(node->get_node_base_interface());
-  ASSERT_EQ(executor.get_all_callback_groups().size(), 3u);
-}
-
-/*
- * Test callback groups from one node to many executors.
- */
-TYPED_TEST(TestAddCallbackGroupsToExecutor, one_node_many_callback_groups_many_executors)
-{
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-  auto timer_callback = []() {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive, false);
-  rclcpp::TimerBase::SharedPtr timer_ = node->create_wall_timer(
-    2s, timer_callback, cb_grp);
-  rclcpp::executors::MultiThreadedExecutor timer_executor;
-  rclcpp::executors::MultiThreadedExecutor sub_executor;
-  timer_executor.add_callback_group(cb_grp, node->get_node_base_interface());
-  const rclcpp::QoS qos(10);
-  auto options = rclcpp::SubscriptionOptions();
-  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp2 = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive, false);
-  options.callback_group = cb_grp2;
-  auto subscription =
-    node->create_subscription<test_msgs::msg::Empty>("topic_name", qos, callback, options);
-  sub_executor.add_callback_group(cb_grp2, node->get_node_base_interface());
-  ASSERT_EQ(sub_executor.get_all_callback_groups().size(), 1u);
-  ASSERT_EQ(timer_executor.get_all_callback_groups().size(), 1u);
-  auto timer2_callback = []() {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp3 = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive, false);
-  rclcpp::TimerBase::SharedPtr timer2 = node->create_wall_timer(
-    2s, timer2_callback, cb_grp3);
-  sub_executor.add_node(node);
-  ASSERT_EQ(sub_executor.get_all_callback_groups().size(), 2u);
-  timer_executor.add_callback_group(cb_grp3, node->get_node_base_interface());
-  ASSERT_EQ(timer_executor.get_all_callback_groups().size(), 2u);
-}
-
-/*
- * Test removing callback group from executor that its not associated with.
- */
-TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_group)
-{
-  rclcpp::executors::MultiThreadedExecutor executor;
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-  auto timer_callback = []() {};
-  rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  rclcpp::TimerBase::SharedPtr timer_ = node->create_wall_timer(
-    2s, timer_callback, cb_grp);
-  EXPECT_THROW(
-    executor.remove_callback_group(cb_grp),
-    std::exception);
-  executor.add_callback_group(cb_grp, node->get_node_base_interface());
-  EXPECT_NO_THROW(executor.remove_callback_group(cb_grp));
-  EXPECT_THROW(
-    executor.remove_callback_group(cb_grp),
-    std::exception);
-}

rclcpp/test/rclcpp/test_duration.cpp

@@ -68,7 +68,7 @@ TEST_F(TestDuration, operators) {
 TEST_F(TestDuration, chrono_overloads) {
   int64_t ns = 123456789l;
   auto chrono_ns = std::chrono::nanoseconds(ns);
-  auto d1 = rclcpp::Duration::from_nanoseconds(ns);
+  auto d1 = rclcpp::Duration(ns);
   auto d2 = rclcpp::Duration(chrono_ns);
   auto d3 = rclcpp::Duration(123456789ns);
   EXPECT_EQ(d1, d2);
@@ -85,11 +85,11 @@ TEST_F(TestDuration, chrono_overloads) {
 }
 
 TEST_F(TestDuration, overflows) {
-  auto max = rclcpp::Duration::from_nanoseconds(std::numeric_limits<rcl_duration_value_t>::max());
-  auto min = rclcpp::Duration::from_nanoseconds(std::numeric_limits<rcl_duration_value_t>::min());
+  rclcpp::Duration max(std::numeric_limits<rcl_duration_value_t>::max());
+  rclcpp::Duration min(std::numeric_limits<rcl_duration_value_t>::min());
 
-  rclcpp::Duration one(1ns);
-  rclcpp::Duration negative_one(-1ns);
+  rclcpp::Duration one(1);
+  rclcpp::Duration negative_one(-1);
 
   EXPECT_THROW(max + one, std::overflow_error);
   EXPECT_THROW(min - one, std::underflow_error);
@@ -106,7 +106,7 @@ TEST_F(TestDuration, overflows) {
 }
 
 TEST_F(TestDuration, negative_duration) {
-  rclcpp::Duration assignable_duration = rclcpp::Duration(0ns) - rclcpp::Duration(5, 0);
+  rclcpp::Duration assignable_duration = rclcpp::Duration(0) - rclcpp::Duration(5, 0);
 
   {
     // avoid windows converting a literal number less than -INT_MAX to unsigned int C4146
@@ -140,24 +140,22 @@ static const int64_t ONE_SEC_IN_NS = 1000 * 1000 * 1000;
 static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;
 
 TEST_F(TestDuration, from_seconds) {
-  EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration::from_seconds(0.0));
-  EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration::from_seconds(0));
+  EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0.0));
+  EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0));
   EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(1.5));
-  EXPECT_EQ(
-    rclcpp::Duration::from_nanoseconds(-ONE_AND_HALF_SEC_IN_NS),
-    rclcpp::Duration::from_seconds(-1.5));
+  EXPECT_EQ(rclcpp::Duration(-ONE_AND_HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(-1.5));
 }
 
 TEST_F(TestDuration, std_chrono_constructors) {
-  EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration(0.0s));
-  EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration(0s));
+  EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0.0s));
+  EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0s));
   EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration(1.5s));
   EXPECT_EQ(rclcpp::Duration(-1, 0), rclcpp::Duration(-1s));
 }
 
 TEST_F(TestDuration, conversions) {
   {
-    auto duration = rclcpp::Duration::from_nanoseconds(HALF_SEC_IN_NS);
+    const rclcpp::Duration duration(HALF_SEC_IN_NS);
     const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
     EXPECT_EQ(duration_msg.sec, 0);
     EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
@@ -172,7 +170,7 @@ TEST_F(TestDuration, conversions) {
   }
 
   {
-    auto duration = rclcpp::Duration::from_nanoseconds(ONE_SEC_IN_NS);
+    const rclcpp::Duration duration(ONE_SEC_IN_NS);
     const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
     EXPECT_EQ(duration_msg.sec, 1);
     EXPECT_EQ(duration_msg.nanosec, 0u);
@@ -187,7 +185,7 @@ TEST_F(TestDuration, conversions) {
   }
 
   {
-    auto duration = rclcpp::Duration::from_nanoseconds(ONE_AND_HALF_SEC_IN_NS);
+    const rclcpp::Duration duration(ONE_AND_HALF_SEC_IN_NS);
     auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
     EXPECT_EQ(duration_msg.sec, 1);
     EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
@@ -202,7 +200,7 @@ TEST_F(TestDuration, conversions) {
   }
 
   {
-    auto duration = rclcpp::Duration::from_nanoseconds(-HALF_SEC_IN_NS);
+    rclcpp::Duration duration(-HALF_SEC_IN_NS);
     auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
     EXPECT_EQ(duration_msg.sec, -1);
     EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
@@ -215,7 +213,7 @@ TEST_F(TestDuration, conversions) {
   }
 
   {
-    auto duration = rclcpp::Duration::from_nanoseconds(-ONE_SEC_IN_NS);
+    rclcpp::Duration duration(-ONE_SEC_IN_NS);
     auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
     EXPECT_EQ(duration_msg.sec, -1);
     EXPECT_EQ(duration_msg.nanosec, 0u);
@@ -228,7 +226,7 @@ TEST_F(TestDuration, conversions) {
   }
 
   {
-    auto duration = rclcpp::Duration::from_nanoseconds(-ONE_AND_HALF_SEC_IN_NS);
+    rclcpp::Duration duration(-ONE_AND_HALF_SEC_IN_NS);
     auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
     EXPECT_EQ(duration_msg.sec, -2);
     EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
@@ -255,10 +253,9 @@ TEST_F(TestDuration, test_some_constructors) {
 }
 
