0.7.16

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

README.md

@@ -1,17 +0,0 @@
-# rclcpp
-
-This repository contains the source code for the ROS Client Library for C++ package, included with a standard install of any ROS 2 distro.
-
-rclcpp provides the standard C++ API for interacting with ROS 2.
-
-## Usage
-
-`#include "rclcpp/rclcpp.hpp"` allows use of the most common elements of the ROS 2 system.
-
-Visit the [rclcpp API documentation](http://docs.ros2.org/eloquent/api/rclcpp/) for a complete list of its main components.
-
-### Examples
-
-The ROS 2 tutorials [Writing a simple publisher and subscriber](https://index.ros.org/doc/ros2/Tutorials/Writing-A-Simple-Cpp-Publisher-And-Subscriber/)
-and [Writing a simple service and client](https://index.ros.org/doc/ros2/Tutorials/Writing-A-Simple-Cpp-Service-And-Client/)
-contain some examples of rclcpp APIs in use.

rclcpp/CHANGELOG.rst

@@ -2,74 +2,70 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.8.3 (2019-11-19)
+0.7.16 (2021-05-21)
+-------------------
+* Fix documented example in create_publisher. (`#1558 <https://github.com/ros2/rclcpp/issues/1558>`_) (`#1560 <https://github.com/ros2/rclcpp/issues/1560>`_)
+* Fix NodeOptions copy constructor. (`#1376 <https://github.com/ros2/rclcpp/issues/1376>`_) (`#1466 <https://github.com/ros2/rclcpp/issues/1466>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron
+
+0.7.15 (2020-11-24)
+-------------------
+* Fix implementation of NodeOptions::use_global_arguments(). (`#1176 <https://github.com/ros2/rclcpp/issues/1176>`_) (`#1206 <https://github.com/ros2/rclcpp/issues/1206>`_)
+* Fix conversion of negative durations to messages. (`#1188 <https://github.com/ros2/rclcpp/issues/1188>`_) (`#1207 <https://github.com/ros2/rclcpp/issues/1207>`_)
+* Type conversions fixes. (`#901 <https://github.com/ros2/rclcpp/issues/901>`_) (`#1209 <https://github.com/ros2/rclcpp/issues/1209>`_)
+* Add operator!= for duration (`#1236 <https://github.com/ros2/rclcpp/issues/1236>`_) (`#1277 <https://github.com/ros2/rclcpp/issues/1277>`_)
+* Contributors: Ivan Santiago Paunovic, Michel Hidalgo, Monika Idzik
+
+0.7.14 (2020-07-10)
+-------------------
+* Fixed doxygen warnings. (`#1208 <https://github.com/ros2/rclcpp/issues/1208>`_)
+* Check if context is valid when looping in spin_some. (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
+* Fix spin_until_future_complete: check spinning value. (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
+* Fix exception on rcl_clock_init. (`#1195 <https://github.com/ros2/rclcpp/issues/1195>`_)
+* Fix lock-order-inversion (potential deadlock). (`#1138 <https://github.com/ros2/rclcpp/issues/1138>`_)
+* Contributors: Alejandro Hernández Cordero, DongheeYe, Ivan Santiago Paunovic, tomoya
+
+0.7.13 (2020-03-12)
+-------------------
+* Don't specify calling convention in std::_Binder template. (`#1015 <https://github.com/ros2/rclcpp/issues/1015>`_)
+* Contributors: Jacob Perron, Sean Kelly
+
+0.7.12 (2019-12-05)
+-------------------
+
+0.7.11 (2019-10-11)
+-------------------
+* Fix `get_node_*_interface` functions taking a pointer (`#870 <https://github.com/ros2/rclcpp/pull/870>`_).
+* Fix hang with timers in `MultiThreadedExecutor` (`#869 <https://github.com/ros2/rclcpp/pull/869>`_).
+* Contributors: Todd Malsbary, ivanpauno
+
+0.7.10 (2019-09-23)
+-------------------
+
+0.7.9 (2019-09-20)
+------------------
+* add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy\_ (`#837 <https://github.com/ros2/rclcpp/issues/837>`_) (`#857 <https://github.com/ros2/rclcpp/issues/857>`_)
+* Contributors: Zachary Michaels
+
+0.7.8 (2019-09-06)
 ------------------
 
-0.8.2 (2019-11-18)
+0.7.7 (2019-07-31)
 ------------------
-* Updated tracing logic to match changes in rclcpp's intra-process system (`#918 <https://github.com/ros2/rclcpp/issues/918>`_)
-* Fixed a bug that prevented the ``shutdown_on_sigint`` option to not work correctly (`#850 <https://github.com/ros2/rclcpp/issues/850>`_)
-* Added support for STREAM logging macros (`#926 <https://github.com/ros2/rclcpp/issues/926>`_)
-* Relaxed multithreaded test constraint (`#907 <https://github.com/ros2/rclcpp/issues/907>`_)
-* Contributors: Anas Abou Allaban, Christophe Bedard, Dirk Thomas, alexfneves
+* Enabled the creation of a parameter YAML file which is applied to each node. (`#805 <https://github.com/ros2/rclcpp/issues/805>`_)
+* Fixed a signed/unsigned integer comparison compiler warning. (`#804 <https://github.com/ros2/rclcpp/issues/804>`_)
+* Changed the QoS profile used when subscribing to parameter events to match the publishing side, i.e. ``rmw_qos_profile_parameter_events``. (`#798 <https://github.com/ros2/rclcpp/issues/798>`_)
+* Changed the logic in TimeSource to ignore use_sim_time parameter events coming from other nodes. (`#803 <https://github.com/ros2/rclcpp/issues/803>`_)
+* Added missing default values in the NodeParametersInterface. (`#794 <https://github.com/ros2/rclcpp/issues/794>`_)
+* Added support for const member callback functions. (`#763 <https://github.com/ros2/rclcpp/issues/763>`_)
+* Contributors: Esteve Fernandez, Gonzo, Karsten Knese, Michel Hidalgo, Scott K Logan
 