 TEST_F(TestDuration, test_some_exceptions) {
-  rclcpp::Duration test_duration(0ns);
+  rclcpp::Duration test_duration(0u);
   RCLCPP_EXPECT_THROW_EQ(
-    test_duration =
-    rclcpp::Duration::from_nanoseconds(INT64_MAX) - rclcpp::Duration(-1ns),
+    test_duration = rclcpp::Duration(INT64_MAX) - rclcpp::Duration(-1),
     std::overflow_error("duration subtraction leads to int64_t overflow"));
   RCLCPP_EXPECT_THROW_EQ(
     test_duration = test_duration * (std::numeric_limits<double>::infinity()),

rclcpp/test/rclcpp/test_executor.cpp

@@ -51,12 +51,6 @@ public:
     return memory_strategy_.get();
   }
 
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr local_get_node_by_group(
-    rclcpp::CallbackGroup::SharedPtr group)
-  {
-    return get_node_by_group(weak_groups_to_nodes_, group);
-  }
-
   rclcpp::CallbackGroup::SharedPtr local_get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
   {
     return get_group_by_timer(timer);
@@ -103,87 +97,6 @@ TEST_F(TestExecutor, constructor_bad_wait_set_init) {
     std::runtime_error("Failed to create wait set in Executor constructor: error not set"));
 }
 
-TEST_F(TestExecutor, add_callback_group_twice) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  dummy.add_callback_group(cb_group, node->get_node_base_interface(), false);
-  cb_group->get_associated_with_executor_atomic().exchange(false);
-  RCLCPP_EXPECT_THROW_EQ(
-    dummy.add_callback_group(cb_group, node->get_node_base_interface(), false),
-    std::runtime_error("Callback group was already added to executor."));
-}
-
-TEST_F(TestExecutor, add_callback_group_failed_trigger_guard_condition) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  auto mock = mocking_utils::patch_and_return(
-    "lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
-  RCLCPP_EXPECT_THROW_EQ(
-    dummy.add_callback_group(cb_group, node->get_node_base_interface(), true),
-    std::runtime_error("Failed to trigger guard condition on callback group add: error not set"));
-}
-
-TEST_F(TestExecutor, remove_callback_group_null_node) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  dummy.add_callback_group(cb_group, node->get_node_base_interface(), true);
-
-  node.reset();
-
-  RCLCPP_EXPECT_THROW_EQ(
-    dummy.remove_callback_group(cb_group, false),
-    std::runtime_error("Node must not be deleted before its callback group(s)."));
-}
-
-TEST_F(TestExecutor, remove_callback_group_failed_trigger_guard_condition) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  dummy.add_callback_group(cb_group, node->get_node_base_interface(), true);
-
-  auto mock = mocking_utils::patch_and_return(
-    "lib:rclcpp", rcl_trigger_guard_condition, RCL_RET_ERROR);
-  RCLCPP_EXPECT_THROW_EQ(
-    dummy.remove_callback_group(cb_group, true),
-    std::runtime_error(
-      "Failed to trigger guard condition on callback group remove: error not set"));
-}
-
-TEST_F(TestExecutor, remove_node_not_associated) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  RCLCPP_EXPECT_THROW_EQ(
-    dummy.remove_node(node->get_node_base_interface(), false),
-    std::runtime_error("Node needs to be associated with an executor."));
-}
-
-TEST_F(TestExecutor, remove_node_associated_with_different_executor) {
-  DummyExecutor dummy1;
-  auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
-  dummy1.add_node(node1->get_node_base_interface(), false);
-
-  DummyExecutor dummy2;
-  auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
-  dummy2.add_node(node2->get_node_base_interface(), false);
-
-  RCLCPP_EXPECT_THROW_EQ(
-    dummy2.remove_node(node1->get_node_base_interface(), false),
-    std::runtime_error("Node needs to be associated with this executor."));
-}
-
 TEST_F(TestExecutor, spin_node_once_nanoseconds) {
   DummyExecutor dummy;
   auto node = std::make_shared<rclcpp::Node>("node", "ns");
@@ -212,15 +125,6 @@ TEST_F(TestExecutor, spin_node_some) {
   EXPECT_TRUE(timer_fired);
 }
 
-TEST_F(TestExecutor, spin_all_invalid_duration) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-
-  RCLCPP_EXPECT_THROW_EQ(
-    dummy.spin_all(std::chrono::nanoseconds(-1)),
-    std::invalid_argument("max_duration must be positive"));
-}
-
 TEST_F(TestExecutor, spin_some_in_spin_some) {
   DummyExecutor dummy;
   auto node = std::make_shared<rclcpp::Node>("node", "ns");
@@ -387,28 +291,6 @@ TEST_F(TestExecutor, spin_some_fail_wait) {
     std::runtime_error("rcl_wait() failed: error not set"));
 }
 
-TEST_F(TestExecutor, get_node_by_group_null_group) {
-  DummyExecutor dummy;
-  ASSERT_EQ(nullptr, dummy.local_get_node_by_group(nullptr));
-}
-
-TEST_F(TestExecutor, get_node_by_group) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  dummy.add_callback_group(cb_group, node->get_node_base_interface(), false);
-  ASSERT_EQ(node->get_node_base_interface().get(), dummy.local_get_node_by_group(cb_group).get());
-}
-
-TEST_F(TestExecutor, get_node_by_group_not_found) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  ASSERT_EQ(nullptr, dummy.local_get_node_by_group(cb_group).get());
-}
-
 TEST_F(TestExecutor, get_group_by_timer_nullptr) {
   DummyExecutor dummy;
   ASSERT_EQ(nullptr, dummy.local_get_group_by_timer(nullptr));
@@ -440,48 +322,6 @@ TEST_F(TestExecutor, get_group_by_timer_with_deleted_group) {
   ASSERT_EQ(nullptr, dummy.local_get_group_by_timer(timer).get());
 }
 
-TEST_F(TestExecutor, get_group_by_timer_add_callback_group) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  rclcpp::CallbackGroup::SharedPtr cb_group = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-  auto timer =
-    node->create_wall_timer(std::chrono::milliseconds(1), [&]() {}, cb_group);
-  dummy.add_callback_group(cb_group, node->get_node_base_interface(), false);
-
-  ASSERT_EQ(cb_group.get(), dummy.local_get_group_by_timer(timer).get());
-}
-
-TEST_F(TestExecutor, spin_until_future_complete_in_spin_until_future_complete) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  bool spin_until_future_complete_in_spin_until_future_complete = false;
-  auto timer =
-    node->create_wall_timer(
-    std::chrono::milliseconds(1), [&]() {
-      try {
-        std::promise<void> promise;
-        std::future<void> future = promise.get_future();
-        dummy.spin_until_future_complete(future, std::chrono::milliseconds(1));
-      } catch (const std::runtime_error & err) {
-        if (err.what() == std::string(
-          "spin_until_future_complete() called while already spinning"))
-        {
-          spin_until_future_complete_in_spin_until_future_complete = true;
-        }
-      }
-    });
-
-  dummy.add_node(node);
-  // Wait for the wall timer to have expired.
-  std::this_thread::sleep_for(std::chrono::milliseconds(50));
-  EXPECT_FALSE(spin_until_future_complete_in_spin_until_future_complete);
-  std::promise<void> promise;
-  std::future<void> future = promise.get_future();
-  dummy.spin_until_future_complete(future, std::chrono::milliseconds(1));
-  EXPECT_TRUE(spin_until_future_complete_in_spin_until_future_complete);
-}
-
 TEST_F(TestExecutor, spin_node_once_base_interface) {
   DummyExecutor dummy;
   auto node = std::make_shared<rclcpp::Node>("node", "ns");
@@ -515,14 +355,3 @@ TEST_F(TestExecutor, spin_node_once_node) {
   dummy.spin_node_once(node);
   EXPECT_TRUE(spin_called);
 }
-
-TEST_F(TestExecutor, spin_until_future_complete_future_already_complete) {
-  DummyExecutor dummy;
-  auto node = std::make_shared<rclcpp::Node>("node", "ns");
-  std::promise<void> promise;
-  std::future<void> future = promise.get_future();
-  promise.set_value();
-  EXPECT_EQ(
-    rclcpp::FutureReturnCode::SUCCESS,
-    dummy.spin_until_future_complete(future, std::chrono::milliseconds(1)));
-}

rclcpp/test/rclcpp/test_find_weak_nodes.cpp

@@ -36,24 +36,22 @@ TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
     rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
   auto existing_node = rclcpp::Node::make_shared("existing_node");
   auto dead_node = rclcpp::Node::make_shared("dead_node");
-  auto existing_group = existing_node->get_node_base_interface()->get_default_callback_group();
-  auto dead_group = dead_node->get_node_base_interface()->get_default_callback_group();
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  weak_groups_to_nodes[existing_group] = existing_node->get_node_base_interface();
-  weak_groups_to_nodes[dead_group] = dead_node->get_node_base_interface();
+  rclcpp::memory_strategy::MemoryStrategy::WeakNodeList weak_nodes;
+  weak_nodes.push_back(existing_node->get_node_base_interface());
+  weak_nodes.push_back(dead_node->get_node_base_interface());
 