-0.8.1 (2019-10-23)
+0.7.6 (2019-06-12)
 ------------------
-* De-flake tests for rmw_connext (`#899 <https://github.com/ros2/rclcpp/issues/899>`_)
-* rename return functions for loaned messages (`#896 <https://github.com/ros2/rclcpp/issues/896>`_)
-* Enable throttling logs (`#879 <https://github.com/ros2/rclcpp/issues/879>`_)
-* New Intra-Process Communication (`#778 <https://github.com/ros2/rclcpp/issues/778>`_)
-* Instrumentation update (`#789 <https://github.com/ros2/rclcpp/issues/789>`_)
-* Zero copy api (`#864 <https://github.com/ros2/rclcpp/issues/864>`_)
-* Drop rclcpp remove_ros_arguments_null test case. (`#894 <https://github.com/ros2/rclcpp/issues/894>`_)
-* add mechanism to pass rmw impl specific payloads during pub/sub creation (`#882 <https://github.com/ros2/rclcpp/issues/882>`_)
-* make get_actual_qos return a rclcpp::QoS (`#883 <https://github.com/ros2/rclcpp/issues/883>`_)
-* Fix Compiler Warning (`#881 <https://github.com/ros2/rclcpp/issues/881>`_)
-* Add callback handler for use_sim_time parameter `#802 <https://github.com/ros2/rclcpp/issues/802>`_ (`#875 <https://github.com/ros2/rclcpp/issues/875>`_)
-* Contributors: Alberto Soragna, Brian Marchi, Hunter L. Allen, Ingo Lütkebohle, Karsten Knese, Michael Carroll, Michel Hidalgo, William Woodall
-
-0.8.0 (2019-09-26)
-------------------
-* clean up publisher and subscription creation logic (`#867 <https://github.com/ros2/rclcpp/issues/867>`_)
-* Take parameter overrides provided through the CLI. (`#865 <https://github.com/ros2/rclcpp/issues/865>`_)
-* add more context to exception message (`#858 <https://github.com/ros2/rclcpp/issues/858>`_)
-* remove features and related code which were deprecated in dashing (`#852 <https://github.com/ros2/rclcpp/issues/852>`_)
-* check valid timer handler 1st to reduce the time window for scan. (`#841 <https://github.com/ros2/rclcpp/issues/841>`_)
-* Add throwing parameter name if parameter is not set (`#833 <https://github.com/ros2/rclcpp/issues/833>`_)
-* Fix typo in deprecated warning. (`#848 <https://github.com/ros2/rclcpp/issues/848>`_)
-* Fail on invalid and unknown ROS specific arguments (`#842 <https://github.com/ros2/rclcpp/issues/842>`_)
-* Force explicit --ros-args in NodeOptions::arguments(). (`#845 <https://github.com/ros2/rclcpp/issues/845>`_)
-* Use of -r/--remap flags where appropriate. (`#834 <https://github.com/ros2/rclcpp/issues/834>`_)
-* Fix hang with timers in MultiThreadedExecutor (`#835 <https://github.com/ros2/rclcpp/issues/835>`_) (`#836 <https://github.com/ros2/rclcpp/issues/836>`_)
-* add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy\_ (`#837 <https://github.com/ros2/rclcpp/issues/837>`_)
-* Crash in callback group pointer vector iterator (`#814 <https://github.com/ros2/rclcpp/issues/814>`_)
-* Wrap documentation examples in code blocks (`#830 <https://github.com/ros2/rclcpp/issues/830>`_)
-* add callback group as member variable and constructor arg (`#811 <https://github.com/ros2/rclcpp/issues/811>`_)
-* Fix get_node_interfaces functions taking a pointer (`#821 <https://github.com/ros2/rclcpp/issues/821>`_)
-* Delete unnecessary call for get_node_by_group (`#823 <https://github.com/ros2/rclcpp/issues/823>`_)
-* Allow passing logger by const ref (`#820 <https://github.com/ros2/rclcpp/issues/820>`_)
-* Explain return value of spin_until_future_complete (`#792 <https://github.com/ros2/rclcpp/issues/792>`_)
-* Adapt to '--ros-args ... [--]'-based ROS args extraction (`#816 <https://github.com/ros2/rclcpp/issues/816>`_)
-* Add line break after first open paren in multiline function call (`#785 <https://github.com/ros2/rclcpp/issues/785>`_)
-* remove mock msgs from rclcpp (`#800 <https://github.com/ros2/rclcpp/issues/800>`_)
-* Make TimeSource ignore use_sim_time events coming from other nodes. (`#799 <https://github.com/ros2/rclcpp/issues/799>`_)
-* Allow registering multiple on_parameters_set_callback (`#772 <https://github.com/ros2/rclcpp/issues/772>`_)
-* Add free function for creating service clients (`#788 <https://github.com/ros2/rclcpp/issues/788>`_)
-* Include missing rcl headers in use. (`#782 <https://github.com/ros2/rclcpp/issues/782>`_)
-* Switch the NodeParameters lock to recursive. (`#781 <https://github.com/ros2/rclcpp/issues/781>`_)
-* changed on_parameter_event qos profile to rmw_qos_profile_parameter_events (`#774 <https://github.com/ros2/rclcpp/issues/774>`_)
-* Adding a factory method to create a Duration from seconds (`#567 <https://github.com/ros2/rclcpp/issues/567>`_)
-* Fix a comparison with a sign mismatch (`#771 <https://github.com/ros2/rclcpp/issues/771>`_)
-* delete superfluous spaces (`#770 <https://github.com/ros2/rclcpp/issues/770>`_)
-* Use params from node '/\*\*' from parameter YAML file (`#762 <https://github.com/ros2/rclcpp/issues/762>`_)
-* Add ignore override argument to declare parameter (`#767 <https://github.com/ros2/rclcpp/issues/767>`_)
-* use default parameter descriptor in parameters interface (`#765 <https://github.com/ros2/rclcpp/issues/765>`_)
-* Added support for const member functions (`#763 <https://github.com/ros2/rclcpp/issues/763>`_)
-* add get_actual_qos() feature to subscriptions (`#754 <https://github.com/ros2/rclcpp/issues/754>`_)
 * Ignore parameters overrides in set parameter methods when allowing undeclared parameters (`#756 <https://github.com/ros2/rclcpp/issues/756>`_)
 * Add rclcpp::create_timer() (`#757 <https://github.com/ros2/rclcpp/issues/757>`_)
 * checking origin of intra-process msg before taking them (`#753 <https://github.com/ros2/rclcpp/issues/753>`_)
-* Contributors: Alberto Soragna, Carl Delsey, Chris Lalancette, Dan Rose, Dirk Thomas, Esteve Fernandez, Guillaume Autran, Jacob Perron, Karsten Knese, Luca Della Vedova, M. M, Michel Hidalgo, Scott K Logan, Shane Loretz, Todd Malsbary, William Woodall, bpwilcox, fujitatomoya, ivanpauno
+* Contributors: Alberto Soragna, Shane Loretz, ivanpauno
 
 0.7.5 (2019-05-30)
 ------------------

rclcpp/CMakeLists.txt

@@ -4,29 +4,30 @@ project(rclcpp)
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-find_package(libstatistics_collector REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rcl_yaml_param_parser REQUIRED)
-find_package(rcpputils REQUIRED)
-find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
+find_package(rmw_implementation REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(rosidl_runtime_cpp REQUIRED)
+find_package(rosidl_generator_cpp REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
-find_package(statistics_msgs REQUIRED)
-find_package(tracetools REQUIRED)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  # About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
+  # implicit sign conversions in rclcpp and gtest.cc, see https://ci.ros2.org/job/ci_osx/9265/.
+  # Hence disabling -Wsign-conversion for now until all those have eventually been fixed.
+  # (from https://github.com/ros2/rclcpp/pull/1188#issuecomment-650229140)
+  add_compile_options(-Wall -Wextra -Wconversion -Wno-sign-conversion -Wpedantic)
 endif()
 
+include_directories(include)
+
 set(${PROJECT_NAME}_SRCS
   src/rclcpp/any_executable.cpp
   src/rclcpp/callback_group.cpp
@@ -34,30 +35,21 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/clock.cpp
   src/rclcpp/context.cpp
   src/rclcpp/contexts/default_context.cpp
-  src/rclcpp/detail/rmw_implementation_specific_payload.cpp
-  src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp
-  src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
-  src/rclcpp/detail/utilities.cpp
   src/rclcpp/duration.cpp
   src/rclcpp/event.cpp
-  src/rclcpp/exceptions/exceptions.cpp
-  src/rclcpp/executable_list.cpp
+  src/rclcpp/exceptions.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
   src/rclcpp/expand_topic_or_service_name.cpp
   src/rclcpp/executors/multi_threaded_executor.cpp
   src/rclcpp/executors/single_threaded_executor.cpp
-  src/rclcpp/executors/static_executor_entities_collector.cpp
-  src/rclcpp/executors/static_single_threaded_executor.cpp
-  src/rclcpp/future_return_code.cpp
   src/rclcpp/graph_listener.cpp
-  src/rclcpp/guard_condition.cpp
   src/rclcpp/init_options.cpp
   src/rclcpp/intra_process_manager.cpp
+  src/rclcpp/intra_process_manager_impl.cpp
   src/rclcpp/logger.cpp
   src/rclcpp/memory_strategies.cpp
   src/rclcpp/memory_strategy.cpp
-  src/rclcpp/message_info.cpp
   src/rclcpp/node.cpp
   src/rclcpp/node_options.cpp
   src/rclcpp/node_interfaces/node_base.cpp
@@ -79,18 +71,14 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/publisher_base.cpp
   src/rclcpp/qos.cpp
   src/rclcpp/qos_event.cpp
-  src/rclcpp/serialization.cpp
-  src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp
   src/rclcpp/signal_handler.cpp
   src/rclcpp/subscription_base.cpp
-  src/rclcpp/subscription_intra_process_base.cpp
   src/rclcpp/time.cpp
   src/rclcpp/time_source.cpp
   src/rclcpp/timer.cpp
   src/rclcpp/type_support.cpp
   src/rclcpp/utilities.cpp
-  src/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.cpp
   src/rclcpp/waitable.cpp
 )
 