   // AND
   // Delete dead_node, creating a dangling pointer in weak_nodes
   dead_node.reset();
-  ASSERT_FALSE(weak_groups_to_nodes[existing_group].expired());
-  ASSERT_TRUE(weak_groups_to_nodes[dead_group].expired());
+  ASSERT_FALSE(weak_nodes.front().expired());
+  ASSERT_TRUE(weak_nodes.back().expired());
 
   // WHEN
-  bool has_invalid_weak_groups_or_nodes = memory_strategy->collect_entities(weak_groups_to_nodes);
+  bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
 
   // THEN
   // The result of finding dangling node pointers should be true
-  ASSERT_TRUE(has_invalid_weak_groups_or_nodes);
+  ASSERT_TRUE(has_invalid_weak_nodes);
 
   // Prevent memory leak due to the order of destruction
   memory_strategy->clear_handles();
@@ -66,20 +64,18 @@ TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
     rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
   auto existing_node1 = rclcpp::Node::make_shared("existing_node1");
   auto existing_node2 = rclcpp::Node::make_shared("existing_node2");
-  auto existing_group1 = existing_node1->get_node_base_interface()->get_default_callback_group();
-  auto existing_group2 = existing_node2->get_node_base_interface()->get_default_callback_group();
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-  weak_groups_to_nodes[existing_group1] = existing_node1->get_node_base_interface();
-  weak_groups_to_nodes[existing_group2] = existing_node2->get_node_base_interface();
-  ASSERT_FALSE(weak_groups_to_nodes[existing_group1].expired());
-  ASSERT_FALSE(weak_groups_to_nodes[existing_group2].expired());
+  rclcpp::memory_strategy::MemoryStrategy::WeakNodeList weak_nodes;
+  weak_nodes.push_back(existing_node1->get_node_base_interface());
+  weak_nodes.push_back(existing_node2->get_node_base_interface());
+  ASSERT_FALSE(weak_nodes.front().expired());
+  ASSERT_FALSE(weak_nodes.back().expired());
 
   // WHEN
-  bool has_invalid_weak_groups_or_nodes = memory_strategy->collect_entities(weak_groups_to_nodes);
+  bool has_invalid_weak_nodes = memory_strategy->collect_entities(weak_nodes);
 
   // THEN
   // The result of finding dangling node pointers should be false
-  ASSERT_FALSE(has_invalid_weak_groups_or_nodes);
+  ASSERT_FALSE(has_invalid_weak_nodes);
 
   // Prevent memory leak due to the order of destruction
   memory_strategy->clear_handles();

rclcpp/test/rclcpp/test_graph_listener.cpp

@@ -125,14 +125,16 @@ public:
     this->run();
   }
 
-  void mock_init_wait_set()
+  void mock_start_thread()
   {
-    this->init_wait_set();
-  }
-
-  void mock_cleanup_wait_set()
-  {
-    this->cleanup_wait_set();
+    // This function prepares the loop thread to be run, but leave
+    // early with the failure thrown. That way the graph_listener wait_set
+    // is init, without being started
+    auto mock_wait_set_init = mocking_utils::inject_on_return(
+      "lib:rclcpp", rcl_wait_set_init, RCL_RET_ERROR);
+    RCLCPP_EXPECT_THROW_EQ(
+      this->start_if_not_started(),
+      std::runtime_error("failed to initialize wait set: error not set"));
   }
 };
 
@@ -150,7 +152,7 @@ TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_set_clear) {
   auto global_context = rclcpp::contexts::get_global_default_context();
   auto graph_listener_test =
     std::make_shared<TestGraphListenerProtectedMethods>(global_context);
-  graph_listener_test->mock_init_wait_set();
+  graph_listener_test->mock_start_thread();
   auto mock_wait_set_clear = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_wait_set_clear, RCL_RET_ERROR);
   RCLCPP_EXPECT_THROW_EQ(
@@ -162,7 +164,7 @@ TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_set_add_guard_condi
   auto global_context = rclcpp::contexts::get_global_default_context();
   auto graph_listener_test =
     std::make_shared<TestGraphListenerProtectedMethods>(global_context);
-  graph_listener_test->mock_init_wait_set();
+  graph_listener_test->mock_start_thread();
   auto mock_wait_set_clear = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_wait_set_add_guard_condition, RCL_RET_ERROR);
   RCLCPP_EXPECT_THROW_EQ(
@@ -174,7 +176,7 @@ TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_set_add_guard_condi
   auto global_context = rclcpp::contexts::get_global_default_context();
   auto graph_listener_test =
     std::make_shared<TestGraphListenerProtectedMethods>(global_context);
-  graph_listener_test->mock_init_wait_set();
+  graph_listener_test->mock_start_thread();
   auto mock = mocking_utils::patch(
     "lib:rclcpp", rcl_wait_set_add_guard_condition, [](auto, ...) {
       static int counter = 1;
@@ -194,7 +196,7 @@ TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_error) {
   auto global_context = rclcpp::contexts::get_global_default_context();
   auto graph_listener_test =
     std::make_shared<TestGraphListenerProtectedMethods>(global_context);
-  graph_listener_test->mock_init_wait_set();
+  graph_listener_test->mock_start_thread();
   auto mock_wait_set_clear = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_wait, RCL_RET_ERROR);
   RCLCPP_EXPECT_THROW_EQ(
@@ -206,7 +208,7 @@ TEST_F(TestGraphListener, error_run_graph_listener_mock_wait_timeout) {
   auto global_context = rclcpp::contexts::get_global_default_context();
   auto graph_listener_test =
     std::make_shared<TestGraphListenerProtectedMethods>(global_context);
-  graph_listener_test->mock_init_wait_set();
+  graph_listener_test->mock_start_thread();
   auto mock_wait_set_clear = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_wait, RCL_RET_TIMEOUT);
   RCLCPP_EXPECT_THROW_EQ(
@@ -265,54 +267,27 @@ TEST_F(TestGraphListener, test_errors_graph_listener_add_remove_node) {
 
 /* Shutdown errors */
 TEST_F(TestGraphListener, test_graph_listener_shutdown_wait_fini_error_nothrow) {
-  auto global_context = rclcpp::contexts::get_global_default_context();
-  auto graph_listener_test =
-    std::make_shared<TestGraphListenerProtectedMethods>(global_context);
-
-  graph_listener_test->start_if_not_started();
-
-  {
-    auto mock_wait_set_fini = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_wait_set_fini, RCL_RET_ERROR);
-    // Exception is logged when using nothrow_t
-    EXPECT_NO_THROW(graph_listener_test->shutdown(std::nothrow_t()));
-  }
-
-  graph_listener_test->mock_cleanup_wait_set();
+  graph_listener()->start_if_not_started();
+  auto mock_wait_set_fini = mocking_utils::inject_on_return(
+    "lib:rclcpp", rcl_wait_set_fini, RCL_RET_ERROR);
+  // Exception is logged when using nothrow_t
+  EXPECT_NO_THROW(graph_listener()->shutdown(std::nothrow_t()));
 }
 
 TEST_F(TestGraphListener, test_graph_listener_shutdown_wait_fini_error_throw) {
-  auto global_context = rclcpp::contexts::get_global_default_context();
-  auto graph_listener_test =
-    std::make_shared<TestGraphListenerProtectedMethods>(global_context);
-
   graph_listener()->start_if_not_started();
-
-  {
-    auto mock_wait_set_fini = mocking_utils::patch_and_return(
-      "lib:rclcpp", rcl_wait_set_fini, RCL_RET_ERROR);
-
-    RCLCPP_EXPECT_THROW_EQ(
-      graph_listener()->shutdown(),
-      std::runtime_error("failed to finalize wait set: error not set"));
-  }
-
-  graph_listener_test->mock_cleanup_wait_set();
+  auto mock_wait_set_fini = mocking_utils::inject_on_return(
+    "lib:rclcpp", rcl_wait_set_fini, RCL_RET_ERROR);
+  RCLCPP_EXPECT_THROW_EQ(
+    graph_listener()->shutdown(),
+    std::runtime_error("failed to finalize wait set: error not set"));
 }
 