@@ -101,85 +89,31 @@ configure_file(
   COPYONLY
 )
 # generate header with logging macros
-set(python_code_logging
+set(python_code
   "import em"
   "em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")
-string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")
+string(REPLACE ";" "$<SEMICOLON>" python_code "${python_code}")
 add_custom_command(OUTPUT include/rclcpp/logging.hpp
   COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
-  COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code_logging}"
+  COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code}"
   DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
   COMMENT "Expanding logging.hpp.em"
   VERBATIM
 )
 list(APPEND ${PROJECT_NAME}_SRCS
   include/rclcpp/logging.hpp)
-
-file(GLOB interface_files "include/rclcpp/node_interfaces/node_*_interface.hpp")
-foreach(interface_file ${interface_files})
-  get_filename_component(interface_name ${interface_file} NAME_WE)
-
-  # "watch" template for changes
-  configure_file(
-    "resource/interface_traits.hpp.em"
-    "${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
-    COPYONLY
-  )
-  set(python_${interface_name}_traits
-    "import em"
-    "em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/${interface_name}_traits.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/interface_traits.hpp.em'])")
-  string(REPLACE ";" "$<SEMICOLON>" python_${interface_name}_traits "${python_${interface_name}_traits}")
-  add_custom_command(OUTPUT include/rclcpp/node_interfaces/${interface_name}_traits.hpp
-    COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
-    COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_${interface_name}_traits}"
-    DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
-    COMMENT "Expanding interface_traits.hpp.em into ${interface_name}_traits.hpp"
-    VERBATIM
-  )
-  list(APPEND ${PROJECT_NAME}_SRCS
-    include/rclcpp/node_interfaces/${interface_name}_traits.hpp)
-
-  # "watch" template for changes
-  configure_file(
-    "resource/get_interface.hpp.em"
-    "get_${interface_name}.hpp.em.watch"
-    COPYONLY
-  )
-  set(python_get_${interface_name}
-    "import em"
-    "em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/get_${interface_name}.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/get_interface.hpp.em'])")
-  string(REPLACE ";" "$<SEMICOLON>" python_get_${interface_name} "${python_get_${interface_name}}")
-  add_custom_command(OUTPUT include/rclcpp/node_interfaces/get_${interface_name}.hpp
-    COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
-    COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_get_${interface_name}}"
-    DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/get_${interface_name}.hpp.em.watch"
-    COMMENT "Expanding get_interface.hpp.em into get_${interface_file}.hpp"
-    VERBATIM
-  )
-  list(APPEND ${PROJECT_NAME}_SRCS
-    include/rclcpp/node_interfaces/get_${interface_name}.hpp)
-endforeach()
+include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")
 
 add_library(${PROJECT_NAME}
   ${${PROJECT_NAME}_SRCS})
-target_include_directories(${PROJECT_NAME} PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
-  "$<INSTALL_INTERFACE:include>")
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
-  "libstatistics_collector"
   "rcl"
   "rcl_yaml_param_parser"
-  "rcpputils"
-  "rcutils"
   "builtin_interfaces"
   "rosgraph_msgs"
   "rosidl_typesupport_cpp"
-  "rosidl_runtime_cpp"
-  "statistics_msgs"
-  "tracetools"
-)
+  "rosidl_generator_cpp")
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
@@ -187,7 +121,7 @@ target_compile_definitions(${PROJECT_NAME}
   PRIVATE "RCLCPP_BUILDING_LIBRARY")
 
 install(
-  TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -196,20 +130,15 @@ install(
 # specific order: dependents before dependencies
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
-ament_export_targets(${PROJECT_NAME})
 
-ament_export_dependencies(libstatistics_collector)
+ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
-ament_export_dependencies(rcpputils)
-ament_export_dependencies(rcutils)
 ament_export_dependencies(builtin_interfaces)
 ament_export_dependencies(rosgraph_msgs)
 ament_export_dependencies(rosidl_typesupport_cpp)
 ament_export_dependencies(rosidl_typesupport_c)
-ament_export_dependencies(rosidl_runtime_cpp)
+ament_export_dependencies(rosidl_generator_cpp)
 ament_export_dependencies(rcl_yaml_param_parser)
-ament_export_dependencies(statistics_msgs)
-ament_export_dependencies(tracetools)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
@@ -218,26 +147,14 @@ if(BUILD_TESTING)
 
   find_package(rmw_implementation_cmake REQUIRED)
 
-  find_package(test_msgs REQUIRED)
-
   include(cmake/rclcpp_add_build_failure_test.cmake)
 
-  add_definitions(-DTEST_RESOURCES_DIRECTORY="${CMAKE_CURRENT_BINARY_DIR}/test/resources")
-
-  rosidl_generate_interfaces(${PROJECT_NAME}_test_msgs
-    test/msg/Header.msg
-    test/msg/MessageWithHeader.msg
-    DEPENDENCIES builtin_interfaces
-    LIBRARY_NAME ${PROJECT_NAME}
-    SKIP_INSTALL
-  )
-
   ament_add_gtest(test_client test/test_client.cpp)
   if(TARGET test_client)
     ament_target_dependencies(test_client
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_client ${PROJECT_NAME})
@@ -248,7 +165,7 @@ if(BUILD_TESTING)
       "rcl_interfaces"
       "rmw"
       "rcl"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_create_timer ${PROJECT_NAME})
@@ -259,68 +176,47 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_expand_topic_or_service_name
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_expand_topic_or_service_name ${PROJECT_NAME})
   endif()
   ament_add_gtest(test_function_traits test/test_function_traits.cpp)
   if(TARGET test_function_traits)
-    target_include_directories(test_function_traits PUBLIC include)
     ament_target_dependencies(test_function_traits
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
   endif()
-  ament_add_gmock(test_intra_process_manager test/test_intra_process_manager.cpp)
+  ament_add_gtest(test_mapped_ring_buffer test/test_mapped_ring_buffer.cpp)
+  if(TARGET test_mapped_ring_buffer)
+    ament_target_dependencies(test_mapped_ring_buffer
+      "rcl"
+      "rcl_interfaces"
+      "rmw"
+      "rosidl_generator_cpp"
+      "rosidl_typesupport_cpp"
+    )
+  endif()
+  ament_add_gtest(test_intra_process_manager test/test_intra_process_manager.cpp)
   if(TARGET test_intra_process_manager)
     ament_target_dependencies(test_intra_process_manager
       "rcl"
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
-    target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
   endif()
-  ament_add_gtest(test_ring_buffer_implementation test/test_ring_buffer_implementation.cpp)
-  if(TARGET test_ring_buffer_implementation)
-    ament_target_dependencies(test_ring_buffer_implementation
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
-  endif()
-  ament_add_gtest(test_intra_process_buffer test/test_intra_process_buffer.cpp)
-  if(TARGET test_intra_process_buffer)
-    ament_target_dependencies(test_intra_process_buffer
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_runtime_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_loaned_message test/test_loaned_message.cpp)
-  ament_target_dependencies(test_loaned_message
-    "test_msgs"
-  )
-  target_link_libraries(test_loaned_message ${PROJECT_NAME})
-
-  ament_add_gtest(test_node test/test_node.cpp TIMEOUT 240)
+  ament_add_gtest(test_node test/test_node.cpp)
   if(TARGET test_node)
     ament_target_dependencies(test_node
       "rcl_interfaces"
-      "rcpputils"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
-      "test_msgs"
     )
     target_link_libraries(test_node ${PROJECT_NAME})
   endif()
@@ -357,16 +253,11 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_node_global_args
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_node_global_args ${PROJECT_NAME})
   endif()
-  ament_add_gtest(test_node_options test/test_node_options.cpp)
-  if(TARGET test_node_options)
-    ament_target_dependencies(test_node_options "rcl")
-    target_link_libraries(test_node_options ${PROJECT_NAME})
-  endif()
   ament_add_gtest(test_parameter_client test/test_parameter_client.cpp)
   if(TARGET test_parameter_client)
     ament_target_dependencies(test_parameter_client
@@ -379,7 +270,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_parameter_events_filter
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_parameter_events_filter ${PROJECT_NAME})
@@ -389,7 +280,7 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_parameter
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_parameter ${PROJECT_NAME})
@@ -401,10 +292,10 @@ if(BUILD_TESTING)
   ament_add_gtest(test_publisher test/test_publisher.cpp)
   if(TARGET test_publisher)
     ament_target_dependencies(test_publisher
+      "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
-      "test_msgs"
     )
     target_link_libraries(test_publisher ${PROJECT_NAME})
   endif()
@@ -413,37 +304,17 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_publisher_subscription_count_api
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
-      "test_msgs"
     )
     target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
   endif()
-  ament_add_gtest(test_qos test/test_qos.cpp)
-  if(TARGET test_qos)
-    ament_target_dependencies(test_qos
-      "rmw"
-    )
-    target_link_libraries(test_qos
-      ${PROJECT_NAME}
-    )
-  endif()
-  ament_add_gtest(test_qos_event test/test_qos_event.cpp)
-  if(TARGET test_qos_event)
-    ament_target_dependencies(test_qos_event
-      "rmw"
-      "test_msgs"
-    )
-    target_link_libraries(test_qos_event
-      ${PROJECT_NAME}
-    )
-  endif()
   ament_add_gtest(test_rate test/test_rate.cpp)
   if(TARGET test_rate)
     ament_target_dependencies(test_rate
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_rate
@@ -459,21 +330,12 @@ if(BUILD_TESTING)
       ${PROJECT_NAME}
     )
   endif()
-  ament_add_gtest(test_serialized_message test/test_serialized_message.cpp)
-  if(TARGET test_serialized_message)
-    ament_target_dependencies(test_serialized_message
-      test_msgs
-    )
-    target_link_libraries(test_serialized_message
-      ${PROJECT_NAME}
-    )
-  endif()
   ament_add_gtest(test_service test/test_service.cpp)
   if(TARGET test_service)
     ament_target_dependencies(test_service
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
     target_link_libraries(test_service ${PROJECT_NAME})
@@ -483,9 +345,8 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_subscription
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
-      "test_msgs"
     )
     target_link_libraries(test_subscription ${PROJECT_NAME})
   endif()
@@ -494,19 +355,18 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_subscription_publisher_count_api
       "rcl_interfaces"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
-      "test_msgs"
     )
     target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
   endif()
+  find_package(test_msgs REQUIRED)
   ament_add_gtest(test_subscription_traits test/test_subscription_traits.cpp)
   if(TARGET test_subscription_traits)
     ament_target_dependencies(test_subscription_traits
       "rcl"
       "test_msgs"
     )
-    target_link_libraries(test_subscription_traits ${PROJECT_NAME})
   endif()
   ament_add_gtest(test_find_weak_nodes test/test_find_weak_nodes.cpp)
   if(TARGET test_find_weak_nodes)
@@ -516,17 +376,38 @@ if(BUILD_TESTING)
     target_link_libraries(test_find_weak_nodes ${PROJECT_NAME})
   endif()
 
+  get_default_rmw_implementation(default_rmw)
+  find_package(${default_rmw} REQUIRED)
+  get_rmw_typesupport(typesupport_impls_cpp "${default_rmw}" LANGUAGE "cpp")
+  get_rmw_typesupport(typesupport_impls_c "${default_rmw}" LANGUAGE "c")
+  set(mock_msg_files
+    "test/mock_msgs/srv/Mock.srv")
+  rosidl_generate_interfaces(mock_msgs
+    ${mock_msg_files}
+    LIBRARY_NAME "rclcpp"
+    SKIP_INSTALL)
+
   set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
   if(WIN32)
     set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
   endif()
 
-  ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp)
-  ament_target_dependencies(test_externally_defined_services
-    "rcl"
-    "test_msgs"
-  )
-  target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
+  ament_add_gtest(test_externally_defined_services test/test_externally_defined_services.cpp
+    APPEND_LIBRARY_DIRS "${append_library_dirs}")
+  if(TARGET test_externally_defined_services)
+    ament_target_dependencies(test_externally_defined_services
+      "rcl"
+    )
+    target_link_libraries(test_externally_defined_services ${PROJECT_NAME})
+    foreach(typesupport_impl_cpp ${typesupport_impls_cpp})
+      rosidl_target_interfaces(test_externally_defined_services
+        mock_msgs ${typesupport_impl_cpp})
+    endforeach()
+    foreach(typesupport_impl_c ${typesupport_impls_c})
+      rosidl_target_interfaces(test_externally_defined_services
+        mock_msgs ${typesupport_impl_c})
+    endforeach()
+  endif()
 
   ament_add_gtest(test_duration test/test_duration.cpp
     APPEND_LIBRARY_DIRS "${append_library_dirs}")
@@ -590,14 +471,6 @@ if(BUILD_TESTING)
     target_link_libraries(test_init ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(test_interface_traits test/test_interface_traits.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_interface_traits)
-    ament_target_dependencies(test_interface_traits
-      "rcl")
-    target_link_libraries(test_interface_traits ${PROJECT_NAME})
-  endif()
-
   ament_add_gtest(test_multi_threaded_executor test/executors/test_multi_threaded_executor.cpp
     APPEND_LIBRARY_DIRS "${append_library_dirs}")
   if(TARGET test_multi_threaded_executor)
@@ -606,47 +479,16 @@ if(BUILD_TESTING)
     target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(test_guard_condition test/test_guard_condition.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_guard_condition)
-    target_link_libraries(test_guard_condition ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_wait_set test/test_wait_set.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}")
-  if(TARGET test_wait_set)
-    ament_target_dependencies(test_wait_set "test_msgs")
-    target_link_libraries(test_wait_set ${PROJECT_NAME})
-  endif()
-
-  ament_add_gtest(test_subscription_topic_statistics test/topic_statistics/test_subscription_topic_statistics.cpp
-    APPEND_LIBRARY_DIRS "${append_library_dirs}"
-  )
-  if(TARGET test_subscription_topic_statistics)
-    ament_target_dependencies(test_subscription_topic_statistics
-      "builtin_interfaces"
-      "libstatistics_collector"
+  ament_add_gtest(test_local_parameters test/test_local_parameters.cpp)
+  if(TARGET test_local_parameters)
+    ament_target_dependencies(test_local_parameters
       "rcl_interfaces"
-      "rcutils"
       "rmw"
-      "rosidl_runtime_cpp"
+      "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
-      "statistics_msgs"
-      "test_msgs")
-    rosidl_target_interfaces(test_subscription_topic_statistics ${PROJECT_NAME}_test_msgs "rosidl_typesupport_cpp")
-    target_link_libraries(test_subscription_topic_statistics ${PROJECT_NAME})
+    )
+    target_link_libraries(test_local_parameters ${PROJECT_NAME})
   endif()
-
-  ament_add_gtest(test_subscription_options test/test_subscription_options.cpp)
-  if(TARGET test_subscription_options)
-    ament_target_dependencies(test_subscription_options "rcl")
-    target_link_libraries(test_subscription_options ${PROJECT_NAME})
-  endif()
-
-  # Install test resources
-  install(
-    DIRECTORY test/resources
-    DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/test)
 endif()
 
 ament_package()

rclcpp/include/rclcpp/any_executable.hpp

@@ -29,6 +29,8 @@
 
 namespace rclcpp
 {
+namespace executor
+{
 
 struct AnyExecutable
 {
@@ -40,20 +42,16 @@ struct AnyExecutable
 
   // Only one of the following pointers will be set.
   rclcpp::SubscriptionBase::SharedPtr subscription;
+  rclcpp::SubscriptionBase::SharedPtr subscription_intra_process;
   rclcpp::TimerBase::SharedPtr timer;
   rclcpp::ServiceBase::SharedPtr service;
   rclcpp::ClientBase::SharedPtr client;
   rclcpp::Waitable::SharedPtr waitable;
   // These are used to keep the scope on the containing items
-  rclcpp::CallbackGroup::SharedPtr callback_group;
+  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
 };
 