 TEST_F(TestGraphListener, test_graph_listener_shutdown_guard_fini_error_throw) {
-  auto global_context = rclcpp::contexts::get_global_default_context();
-  auto graph_listener_test =
-    std::make_shared<TestGraphListenerProtectedMethods>(global_context);
-
-  graph_listener_test->start_if_not_started();
-
-  auto mock_wait_set_fini = mocking_utils::patch_and_return(
+  graph_listener()->start_if_not_started();
+  auto mock_wait_set_fini = mocking_utils::inject_on_return(
     "lib:rclcpp", rcl_guard_condition_fini, RCL_RET_ERROR);
-
   RCLCPP_EXPECT_THROW_EQ(
-    graph_listener_test->shutdown(),
+    graph_listener()->shutdown(),
     std::runtime_error("failed to finalize interrupt guard condition: error not set"));
-
-  graph_listener_test->mock_cleanup_wait_set();
 }

rclcpp/test/rclcpp/test_init_options.cpp

@@ -65,20 +65,6 @@ TEST(TestInitOptions, test_initialize_logging) {
   }
 }
 
-TEST(TestInitOptions, test_domain_id) {
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  auto options = rclcpp::InitOptions(allocator);
-  size_t domain_id = RCL_DEFAULT_DOMAIN_ID;
-  EXPECT_EQ(RCL_RET_OK, rcl_get_default_domain_id(&domain_id));
-
-  options.use_default_domain_id();
-  EXPECT_EQ(domain_id, options.get_domain_id());
-  options.set_domain_id(42);
-  EXPECT_EQ((size_t)42, options.get_domain_id());
-  options.use_default_domain_id();
-  EXPECT_EQ(domain_id, options.get_domain_id());
-}
-
 // Required for mocking_utils below
 MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, ==)
 MOCKING_UTILS_BOOL_OPERATOR_RETURNS_FALSE(rcutils_allocator_t, !=)
@@ -111,30 +97,3 @@ TEST(TestInitOptions, copy_constructor_rcl_init_options_copy_failed) {
     options2.operator=(options),
     std::runtime_error("failed to copy rcl init options: error not set"));
 }
-
-TEST(TestInitOptions, use_default_domain_id_rcl_get_default_domain_id_failed) {
-  rclcpp::InitOptions options;
-  auto mock = mocking_utils::patch_and_return(
-    "lib:rclcpp", rcl_get_default_domain_id, RCL_RET_ERROR);
-  RCLCPP_EXPECT_THROW_EQ(
-    options.use_default_domain_id(),
-    std::runtime_error("failed to get default domain id: error not set"));
-}
-
-TEST(TestInitOptions, set_domain_id_rcl_init_options_set_domain_id_failed) {
-  rclcpp::InitOptions options;
-  auto mock = mocking_utils::patch_and_return(
-    "lib:rclcpp", rcl_init_options_set_domain_id, RCL_RET_ERROR);
-  RCLCPP_EXPECT_THROW_EQ(
-    options.set_domain_id(0),
-    std::runtime_error("failed to set domain id to rcl init options: error not set"));
-}
-
-TEST(TestInitOptions, get_domain_id_rcl_init_options_get_domain_id_failed) {
-  rclcpp::InitOptions options;
-  auto mock = mocking_utils::patch_and_return(
-    "lib:rclcpp", rcl_init_options_get_domain_id, RCL_RET_ERROR);
-  RCLCPP_EXPECT_THROW_EQ(
-    options.get_domain_id(),
-    std::runtime_error("failed to get domain id from rcl init options: error not set"));
-}

rclcpp/test/rclcpp/test_logger.cpp

@@ -44,114 +44,6 @@ TEST(TestLogger, get_node_logger) {
   EXPECT_STREQ(logger.get_name(), "ns.my_node");
 
   logger = rclcpp::get_node_logger(nullptr);
-  rcl_reset_error();
   EXPECT_STREQ(logger.get_name(), "rclcpp");
   rclcpp::shutdown();
 }
-
-struct LogEvent
-{
-  bool console_output_handler_called;
-  std::string message;
-};
-LogEvent g_last_log_event;
-
-TEST(TestLogger, set_level) {
-  ASSERT_EQ(RCUTILS_RET_OK, rcutils_logging_initialize());
-
-  rclcpp::Logger logger = rclcpp::get_logger("test_logger");
-  EXPECT_THROW(
-  {
-    logger.set_level(static_cast<rclcpp::Logger::Level>(99999));
-  }, rclcpp::exceptions::RCLInvalidArgument);
-
-  auto rcutils_logging_console_output_handler = [](
-    const rcutils_log_location_t *,
-    int, const char *, rcutils_time_point_value_t,
-    const char * format, va_list * args) -> void
-    {
-      g_last_log_event.console_output_handler_called = true;
-      char buffer[1024];
-      vsnprintf(buffer, sizeof(buffer), format, *args);
-      g_last_log_event.message = buffer;
-    };
-
-  rcutils_logging_output_handler_t previous_output_handler = rcutils_logging_get_output_handler();
-  rcutils_logging_set_output_handler(rcutils_logging_console_output_handler);
-
-  // default
-  RCLCPP_DEBUG(logger, std::string("message %s"), "debug");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_INFO(logger, std::string("message %s"), "info");
-  EXPECT_TRUE(g_last_log_event.console_output_handler_called);
-  EXPECT_EQ("message info", g_last_log_event.message);
-
-  // unset
-  g_last_log_event.console_output_handler_called = false;
-  logger.set_level(rclcpp::Logger::Level::Unset);
-  RCLCPP_DEBUG(logger, std::string("message %s"), "debug");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_INFO(logger, std::string("message %s"), "info");
-  EXPECT_TRUE(g_last_log_event.console_output_handler_called);
-  EXPECT_EQ("message info", g_last_log_event.message);
-
-  // debug
-  g_last_log_event.console_output_handler_called = false;
-  logger.set_level(rclcpp::Logger::Level::Debug);
-  RCLCPP_DEBUG(logger, std::string("message %s"), "debug");
-  EXPECT_TRUE(g_last_log_event.console_output_handler_called);
-  EXPECT_EQ("message debug", g_last_log_event.message);
-  RCLCPP_INFO(logger, std::string("message %s"), "info");
-  EXPECT_EQ("message info", g_last_log_event.message);
-
-  // info
-  g_last_log_event.console_output_handler_called = false;
-  logger.set_level(rclcpp::Logger::Level::Info);
-  RCLCPP_DEBUG(logger, std::string("message %s"), "debug");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_INFO(logger, std::string("message %s"), "info");
-  EXPECT_TRUE(g_last_log_event.console_output_handler_called);
-  EXPECT_EQ("message info", g_last_log_event.message);
-
-  // warn
-  g_last_log_event.console_output_handler_called = false;
-  logger.set_level(rclcpp::Logger::Level::Warn);
-  RCLCPP_DEBUG(logger, std::string("message %s"), "debug");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_INFO(logger, std::string("message %s"), "info");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_WARN(logger, std::string("message %s"), "warn");
-  EXPECT_TRUE(g_last_log_event.console_output_handler_called);
-  EXPECT_EQ("message warn", g_last_log_event.message);
-
-  // error
-  g_last_log_event.console_output_handler_called = false;
-  logger.set_level(rclcpp::Logger::Level::Error);
-  RCLCPP_DEBUG(logger, std::string("message %s"), "debug");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_INFO(logger, std::string("message %s"), "info");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_WARN(logger, std::string("message %s"), "warn");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_ERROR(logger, std::string("message %s"), "error");
-  EXPECT_TRUE(g_last_log_event.console_output_handler_called);
-  EXPECT_EQ("message error", g_last_log_event.message);
-
-  // fatal
-  g_last_log_event.console_output_handler_called = false;
-  logger.set_level(rclcpp::Logger::Level::Fatal);
-  RCLCPP_DEBUG(logger, std::string("message %s"), "debug");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_INFO(logger, std::string("message %s"), "info");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_WARN(logger, std::string("message %s"), "warn");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_ERROR(logger, std::string("message %s"), "error");
-  EXPECT_FALSE(g_last_log_event.console_output_handler_called);
-  RCLCPP_FATAL(logger, std::string("message %s"), "fatal");
-  EXPECT_TRUE(g_last_log_event.console_output_handler_called);
-  EXPECT_EQ("message fatal", g_last_log_event.message);
-
-  rcutils_logging_set_output_handler(previous_output_handler);
-  EXPECT_EQ(RCUTILS_RET_OK, rcutils_logging_shutdown());
-}

rclcpp/test/rclcpp/test_memory_strategy.cpp

@@ -15,7 +15,6 @@
 #include <gtest/gtest.h>
 
 #include <list>
-#include <map>
 #include <memory>
 #include <utility>
 
@@ -25,9 +24,7 @@
 #include "test_msgs/srv/empty.hpp"
 
 using rclcpp::memory_strategy::MemoryStrategy;
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
+using WeakNodeList = std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>;
 