-namespace executor
-{
-
-using AnyExecutable [[deprecated("use rclcpp::AnyExecutable instead")]] = AnyExecutable;
-
 }  // namespace executor
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -23,8 +23,6 @@
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/types.h"
-#include "tracetools/tracetools.h"
-#include "tracetools/utils.hpp"
 
 namespace rclcpp
 {
@@ -88,7 +86,6 @@ public:
     std::shared_ptr<typename ServiceT::Request> request,
     std::shared_ptr<typename ServiceT::Response> response)
   {
-    TRACEPOINT(callback_start, (const void *)this, false);
     if (shared_ptr_callback_ != nullptr) {
       (void)request_header;
       shared_ptr_callback_(request, response);
@@ -97,24 +94,6 @@ public:
     } else {
       throw std::runtime_error("unexpected request without any callback set");
     }
-    TRACEPOINT(callback_end, (const void *)this);
-  }
-
-  void register_callback_for_tracing()
-  {
-#ifndef TRACETOOLS_DISABLED
-    if (shared_ptr_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        (const void *)this,
-        get_symbol(shared_ptr_callback_));
-    } else if (shared_ptr_with_request_header_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        (const void *)this,
-        get_symbol(shared_ptr_with_request_header_callback_));
-    }
-#endif  // TRACETOOLS_DISABLED
   }
 };
 

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -25,10 +25,7 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/function_traits.hpp"
-#include "rclcpp/message_info.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "tracetools/tracetools.h"
-#include "tracetools/utils.hpp"
 
 namespace rclcpp
 {
@@ -44,13 +41,13 @@ class AnySubscriptionCallback
 
   using SharedPtrCallback = std::function<void (const std::shared_ptr<MessageT>)>;
   using SharedPtrWithInfoCallback =
-    std::function<void (const std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>;
+    std::function<void (const std::shared_ptr<MessageT>, const rmw_message_info_t &)>;
   using ConstSharedPtrCallback = std::function<void (const std::shared_ptr<const MessageT>)>;
   using ConstSharedPtrWithInfoCallback =
-    std::function<void (const std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>;
+    std::function<void (const std::shared_ptr<const MessageT>, const rmw_message_info_t &)>;
   using UniquePtrCallback = std::function<void (MessageUniquePtr)>;
   using UniquePtrWithInfoCallback =
-    std::function<void (MessageUniquePtr, const rclcpp::MessageInfo &)>;
+    std::function<void (MessageUniquePtr, const rmw_message_info_t &)>;
 
   SharedPtrCallback shared_ptr_callback_;
   SharedPtrWithInfoCallback shared_ptr_with_info_callback_;
@@ -156,9 +153,8 @@ public:
   }
 
   void dispatch(
-    std::shared_ptr<MessageT> message, const rclcpp::MessageInfo & message_info)
+    std::shared_ptr<MessageT> message, const rmw_message_info_t & message_info)
   {
-    TRACEPOINT(callback_start, (const void *)this, false);
     if (shared_ptr_callback_) {
       shared_ptr_callback_(message);
     } else if (shared_ptr_with_info_callback_) {
@@ -178,36 +174,30 @@ public:
     } else {
       throw std::runtime_error("unexpected message without any callback set");
     }
-    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void dispatch_intra_process(
-    ConstMessageSharedPtr message, const rclcpp::MessageInfo & message_info)
+    ConstMessageSharedPtr message, const rmw_message_info_t & message_info)
   {
-    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_) {
       const_shared_ptr_with_info_callback_(message, message_info);
     } else {
-      if (
-        unique_ptr_callback_ || unique_ptr_with_info_callback_ ||
+      if (unique_ptr_callback_ || unique_ptr_with_info_callback_ ||
         shared_ptr_callback_ || shared_ptr_with_info_callback_)
       {
-        throw std::runtime_error(
-                "unexpected dispatch_intra_process const shared "
+        throw std::runtime_error("unexpected dispatch_intra_process const shared "
                 "message call with no const shared_ptr callback");
       } else {
         throw std::runtime_error("unexpected message without any callback set");
       }
     }
-    TRACEPOINT(callback_end, (const void *)this);
   }
 
   void dispatch_intra_process(
-    MessageUniquePtr message, const rclcpp::MessageInfo & message_info)
+    MessageUniquePtr message, const rmw_message_info_t & message_info)
   {
-    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);
@@ -219,47 +209,18 @@ public:
     } else if (unique_ptr_with_info_callback_) {
       unique_ptr_with_info_callback_(std::move(message), message_info);
     } else if (const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_) {
-      throw std::runtime_error(
-              "unexpected dispatch_intra_process unique message call"
+      throw std::runtime_error("unexpected dispatch_intra_process unique message call"
               " with const shared_ptr callback");
     } else {
       throw std::runtime_error("unexpected message without any callback set");
     }
-    TRACEPOINT(callback_end, (const void *)this);
   }
 
-  bool use_take_shared_method() const
+  bool use_take_shared_method()
   {
     return const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_;
   }
 
-  void register_callback_for_tracing()
-  {
-#ifndef TRACETOOLS_DISABLED
-    if (shared_ptr_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        (const void *)this,
-        get_symbol(shared_ptr_callback_));
-    } else if (shared_ptr_with_info_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        (const void *)this,
-        get_symbol(shared_ptr_with_info_callback_));
-    } else if (unique_ptr_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        (const void *)this,
-        get_symbol(unique_ptr_callback_));
-    } else if (unique_ptr_with_info_callback_) {
-      TRACEPOINT(
-        rclcpp_callback_register,
-        (const void *)this,
-        get_symbol(unique_ptr_with_info_callback_));
-    }
-#endif  // TRACETOOLS_DISABLED
-  }
-
 private:
   std::shared_ptr<MessageAlloc> message_allocator_;
   MessageDeleter message_deleter_;

rclcpp/include/rclcpp/callback_group.hpp

@@ -21,9 +21,9 @@
 #include <vector>
 
 #include "rclcpp/client.hpp"
-#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/publisher.hpp"
 #include "rclcpp/service.hpp"
-#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/subscription.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/waitable.hpp"
@@ -40,6 +40,9 @@ class NodeTopics;
 class NodeWaitables;
 }  // namespace node_interfaces
 
+namespace callback_group
+{
+
 enum class CallbackGroupType
 {
   MutuallyExclusive,
@@ -59,40 +62,25 @@ public:
   RCLCPP_PUBLIC
   explicit CallbackGroup(CallbackGroupType group_type);
 
-  template<typename Function>
-  rclcpp::SubscriptionBase::SharedPtr
-  find_subscription_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::SubscriptionBase, Function>(func, subscription_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
+  get_subscription_ptrs() const;
 
-  template<typename Function>
-  rclcpp::TimerBase::SharedPtr
-  find_timer_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::TimerBase, Function>(func, timer_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::TimerBase::WeakPtr> &
+  get_timer_ptrs() const;
 
-  template<typename Function>
-  rclcpp::ServiceBase::SharedPtr
-  find_service_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::ServiceBase, Function>(func, service_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::ServiceBase::WeakPtr> &
+  get_service_ptrs() const;
 
-  template<typename Function>
-  rclcpp::ClientBase::SharedPtr
-  find_client_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::ClientBase, Function>(func, client_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::ClientBase::WeakPtr> &
+  get_client_ptrs() const;
 
-  template<typename Function>
-  rclcpp::Waitable::SharedPtr
-  find_waitable_ptrs_if(Function func) const
-  {
-    return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
-  }
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::Waitable::WeakPtr> &
+  get_waitable_ptrs() const;
 
   RCLCPP_PUBLIC
   std::atomic_bool &
@@ -142,29 +130,8 @@ protected:
   std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
   std::vector<rclcpp::Waitable::WeakPtr> waitable_ptrs_;
   std::atomic_bool can_be_taken_from_;
-
-private:
-  template<typename TypeT, typename Function>
-  typename TypeT::SharedPtr _find_ptrs_if_impl(
-    Function func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-    for (auto & weak_ptr : vect_ptrs) {
-      auto ref_ptr = weak_ptr.lock();
-      if (ref_ptr && func(ref_ptr)) {
-        return ref_ptr;
-      }
-    }
-    return typename TypeT::SharedPtr();
-  }
 };
 
-namespace callback_group
-{
-
-using CallbackGroupType [[deprecated("use rclcpp::CallbackGroupType instead")]] = CallbackGroupType;
-using CallbackGroup [[deprecated("use rclcpp::CallbackGroup instead")]] = CallbackGroup;
-
 }  // namespace callback_group
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/client.hpp

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__CLIENT_HPP_
 #define RCLCPP__CLIENT_HPP_
 
-#include <atomic>
 #include <future>
 #include <map>
 #include <memory>
@@ -63,27 +62,6 @@ public:
   RCLCPP_PUBLIC
   virtual ~ClientBase();
 
-  /// Take the next response for this client as a type erased pointer.
-  /**
-   * The type erased pointer allows for this method to be used in a type
-   * agnostic way along with ClientBase::create_response(),
-   * ClientBase::create_request_header(), and ClientBase::handle_response().
-   * The typed version of this can be used if the Service type is known,
-   * \sa Client::take_response().
-   *
-   * \param[out] response_out The type erased pointer to a Service Response into
-   *   which the middleware will copy the response being taken.
-   * \param[out] request_header_out The request header to be filled by the
-   *   middleware when taking, and which can be used to associte the response
-   *   to a specific request.
-   * \returns true if the response was taken, otherwise false.
-   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
-   *   rcl function fail.
-   */
-  RCLCPP_PUBLIC
-  bool
-  take_type_erased_response(void * response_out, rmw_request_id_t & request_header_out);
-
   RCLCPP_PUBLIC
   const char *
   get_service_name() const;
@@ -115,20 +93,6 @@ public:
   virtual void handle_response(
     std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<void> response) = 0;
 
-  /// Exchange the "in use by wait set" state for this client.
-  /**
-   * This is used to ensure this client is not used by multiple
-   * wait sets at the same time.
-   *
-   * \param[in] in_use_state the new state to exchange into the state, true
-   *   indicates it is now in use by a wait set, and false is that it is no
-   *   longer in use by a wait set.
-   * \returns the previous state.
-   */
-  RCLCPP_PUBLIC
-  bool
-  exchange_in_use_by_wait_set_state(bool in_use_state);
-
 protected:
   RCLCPP_DISABLE_COPY(ClientBase)
 
@@ -149,8 +113,6 @@ protected:
   std::shared_ptr<rclcpp::Context> context_;
 
   std::shared_ptr<rcl_client_t> client_handle_;
-
-  std::atomic<bool> in_use_by_wait_set_{false};
 };
 
 template<typename ServiceT>
@@ -209,25 +171,6 @@ public:
   {
   }
 
-  /// Take the next response for this client.
-  /**
-   * \sa ClientBase::take_type_erased_response().
-   *
-   * \param[out] response_out The reference to a Service Response into
-   *   which the middleware will copy the response being taken.
-   * \param[out] request_header_out The request header to be filled by the
-   *   middleware when taking, and which can be used to associte the response
-   *   to a specific request.
-   * \returns true if the response was taken, otherwise false.
-   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
-   *   rcl function fail.
-   */
-  bool
-  take_response(typename ServiceT::Response & response_out, rmw_request_id_t & request_header_out)
-  {
-    return this->take_type_erased_response(&response_out, request_header_out);
-  }
-
   std::shared_ptr<void>
   create_response() override
   {

rclcpp/include/rclcpp/clock.hpp

@@ -16,16 +16,12 @@
 #define RCLCPP__CLOCK_HPP_
 
 #include <functional>
-#include <memory>
-#include <mutex>
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 #include "rcl/time.h"
-#include "rcutils/time.h"
-#include "rcutils/types/rcutils_ret.h"
 
 namespace rclcpp
 {
@@ -97,10 +93,6 @@ public:
   rcl_clock_type_t
   get_clock_type() const noexcept;
 
-  RCLCPP_PUBLIC
-  std::mutex &
-  get_clock_mutex() noexcept;
-
   // Add a callback to invoke if the jump threshold is exceeded.
   /**
    * These callback functions must remain valid as long as the
@@ -113,9 +105,9 @@ public:
    *
    * Function is only applicable if the clock_type is `RCL_ROS_TIME`
    *
-   * \param pre_callback. Must be non-throwing
-   * \param post_callback. Must be non-throwing.
-   * \param threshold. Callbacks will be triggered if the time jump is greater
+   * \param pre_callback Must be non-throwing
+   * \param post_callback Must be non-throwing.
+   * \param threshold Callbacks will be triggered if the time jump is greater
    * then the threshold.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    * \throws std::bad_alloc if the allocation of the JumpHandler fails.
@@ -138,10 +130,10 @@ private:
     bool before_jump,
     void * user_data);
 
-  /// Private internal storage
-  class Impl;
-
-  std::shared_ptr<Impl> impl_;
+  /// Internal storage backed by rcl
+  rcl_clock_t rcl_clock_;
+  friend TimeSource;  /// Allow TimeSource to access the rcl_clock_ datatype.
+  rcl_allocator_t allocator_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/context.hpp

@@ -159,7 +159,7 @@ public:
    *
    * \param[in] reason the description of why shutdown happened
    * \return true if shutdown was successful, false if context was already shutdown
-   * \throw various exceptions derived from rclcpp::exceptions::RCLError, if rcl_shutdown fails
+   * \throw various exceptions derived from RCLErrorBase, if rcl_shutdown fails
    */
   RCLCPP_PUBLIC
   virtual
@@ -338,9 +338,6 @@ private:
   rclcpp::InitOptions init_options_;
   std::string shutdown_reason_;
 
-  // Keep shared ownership of global logging configure mutex.
-  std::shared_ptr<std::mutex> logging_configure_mutex_;
-
   std::unordered_map<std::type_index, std::shared_ptr<void>> sub_contexts_;
   // This mutex is recursive so that the constructor of a sub context may
   // attempt to acquire another sub context.