 /**
  * Mock Waitable class
@@ -78,22 +75,13 @@ TEST_F(TestMemoryStrategy, construct_destruct) {
 }
 
 TEST_F(TestMemoryStrategy, get_subscription_by_handle) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   std::shared_ptr<const rcl_subscription_t> subscription_handle;
   rclcpp::SubscriptionBase::SharedPtr found_subscription = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
     {
       auto callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -109,38 +97,29 @@ TEST_F(TestMemoryStrategy, get_subscription_by_handle) {
 
         EXPECT_EQ(
           subscription,
-          memory_strategy()->get_subscription_by_handle(subscription_handle, weak_groups_to_nodes));
+          memory_strategy()->get_subscription_by_handle(subscription_handle, nodes));
       }  // subscription goes out of scope
       EXPECT_EQ(
         nullptr,
-        memory_strategy()->get_subscription_by_handle(subscription_handle, weak_groups_to_nodes));
+        memory_strategy()->get_subscription_by_handle(subscription_handle, nodes));
     }  // callback_group goes out of scope
     EXPECT_EQ(
       nullptr,
-      memory_strategy()->get_subscription_by_handle(subscription_handle, weak_groups_to_nodes));
+      memory_strategy()->get_subscription_by_handle(subscription_handle, nodes));
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_subscription_by_handle(subscription_handle, weak_groups_to_nodes));
+    memory_strategy()->get_subscription_by_handle(subscription_handle, nodes));
 }
 
 TEST_F(TestMemoryStrategy, get_service_by_handle) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   std::shared_ptr<const rcl_service_t> service_handle;
   rclcpp::ServiceBase::SharedPtr found_service = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
     {
       auto callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -148,11 +127,7 @@ TEST_F(TestMemoryStrategy, get_service_by_handle) {
         [](const test_msgs::srv::Empty::Request::SharedPtr,
           test_msgs::srv::Empty::Response::SharedPtr) {};
       const rclcpp::QoS qos(10);
-      weak_groups_to_nodes.insert(
-        std::pair<rclcpp::CallbackGroup::WeakPtr,
-        rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          rclcpp::CallbackGroup::WeakPtr(callback_group),
-          node->get_node_base_interface()));
+
       {
         auto service = node->create_service<test_msgs::srv::Empty>(
           "service", std::move(service_callback),
@@ -162,38 +137,29 @@ TEST_F(TestMemoryStrategy, get_service_by_handle) {
 
         EXPECT_EQ(
           service,
-          memory_strategy()->get_service_by_handle(service_handle, weak_groups_to_nodes));
+          memory_strategy()->get_service_by_handle(service_handle, nodes));
       }  // service goes out of scope
       EXPECT_EQ(
         nullptr,
-        memory_strategy()->get_service_by_handle(service_handle, weak_groups_to_nodes));
+        memory_strategy()->get_service_by_handle(service_handle, nodes));
     }  // callback_group goes out of scope
     EXPECT_EQ(
       nullptr,
-      memory_strategy()->get_service_by_handle(service_handle, weak_groups_to_nodes));
+      memory_strategy()->get_service_by_handle(service_handle, nodes));
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_service_by_handle(service_handle, weak_groups_to_nodes));
+    memory_strategy()->get_service_by_handle(service_handle, nodes));
 }
 
 TEST_F(TestMemoryStrategy, get_client_by_handle) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   std::shared_ptr<const rcl_client_t> client_handle;
   rclcpp::ClientBase::SharedPtr found_client = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
     {
       auto callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -202,46 +168,32 @@ TEST_F(TestMemoryStrategy, get_client_by_handle) {
           "service", rmw_qos_profile_services_default, callback_group);
 
         client_handle = client->get_client_handle();
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            rclcpp::CallbackGroup::WeakPtr(callback_group),
-            node->get_node_base_interface()));
 
         EXPECT_EQ(
           client,
-          memory_strategy()->get_client_by_handle(client_handle, weak_groups_to_nodes));
+          memory_strategy()->get_client_by_handle(client_handle, nodes));
       }  // client goes out of scope
       EXPECT_EQ(
         nullptr,
-        memory_strategy()->get_client_by_handle(client_handle, weak_groups_to_nodes));
+        memory_strategy()->get_client_by_handle(client_handle, nodes));
     }  // callback_group goes out of scope
     EXPECT_EQ(
       nullptr,
-      memory_strategy()->get_client_by_handle(client_handle, weak_groups_to_nodes));
+      memory_strategy()->get_client_by_handle(client_handle, nodes));
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_client_by_handle(client_handle, weak_groups_to_nodes));
+    memory_strategy()->get_client_by_handle(client_handle, nodes));
 }
 
 TEST_F(TestMemoryStrategy, get_timer_by_handle) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   std::shared_ptr<const rcl_timer_t> timer_handle;
   rclcpp::TimerBase::SharedPtr found_timer = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
     {
       auto callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -249,92 +201,58 @@ TEST_F(TestMemoryStrategy, get_timer_by_handle) {
         auto timer_callback = []() {};
         auto timer = node->create_wall_timer(
           std::chrono::milliseconds(1), timer_callback, callback_group);
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            rclcpp::CallbackGroup::WeakPtr(callback_group),
-            node->get_node_base_interface()));
 
         timer_handle = timer->get_timer_handle();
 
         EXPECT_EQ(
           timer,
-          memory_strategy()->get_timer_by_handle(timer_handle, weak_groups_to_nodes));
+          memory_strategy()->get_timer_by_handle(timer_handle, nodes));
       }  // timer goes out of scope
       EXPECT_EQ(
         nullptr,
-        memory_strategy()->get_timer_by_handle(timer_handle, weak_groups_to_nodes));
+        memory_strategy()->get_timer_by_handle(timer_handle, nodes));
     }  // callback_group goes out of scope
     EXPECT_EQ(
       nullptr,
-      memory_strategy()->get_timer_by_handle(timer_handle, weak_groups_to_nodes));
+      memory_strategy()->get_timer_by_handle(timer_handle, nodes));
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_timer_by_handle(timer_handle, weak_groups_to_nodes));
+    memory_strategy()->get_timer_by_handle(timer_handle, nodes));
 }
 
 TEST_F(TestMemoryStrategy, get_node_by_group) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
     auto node_handle = node->get_node_base_interface();
-    auto callback_groups = node_handle->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node_handle](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node_handle));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node_handle);
+    memory_strategy()->collect_entities(nodes);
     EXPECT_EQ(
       nullptr,
-      memory_strategy()->get_node_by_group(nullptr, weak_groups_to_nodes));
+      memory_strategy()->get_node_by_group(nullptr, nodes));
 
     callback_group =
       node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
 
-    // Nothing in the weak_groups_to_nodes, so find fails.
-    EXPECT_EQ(
-      nullptr,
-      memory_strategy()->get_node_by_group(callback_group, weak_groups_to_nodes));
-
-    weak_groups_to_nodes.insert(
-      std::pair<rclcpp::CallbackGroup::WeakPtr,
-      rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-        rclcpp::CallbackGroup::WeakPtr(callback_group),
-        node->get_node_base_interface()));
     EXPECT_EQ(
       node_handle,
-      memory_strategy()->get_node_by_group(callback_group, weak_groups_to_nodes));
+      memory_strategy()->get_node_by_group(callback_group, nodes));
   }  // Node goes out of scope
-  // Callback group still exists, so lookup returns nullptr because node is destroyed.
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_node_by_group(callback_group, weak_groups_to_nodes));
+    memory_strategy()->get_node_by_group(callback_group, nodes));
 }
 
 TEST_F(TestMemoryStrategy, get_group_by_subscription) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   rclcpp::SubscriptionBase::SharedPtr subscription = nullptr;
   rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
     {
       // This group is just used to test that a callback group that is held as a weak pointer
       // by node, doesn't confuse get_group_by_subscription() when it goes out of scope
@@ -355,40 +273,27 @@ TEST_F(TestMemoryStrategy, get_group_by_subscription) {
       subscription = node->create_subscription<
         test_msgs::msg::Empty, decltype(subscription_callback)>(
         "topic", qos, std::move(subscription_callback), subscription_options);
-      weak_groups_to_nodes.insert(
-        std::pair<rclcpp::CallbackGroup::WeakPtr,
-        rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          rclcpp::CallbackGroup::WeakPtr(callback_group),
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr(node->get_node_base_interface())));
+
       EXPECT_EQ(
         callback_group,
-        memory_strategy()->get_group_by_subscription(subscription, weak_groups_to_nodes));
+        memory_strategy()->get_group_by_subscription(subscription, nodes));
     }  // callback_group goes out of scope
     EXPECT_EQ(
       callback_group,
-      memory_strategy()->get_group_by_subscription(subscription, weak_groups_to_nodes));
+      memory_strategy()->get_group_by_subscription(subscription, nodes));
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_group_by_subscription(subscription, weak_groups_to_nodes));
+    memory_strategy()->get_group_by_subscription(subscription, nodes));
 }
 
 TEST_F(TestMemoryStrategy, get_group_by_service) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   rclcpp::ServiceBase::SharedPtr service = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
     {
       auto callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -400,139 +305,96 @@ TEST_F(TestMemoryStrategy, get_group_by_service) {
       service = node->create_service<test_msgs::srv::Empty>(
         "service", std::move(service_callback),
         rmw_qos_profile_services_default, callback_group);
-      weak_groups_to_nodes.insert(
-        std::pair<rclcpp::CallbackGroup::WeakPtr,
-        rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          rclcpp::CallbackGroup::WeakPtr(callback_group),
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr(node->get_node_base_interface())));
+
       EXPECT_EQ(
         callback_group,
-        memory_strategy()->get_group_by_service(service, weak_groups_to_nodes));
+        memory_strategy()->get_group_by_service(service, nodes));
     }  // callback_group goes out of scope
     EXPECT_EQ(
       nullptr,
-      memory_strategy()->get_group_by_service(service, weak_groups_to_nodes));
+      memory_strategy()->get_group_by_service(service, nodes));
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_group_by_service(service, weak_groups_to_nodes));
+    memory_strategy()->get_group_by_service(service, nodes));
 }
 
 TEST_F(TestMemoryStrategy, get_group_by_client) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   rclcpp::ClientBase::SharedPtr client = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
     {
       auto callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
 
       client = node->create_client<test_msgs::srv::Empty>(
         "service", rmw_qos_profile_services_default, callback_group);
-      weak_groups_to_nodes.insert(
-        std::pair<rclcpp::CallbackGroup::WeakPtr,
-        rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          rclcpp::CallbackGroup::WeakPtr(callback_group),
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr(node->get_node_base_interface())));
+
       EXPECT_EQ(
         callback_group,
-        memory_strategy()->get_group_by_client(client, weak_groups_to_nodes));
+        memory_strategy()->get_group_by_client(client, nodes));
     }  // callback_group goes out of scope
     EXPECT_EQ(
       nullptr,
-      memory_strategy()->get_group_by_client(client, weak_groups_to_nodes));
+      memory_strategy()->get_group_by_client(client, nodes));
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_group_by_client(client, weak_groups_to_nodes));
+    memory_strategy()->get_group_by_client(client, nodes));
 }
 
 TEST_F(TestMemoryStrategy, get_group_by_timer) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   rclcpp::TimerBase::SharedPtr timer = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
     {
       auto callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
       auto timer_callback = []() {};
       timer = node->create_wall_timer(
         std::chrono::milliseconds(1), timer_callback, callback_group);
-      weak_groups_to_nodes.insert(
-        std::pair<rclcpp::CallbackGroup::WeakPtr,
-        rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          rclcpp::CallbackGroup::WeakPtr(callback_group),
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr(node->get_node_base_interface())));
+
       EXPECT_EQ(
         callback_group,
-        memory_strategy()->get_group_by_timer(timer, weak_groups_to_nodes));
+        memory_strategy()->get_group_by_timer(timer, nodes));
     }  // callback_group goes out of scope
     EXPECT_EQ(
       nullptr,
-      memory_strategy()->get_group_by_timer(timer, weak_groups_to_nodes));
+      memory_strategy()->get_group_by_timer(timer, nodes));
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_group_by_timer(timer, weak_groups_to_nodes));
+    memory_strategy()->get_group_by_timer(timer, nodes));
 }
 
 TEST_F(TestMemoryStrategy, get_group_by_waitable) {
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
+  WeakNodeList nodes;
   rclcpp::Waitable::SharedPtr waitable = nullptr;
   {
     auto node = std::make_shared<rclcpp::Node>("node", "ns");
-    auto callback_groups = node->get_node_base_interface()->get_callback_groups();
-    std::for_each(
-      callback_groups.begin(), callback_groups.end(),
-      [&weak_groups_to_nodes, &node](rclcpp::CallbackGroup::WeakPtr weak_group_ptr) {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            weak_group_ptr,
-            node->get_node_base_interface()));
-      });
-    memory_strategy()->collect_entities(weak_groups_to_nodes);
+    nodes.push_back(node->get_node_base_interface());
+    memory_strategy()->collect_entities(nodes);
     {
       waitable = std::make_shared<TestWaitable>();
       auto callback_group =
         node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
       node->get_node_waitables_interface()->add_waitable(waitable, callback_group);
-      weak_groups_to_nodes.insert(
-        std::pair<rclcpp::CallbackGroup::WeakPtr,
-        rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-          rclcpp::CallbackGroup::WeakPtr(callback_group),
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr(node->get_node_base_interface())));
+
       EXPECT_EQ(
         callback_group,
-        memory_strategy()->get_group_by_waitable(waitable, weak_groups_to_nodes));
+        memory_strategy()->get_group_by_waitable(waitable, nodes));
     }  // callback_group goes out of scope
     EXPECT_EQ(
       nullptr,
-      memory_strategy()->get_group_by_waitable(waitable, weak_groups_to_nodes));
+      memory_strategy()->get_group_by_waitable(waitable, nodes));
   }  // Node goes out of scope
   EXPECT_EQ(
     nullptr,
-    memory_strategy()->get_group_by_waitable(waitable, weak_groups_to_nodes));
+    memory_strategy()->get_group_by_waitable(waitable, nodes));
 }

rclcpp/test/rclcpp/test_node.cpp

@@ -2360,6 +2360,206 @@ TEST_F(TestNode, get_parameter_types_undeclared_parameters_allowed) {
   }
 }
 