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -22,6 +22,8 @@ namespace rclcpp
 {
 namespace contexts
 {
+namespace default_context
+{
 
 class DefaultContext : public rclcpp::Context
 {
@@ -36,21 +38,6 @@ RCLCPP_PUBLIC
 DefaultContext::SharedPtr
 get_global_default_context();
 
-namespace default_context
-{
-
-using DefaultContext
-[[deprecated("use rclcpp::contexts::DefaultContext instead")]] = DefaultContext;
-
-[[deprecated("use rclcpp::contexts::get_global_default_context() instead")]]
-RCLCPP_PUBLIC
-inline
-DefaultContext::SharedPtr
-get_global_default_context()
-{
-  return rclcpp::contexts::get_global_default_context();
-}
-
 }  // namespace default_context
 }  // namespace contexts
 }  // namespace rclcpp

rclcpp/include/rclcpp/create_client.hpp

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

rclcpp/include/rclcpp/create_publisher.hpp

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

rclcpp/include/rclcpp/create_service.hpp

@@ -37,7 +37,7 @@ create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::CallbackGroup::SharedPtr group)
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
   rclcpp::AnyServiceCallback<ServiceT> any_service_callback;
   any_service_callback.set(std::forward<CallbackT>(callback));

rclcpp/include/rclcpp/create_subscription.hpp

@@ -15,30 +15,63 @@
 #ifndef RCLCPP__CREATE_SUBSCRIPTION_HPP_
 #define RCLCPP__CREATE_SUBSCRIPTION_HPP_
 
-#include <chrono>
-#include <functional>
 #include <memory>
 #include <string>
 #include <utility>
 
-#include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
-
-#include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
-#include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
-
-#include "rclcpp/create_timer.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/subscription_factory.hpp"
 #include "rclcpp/subscription_options.hpp"
-#include "rclcpp/timer.hpp"
-#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
+#include "rclcpp/qos.hpp"
 #include "rmw/qos_profiles.h"
 
 namespace rclcpp
 {
 
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename AllocatorT,
+  typename CallbackMessageT,
+  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>>
+// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+[[deprecated("use alternative rclcpp::create_subscription() signatures")]]
+typename std::shared_ptr<SubscriptionT>
+create_subscription(
+  rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
+  const std::string & topic_name,
+  CallbackT && callback,
+  const rmw_qos_profile_t & qos_profile,
+  const SubscriptionEventCallbacks & event_callbacks,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications,
+  bool use_intra_process_comms,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT, AllocatorT>::SharedPtr
+  msg_mem_strat,
+  typename std::shared_ptr<AllocatorT> allocator)
+{
+  auto subscription_options = rcl_subscription_get_default_options();
+  subscription_options.qos = qos_profile;
+  subscription_options.ignore_local_publications = ignore_local_publications;
+
+  auto factory = rclcpp::create_subscription_factory
+    <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
+    std::forward<CallbackT>(callback),
+    event_callbacks,
+    msg_mem_strat,
+    allocator);
+
+  auto sub = node_topics->create_subscription(
+    topic_name,
+    factory,
+    subscription_options,
+    use_intra_process_comms);
+  node_topics->add_subscription(sub, group);
+  return std::dynamic_pointer_cast<SubscriptionT>(sub);
+}
+
 /// Create and return a subscription of the given MessageT type.
 /**
  * The NodeT type only needs to have a method called get_node_topics_interface()
@@ -52,10 +85,6 @@ template<
   typename CallbackMessageT =
   typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
   typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >,
   typename NodeT>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
@@ -66,59 +95,49 @@ create_subscription(
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ),
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-    MessageMemoryStrategyT::create_default()
-  )
-)
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT, AllocatorT>::SharedPtr
+  msg_mem_strat = nullptr)
 {
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics = get_node_topics_interface(std::forward<NodeT>(node));
 
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
-  subscription_topic_stats = nullptr;
-
-  if (rclcpp::detail::resolve_enable_topic_statistics(
-      options,
-      *node_topics->get_node_base_interface()))
-  {
-    std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
-      create_publisher<statistics_msgs::msg::MetricsMessage>(
-      node,
-      options.topic_stats_options.publish_topic,
-      qos);
-
-    subscription_topic_stats = std::make_shared<
-      rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
-      >(node_topics->get_node_base_interface()->get_name(), publisher);
-
-    auto sub_call_back = [subscription_topic_stats]() {
-        subscription_topic_stats->publish_message();
-      };
-
-    auto node_timer_interface = node_topics->get_node_timers_interface();
-
-    auto timer = create_wall_timer(
-      std::chrono::duration_cast<std::chrono::nanoseconds>(
-        options.topic_stats_options.publish_period),
-      sub_call_back,
-      options.callback_group,
-      node_topics->get_node_base_interface(),
-      node_timer_interface
-    );
-
-    subscription_topic_stats->set_publisher_timer(timer);
+  if (!msg_mem_strat) {
+    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
+    msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, AllocatorT>::create_default();
   }
 
-  auto factory = rclcpp::create_subscription_factory<MessageT>(
-    std::forward<CallbackT>(callback),
-    options,
-    msg_mem_strat,
-    subscription_topic_stats
-  );
+  std::shared_ptr<AllocatorT> allocator = options.allocator;
+  if (!allocator) {
+    allocator = std::make_shared<AllocatorT>();
+  }
+  auto factory = rclcpp::create_subscription_factory
+    <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
+    std::forward<CallbackT>(callback), options.event_callbacks, msg_mem_strat, allocator);
 
-  auto sub = node_topics->create_subscription(topic_name, factory, qos);
+  bool use_intra_process;
+  switch (options.use_intra_process_comm) {
+    case IntraProcessSetting::Enable:
+      use_intra_process = true;
+      break;
+    case IntraProcessSetting::Disable:
+      use_intra_process = false;
+      break;
+    case IntraProcessSetting::NodeDefault:
+      use_intra_process = node_topics->get_node_base_interface()->get_use_intra_process_default();
+      break;
+    default:
+      throw std::runtime_error("Unrecognized IntraProcessSetting value");
+      break;
+  }
+
+  // TODO(wjwwood): convert all of the interfaces to use QoS and SubscriptionOptionsBase
+  auto sub = node_topics->create_subscription(
+    topic_name,
+    factory,
+    options.template to_rcl_subscription_options<MessageT>(qos),
+    use_intra_process);
   node_topics->add_subscription(sub, options.callback_group);
-
   return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }
 

rclcpp/include/rclcpp/create_timer.hpp

@@ -15,15 +15,13 @@
 #ifndef RCLCPP__CREATE_TIMER_HPP_
 #define RCLCPP__CREATE_TIMER_HPP_
 
-#include <chrono>
-#include <exception>
 #include <memory>
 #include <string>
 #include <utility>
 
 #include "rclcpp/duration.hpp"
-#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
-#include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
+# include "rclcpp/node_interfaces/get_node_base_interface.hpp"
+# include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 
@@ -34,12 +32,12 @@ namespace rclcpp
 template<typename CallbackT>
 typename rclcpp::TimerBase::SharedPtr
 create_timer(
-  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-  std::shared_ptr<node_interfaces::NodeTimersInterface> node_timers,
+  node_interfaces::NodeBaseInterface * node_base,
+  node_interfaces::NodeTimersInterface * node_timers,
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
 {
   auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
     clock,
@@ -59,7 +57,7 @@ create_timer(
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
 {
   return create_timer(
     rclcpp::node_interfaces::get_node_base_interface(node),
@@ -70,46 +68,6 @@ create_timer(
     group);
 }
 