+// suppress deprecated function test warnings
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+
+// test that it is possible to call get_parameter within the set_callback
+TEST_F(TestNode, set_on_parameters_set_callback_get_parameter) {
+  auto node = std::make_shared<rclcpp::Node>("test_set_callback_get_parameter_node"_unq);
+
+  int64_t intval = node->declare_parameter("intparam", 42);
+  EXPECT_EQ(intval, 42);
+  double floatval = node->declare_parameter("floatparam", 5.4);
+  EXPECT_EQ(floatval, 5.4);
+
+  double floatout;
+  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
+  auto on_set_parameters =
+    [&node, &floatout](const std::vector<rclcpp::Parameter> & parameters) {
+      rcl_interfaces::msg::SetParametersResult result;
+      result.successful = true;
+      if (parameters.size() != 1) {
+        result.successful = false;
+      }
+
+      if (parameters[0].get_value<int>() != 40) {
+        result.successful = false;
+      }
+
+      rclcpp::Parameter floatparam = node->get_parameter("floatparam");
+      if (floatparam.get_value<double>() != 5.4) {
+        result.successful = false;
+      }
+      floatout = floatparam.get_value<double>();
+
+      return result;
+    };
+
+  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
+  ASSERT_NO_THROW(node->set_parameter({"intparam", 40}));
+  ASSERT_EQ(floatout, 5.4);
+}
+
+// test that calling set_parameter inside of a set_callback throws an exception
+TEST_F(TestNode, set_on_parameters_set_callback_set_parameter) {
+  auto node = std::make_shared<rclcpp::Node>("test_set_callback_set_parameter_node"_unq);
+
+  int64_t intval = node->declare_parameter("intparam", 42);
+  EXPECT_EQ(intval, 42);
+  double floatval = node->declare_parameter("floatparam", 5.4);
+  EXPECT_EQ(floatval, 5.4);
+
+  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
+  auto on_set_parameters =
+    [&node](const std::vector<rclcpp::Parameter> & parameters) {
+      rcl_interfaces::msg::SetParametersResult result;
+      result.successful = true;
+      if (parameters.size() != 1) {
+        result.successful = false;
+      }
+
+      if (parameters[0].get_value<int>() != 40) {
+        result.successful = false;
+      }
+
+      // This should throw an exception
+      node->set_parameter({"floatparam", 5.6});
+
+      return result;
+    };
+
+  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
+  EXPECT_THROW(
+  {
+    node->set_parameter(rclcpp::Parameter("intparam", 40));
+  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
+}
+
+// test that calling declare_parameter inside of a set_callback throws an exception
+TEST_F(TestNode, set_on_parameters_set_callback_declare_parameter) {
+  auto node = std::make_shared<rclcpp::Node>("test_set_callback_declare_parameter_node"_unq);
+
+  int64_t intval = node->declare_parameter("intparam", 42);
+  EXPECT_EQ(intval, 42);
+  double floatval = node->declare_parameter("floatparam", 5.4);
+  EXPECT_EQ(floatval, 5.4);
+
+  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
+  auto on_set_parameters =
+    [&node](const std::vector<rclcpp::Parameter> & parameters) {
+      rcl_interfaces::msg::SetParametersResult result;
+      result.successful = true;
+      if (parameters.size() != 1) {
+        result.successful = false;
+      }
+
+      if (parameters[0].get_value<int>() != 40) {
+        result.successful = false;
+      }
+
+      // This should throw an exception
+      node->declare_parameter("floatparam2", 5.6);
+
+      return result;
+    };
+
+  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
+  EXPECT_THROW(
+  {
+    node->set_parameter(rclcpp::Parameter("intparam", 40));
+  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
+}
+
+// test that calling undeclare_parameter inside a set_callback throws an exception
+TEST_F(TestNode, set_on_parameters_set_callback_undeclare_parameter) {
+  auto node = std::make_shared<rclcpp::Node>("test_set_callback_undeclare_parameter_node"_unq);
+
+  int64_t intval = node->declare_parameter("intparam", 42);
+  EXPECT_EQ(intval, 42);
+  double floatval = node->declare_parameter("floatparam", 5.4);
+  EXPECT_EQ(floatval, 5.4);
+
+  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
+  auto on_set_parameters =
+    [&node](const std::vector<rclcpp::Parameter> & parameters) {
+      rcl_interfaces::msg::SetParametersResult result;
+      result.successful = true;
+      if (parameters.size() != 1) {
+        result.successful = false;
+      }
+
+      if (parameters[0].get_value<int>() != 40) {
+        result.successful = false;
+      }
+
+      // This should throw an exception
+      node->undeclare_parameter("floatparam");
+
+      return result;
+    };
+
+  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
+  EXPECT_THROW(
+  {
+    node->set_parameter(rclcpp::Parameter("intparam", 40));
+  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
+}
+
+// test that calling set_on_parameters_set_callback from a set_callback throws an exception
+TEST_F(TestNode, set_on_parameters_set_callback_set_on_parameters_set_callback) {
+  auto node = std::make_shared<rclcpp::Node>("test_set_callback_set_callback_node"_unq);
+
+  int64_t intval = node->declare_parameter("intparam", 42);
+  EXPECT_EQ(intval, 42);
+  double floatval = node->declare_parameter("floatparam", 5.4);
+  EXPECT_EQ(floatval, 5.4);
+
+  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
+  auto on_set_parameters =
+    [&node](const std::vector<rclcpp::Parameter> & parameters) {
+      rcl_interfaces::msg::SetParametersResult result;
+      result.successful = true;
+      if (parameters.size() != 1) {
+        result.successful = false;
+      }
+
+      if (parameters[0].get_value<int>() != 40) {
+        result.successful = false;
+      }
+
+      auto bad_parameters =
+        [](const std::vector<rclcpp::Parameter> & parameters) {
+          (void)parameters;
+          rcl_interfaces::msg::SetParametersResult result;
+          return result;
+        };
+
+      // This should throw an exception
+      node->set_on_parameters_set_callback(bad_parameters);
+
+      return result;
+    };
+
+  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
+  EXPECT_THROW(
+  {
+    node->set_parameter(rclcpp::Parameter("intparam", 40));
+  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
+}
+
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
 void expect_qos_profile_eq(
   const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2, bool is_publisher)
 {

rclcpp/test/rclcpp/test_publisher.cpp

@@ -184,7 +184,7 @@ static std::vector<TestParameters> invalid_qos_profiles()
   return parameters;
 }
 
-INSTANTIATE_TEST_SUITE_P(
+INSTANTIATE_TEST_CASE_P(
   TestPublisherThrows, TestPublisherInvalidIntraprocessQos,
   ::testing::ValuesIn(invalid_qos_profiles()),
   ::testing::PrintToStringParamName());

rclcpp/test/rclcpp/test_publisher_subscription_count_api.cpp

@@ -192,7 +192,7 @@ using AllTestDescriptions = ::testing::Types<
   TwoSubscriptionsInTwoContextsWithIntraprocessComm,
   TwoSubscriptionsInTwoContextsWithoutIntraprocessComm
 >;
-TYPED_TEST_SUITE(TestPublisherSubscriptionCount, AllTestDescriptions, PrintTestDescription);
+TYPED_TEST_CASE(TestPublisherSubscriptionCount, AllTestDescriptions, PrintTestDescription);
 
 
 using test_msgs::msg::Empty;

rclcpp/test/rclcpp/test_qos.cpp

@@ -165,9 +165,6 @@ TEST(TestQoS, DerivedTypes) {
   rclcpp::ParameterEventsQoS parameter_events_qos;
   EXPECT_EQ(rmw_qos_profile_parameter_events, parameter_events_qos.get_rmw_qos_profile());
 
-  rclcpp::RosoutQoS rosout_qos;
-  EXPECT_EQ(rcl_qos_profile_rosout_default, rosout_qos.get_rmw_qos_profile());
-
   rclcpp::SystemDefaultsQoS system_default_qos;
   const rclcpp::KeepLast expected_initialization(RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT);
   const rclcpp::QoS expected_default(expected_initialization);

rclcpp/test/rclcpp/test_qos_event.cpp

@@ -218,11 +218,11 @@ TEST_F(TestQosEvent, test_default_incompatible_qos_callbacks)
     EXPECT_EQ("", sub_log_msg);
   } else {
     EXPECT_EQ(
-      "New subscription discovered on topic '/ns/test_topic', requesting incompatible QoS. "
+      "New subscription discovered on this topic, requesting incompatible QoS. "
       "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
       pub_log_msg);
     EXPECT_EQ(
-      "New publisher discovered on topic '/ns/test_topic', offering incompatible QoS. "
+      "New publisher discovered on this topic, offering incompatible QoS. "
       "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
       sub_log_msg);
   }

rclcpp/test/rclcpp/test_rosout_qos.cpp

@@ -1,79 +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.
-
-#include <gtest/gtest.h>
-#include <memory>
-
-#include "rclcpp/node_options.hpp"
-#include "rclcpp/qos.hpp"
-#include "rclcpp/duration.hpp"
-#include "rcl/logging_rosout.h"
-#include "rcl/init.h"
-#include "rmw/types.h"
-
-bool operator==(
-  const rmw_time_t & lhs,
-  const rmw_time_t & rhs)
-{
-  return lhs.sec == rhs.sec && lhs.nsec == rhs.nsec;
-}
-
-bool operator==(
-  const rmw_qos_profile_t & lhs,
-  const rmw_qos_profile_t & rhs)
-{
-  return lhs.history == rhs.history &&
-         lhs.depth == rhs.depth &&
-         lhs.reliability == rhs.reliability &&
-         lhs.durability == rhs.durability &&
-         lhs.deadline == rhs.deadline &&
-         lhs.lifespan == rhs.lifespan &&
-         lhs.liveliness == rhs.liveliness &&
-         lhs.liveliness_lease_duration == rhs.liveliness_lease_duration &&
-         lhs.avoid_ros_namespace_conventions == rhs.avoid_ros_namespace_conventions;
-}
-
-bool operator!=(
-  const rmw_qos_profile_t & lhs,
-  const rmw_qos_profile_t & rhs)
-{
-  return !(lhs == rhs);
-}
-
-/*
-   Test rosout_qos function with default value.
- */
-TEST(TestRosoutQoS, test_rosout_qos_with_default_value) {
-  rclcpp::NodeOptions node_options;
-  rclcpp::QoS rosout_qos_profile = node_options.rosout_qos();
-  rmw_qos_profile_t rmw_qos_profile = rosout_qos_profile.get_rmw_qos_profile();
-  EXPECT_EQ(rcl_qos_profile_rosout_default, rmw_qos_profile);
-  EXPECT_EQ(rcl_qos_profile_rosout_default, node_options.get_rcl_node_options()->rosout_qos);
-}
-
-/*
-   Test `rosout_qos` function with custom value.
- */
-TEST(TestRosoutQoS, test_rosout_qos_with_custom_value) {
-  rmw_time_t life_span;
-  life_span.sec = 10;
-  life_span.nsec = 0;
-  auto qos_profile = rclcpp::QoS(rclcpp::KeepLast(1000)).transient_local().lifespan(life_span);
-  auto options = rclcpp::NodeOptions().rosout_qos(qos_profile);
-  rclcpp::QoS rosout_qos = options.rosout_qos();
-  rmw_qos_profile_t rmw_qos_profile = rosout_qos.get_rmw_qos_profile();
-
-  EXPECT_EQ(rmw_qos_profile, qos_profile.get_rmw_qos_profile());
-  EXPECT_EQ(rmw_qos_profile, options.get_rcl_node_options()->rosout_qos);
-}

rclcpp/test/rclcpp/test_subscription.cpp

@@ -506,7 +506,7 @@ static std::vector<TestParameters> invalid_qos_profiles()
   return parameters;
 }
 
-INSTANTIATE_TEST_SUITE_P(
+INSTANTIATE_TEST_CASE_P(
   TestSubscriptionThrows, TestSubscriptionInvalidIntraprocessQos,
   ::testing::ValuesIn(invalid_qos_profiles()),
   ::testing::PrintToStringParamName());

rclcpp/test/rclcpp/test_subscription_publisher_count_api.cpp

@@ -129,7 +129,7 @@ struct TwoContextsPerTest
 };
 
 using AllTestDescriptions = ::testing::Types<OneContextPerTest, TwoContextsPerTest>;
-TYPED_TEST_SUITE(TestSubscriptionPublisherCount, AllTestDescriptions, PrintTestDescription);
+TYPED_TEST_CASE(TestSubscriptionPublisherCount, AllTestDescriptions, PrintTestDescription);
 
 
 using test_msgs::msg::Empty;

rclcpp/test/rclcpp/test_time.cpp

@@ -15,7 +15,6 @@
 #include <gtest/gtest.h>
 
 #include <algorithm>
-#include <chrono>
 #include <limits>
 #include <string>
 
@@ -31,8 +30,6 @@
 namespace
 {
 
-using namespace std::chrono_literals;
-
 bool logical_eq(const bool a, const bool b)
 {
   return (a && b) || ((!a) && !(b));
@@ -224,7 +221,7 @@ TEST_F(TestTime, operators) {
   EXPECT_EQ(sub, young - old);
 
   rclcpp::Time young_changed(young);
-  young_changed -= rclcpp::Duration::from_nanoseconds(old.nanoseconds());
+  young_changed -= rclcpp::Duration(old.nanoseconds());
   EXPECT_EQ(sub.nanoseconds(), young_changed.nanoseconds());
 
   rclcpp::Time system_time(0, 0, RCL_SYSTEM_TIME);
@@ -323,8 +320,8 @@ TEST_F(TestTime, overflow_detectors) {
 TEST_F(TestTime, overflows) {
   rclcpp::Time max_time(std::numeric_limits<rcl_time_point_value_t>::max());
   rclcpp::Time min_time(std::numeric_limits<rcl_time_point_value_t>::min());
-  rclcpp::Duration one(1ns);
-  rclcpp::Duration two(2ns);
+  rclcpp::Duration one(1);
+  rclcpp::Duration two(2);
 
   // Cross min/max
   EXPECT_THROW(max_time + one, std::overflow_error);
@@ -397,7 +394,7 @@ TEST_F(TestTime, test_assignment_operator_from_builtin_msg_time) {
 }
 
 TEST_F(TestTime, test_sum_operator) {
-  const rclcpp::Duration one(1ns);
+  const rclcpp::Duration one(1);
   const rclcpp::Time test_time(0u);
   EXPECT_EQ(0u, test_time.nanoseconds());
 
@@ -409,41 +406,41 @@ TEST_F(TestTime, test_overflow_underflow_throws) {
   rclcpp::Time test_time(0u);
 
   RCLCPP_EXPECT_THROW_EQ(
-    test_time = rclcpp::Time(INT64_MAX) + rclcpp::Duration(1ns),
+    test_time = rclcpp::Time(INT64_MAX) + rclcpp::Duration(1),
     std::overflow_error("addition leads to int64_t overflow"));
   RCLCPP_EXPECT_THROW_EQ(
-    test_time = rclcpp::Time(INT64_MIN) + rclcpp::Duration(-1ns),
+    test_time = rclcpp::Time(INT64_MIN) + rclcpp::Duration(-1),
     std::underflow_error("addition leads to int64_t underflow"));
 
   RCLCPP_EXPECT_THROW_EQ(
-    test_time = rclcpp::Time(INT64_MAX) - rclcpp::Duration(-1ns),
+    test_time = rclcpp::Time(INT64_MAX) - rclcpp::Duration(-1),
     std::overflow_error("time subtraction leads to int64_t overflow"));
   RCLCPP_EXPECT_THROW_EQ(
-    test_time = rclcpp::Time(INT64_MIN) - rclcpp::Duration(1ns),
+    test_time = rclcpp::Time(INT64_MIN) - rclcpp::Duration(1),
     std::underflow_error("time subtraction leads to int64_t underflow"));
 
   test_time = rclcpp::Time(INT64_MAX);
   RCLCPP_EXPECT_THROW_EQ(
-    test_time += rclcpp::Duration(1ns),
+    test_time += rclcpp::Duration(1),
     std::overflow_error("addition leads to int64_t overflow"));
   test_time = rclcpp::Time(INT64_MIN);
   RCLCPP_EXPECT_THROW_EQ(
-    test_time += rclcpp::Duration(-1ns),
+    test_time += rclcpp::Duration(-1),
     std::underflow_error("addition leads to int64_t underflow"));
 
   test_time = rclcpp::Time(INT64_MAX);
   RCLCPP_EXPECT_THROW_EQ(
-    test_time -= rclcpp::Duration(-1ns),
+    test_time -= rclcpp::Duration(-1),
     std::overflow_error("time subtraction leads to int64_t overflow"));
   test_time = rclcpp::Time(INT64_MIN);
   RCLCPP_EXPECT_THROW_EQ(
-    test_time -= rclcpp::Duration(1ns),
+    test_time -= rclcpp::Duration(1),
     std::underflow_error("time subtraction leads to int64_t underflow"));
 
   RCLCPP_EXPECT_THROW_EQ(
-    test_time = rclcpp::Duration::from_nanoseconds(INT64_MAX) + rclcpp::Time(1),
+    test_time = rclcpp::Duration(INT64_MAX) + rclcpp::Time(1),
     std::overflow_error("addition leads to int64_t overflow"));
   RCLCPP_EXPECT_THROW_EQ(
-    test_time = rclcpp::Duration::from_nanoseconds(INT64_MIN) + rclcpp::Time(-1),
+    test_time = rclcpp::Duration(INT64_MIN) + rclcpp::Time(-1),
     std::underflow_error("addition leads to int64_t underflow"));
 }