-/// Convenience method to create a timer with node resources.
-/**
- *
- * \tparam DurationRepT
- * \tparam DurationT
- * \tparam CallbackT
- * \param period period to exectute callback
- * \param callback callback to execute via the timer period
- * \param group
- * \param node_base
- * \param node_timers
- * \return
- * \throws std::invalid argument if either node_base or node_timers
- * are null
- */
-template<typename DurationRepT, typename DurationT, typename CallbackT>
-typename rclcpp::WallTimer<CallbackT>::SharedPtr
-create_wall_timer(
-  std::chrono::duration<DurationRepT, DurationT> period,
-  CallbackT callback,
-  rclcpp::CallbackGroup::SharedPtr group,
-  node_interfaces::NodeBaseInterface * node_base,
-  node_interfaces::NodeTimersInterface * node_timers)
-{
-  if (node_base == nullptr) {
-    throw std::invalid_argument{"input node_base cannot be null"};
-  }
-
-  if (node_timers == nullptr) {
-    throw std::invalid_argument{"input node_timers cannot be null"};
-  }
-
-  auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
-    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
-    std::move(callback),
-    node_base->get_context());
-  node_timers->add_timer(timer, group);
-  return timer;
-}
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CREATE_TIMER_HPP_

rclcpp/include/rclcpp/detail/README.md

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

rclcpp/include/rclcpp/detail/resolve_enable_topic_statistics.hpp

@@ -1,53 +0,0 @@
-// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__RESOLVE_ENABLE_TOPIC_STATISTICS_HPP_
-#define RCLCPP__DETAIL__RESOLVE_ENABLE_TOPIC_STATISTICS_HPP_
-
-#include <stdexcept>
-
-#include "rclcpp/topic_statistics_state.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-/// Return whether or not topic statistics is enabled, resolving "NodeDefault" if needed.
-template<typename OptionsT, typename NodeBaseT>
-bool
-resolve_enable_topic_statistics(const OptionsT & options, const NodeBaseT & node_base)
-{
-  bool topic_stats_enabled;
-  switch (options.topic_stats_options.state) {
-    case TopicStatisticsState::Enable:
-      topic_stats_enabled = true;
-      break;
-    case TopicStatisticsState::Disable:
-      topic_stats_enabled = false;
-      break;
-    case TopicStatisticsState::NodeDefault:
-      topic_stats_enabled = node_base.get_enable_topic_statistics_default();
-      break;
-    default:
-      throw std::runtime_error("Unrecognized EnableTopicStatistics value");
-  }
-
-  return topic_stats_enabled;
-}
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__RESOLVE_ENABLE_TOPIC_STATISTICS_HPP_

rclcpp/include/rclcpp/detail/resolve_intra_process_buffer_type.hpp

@@ -1,54 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__RESOLVE_INTRA_PROCESS_BUFFER_TYPE_HPP_
-#define RCLCPP__DETAIL__RESOLVE_INTRA_PROCESS_BUFFER_TYPE_HPP_
-
-#include <stdexcept>
-
-#include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/intra_process_buffer_type.hpp"
-
-namespace rclcpp
-{
-
-namespace detail
-{
-
-/// Return the buffer type, resolving the "CallbackDefault" type to an actual type if needed.
-template<typename CallbackMessageT, typename AllocatorT>
-rclcpp::IntraProcessBufferType
-resolve_intra_process_buffer_type(
-  const rclcpp::IntraProcessBufferType buffer_type,
-  const rclcpp::AnySubscriptionCallback<CallbackMessageT, AllocatorT> & any_subscription_callback)
-{
-  rclcpp::IntraProcessBufferType resolved_buffer_type = buffer_type;
-
-  // If the user has not specified a type for the intra-process buffer, use the callback's type.
-  if (resolved_buffer_type == IntraProcessBufferType::CallbackDefault) {
-    if (any_subscription_callback.use_take_shared_method()) {
-      resolved_buffer_type = IntraProcessBufferType::SharedPtr;
-    } else {
-      resolved_buffer_type = IntraProcessBufferType::UniquePtr;
-    }
-  }
-
-  return resolved_buffer_type;
-}
-
-}  // namespace detail
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__RESOLVE_INTRA_PROCESS_BUFFER_TYPE_HPP_

rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp

@@ -1,56 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_
-#define RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_
-
-#include <stdexcept>
-
-#include "rclcpp/intra_process_setting.hpp"
-
-namespace rclcpp
-{
-
-namespace detail
-{
-
-/// Return whether or not intra process is enabled, resolving "NodeDefault" if needed.
-template<typename OptionsT, typename NodeBaseT>
-bool
-resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
-{
-  bool use_intra_process;
-  switch (options.use_intra_process_comm) {
-    case IntraProcessSetting::Enable:
-      use_intra_process = true;
-      break;
-    case IntraProcessSetting::Disable:
-      use_intra_process = false;
-      break;
-    case IntraProcessSetting::NodeDefault:
-      use_intra_process = node_base.get_use_intra_process_default();
-      break;
-    default:
-      throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
-  }
-
-  return use_intra_process;
-}
-
-}  // namespace detail
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_

rclcpp/include/rclcpp/detail/rmw_implementation_specific_payload.hpp

@@ -1,51 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PAYLOAD_HPP_
-#define RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PAYLOAD_HPP_
-
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-/// Mechanism for passing rmw implementation specific settings through the ROS interfaces.
-class RCLCPP_PUBLIC RMWImplementationSpecificPayload
-{
-public:
-  virtual
-  ~RMWImplementationSpecificPayload() = default;
-
-  /// Return false if this class has not been customized, otherwise true.
-  /**
-   * It does this based on the value of the rmw implementation identifier that
-   * this class reports, and so it is important for a specialization of this
-   * class to override the get_rmw_implementation_identifier() method to return
-   * something other than nullptr.
-   */
-  bool
-  has_been_customized() const;
-
-  /// Derrived classes should override this and return the identifier of its rmw implementation.
-  virtual
-  const char *
-  get_implementation_identifier() const;
-};
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PAYLOAD_HPP_

rclcpp/include/rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp

@@ -1,52 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PUBLISHER_PAYLOAD_HPP_
-#define RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PUBLISHER_PAYLOAD_HPP_
-
-#include "rcl/publisher.h"
-
-#include "rclcpp/detail/rmw_implementation_specific_payload.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-class RCLCPP_PUBLIC RMWImplementationSpecificPublisherPayload
-  : public RMWImplementationSpecificPayload
-{
-public:
-  ~RMWImplementationSpecificPublisherPayload() override = default;
-
-  /// Opportunity for a derived class to inject information into the rcl options.
-  /**
-   * This is called after the rcl_publisher_options_t has been prepared by
-   * rclcpp, but before rcl_publisher_init() is called.
-   *
-   * The passed option is the rmw_publisher_options field of the
-   * rcl_publisher_options_t that will be passed to rcl_publisher_init().
-   *
-   * By default the options are unmodified.
-   */
-  virtual
-  void
-  modify_rmw_publisher_options(rmw_publisher_options_t & rmw_publisher_options) const;
-};
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_PUBLISHER_PAYLOAD_HPP_

rclcpp/include/rclcpp/detail/rmw_implementation_specific_subscription_payload.hpp

@@ -1,53 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_SUBSCRIPTION_PAYLOAD_HPP_
-#define RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_SUBSCRIPTION_PAYLOAD_HPP_
-
-#include "rcl/subscription.h"
-
-#include "rclcpp/detail/rmw_implementation_specific_payload.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-/// Subscription payload that may be rmw implementation specific.
-class RCLCPP_PUBLIC RMWImplementationSpecificSubscriptionPayload
-  : public RMWImplementationSpecificPayload
-{
-public:
-  ~RMWImplementationSpecificSubscriptionPayload() override = default;
-
-  /// Opportunity for a derived class to inject information into the rcl options.
-  /**
-   * This is called after the rcl_subscription_options_t has been prepared by
-   * rclcpp, but before rcl_subscription_init() is called.
-   *
-   * The passed option is the rmw_subscription_options field of the
-   * rcl_subscription_options_t that will be passed to rcl_subscription_init().
-   *
-   * By default the options are unmodified.
-   */
-  virtual
-  void
-  modify_rmw_subscription_options(rmw_subscription_options_t & rmw_subscription_options) const;
-};
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__RMW_IMPLEMENTATION_SPECIFIC_SUBSCRIPTION_PAYLOAD_HPP_

rclcpp/include/rclcpp/detail/utilities.hpp

@@ -1,40 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__DETAIL__UTILITIES_HPP_
-#define RCLCPP__DETAIL__UTILITIES_HPP_
-
-#include "rclcpp/detail/utilities.hpp"
-
-#include <string>
-#include <vector>
-
-#include "rcl/allocator.h"
-#include "rcl/arguments.h"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-std::vector<std::string>
-get_unparsed_ros_arguments(
-  int argc, char const * const argv[],
-  rcl_arguments_t * arguments,
-  rcl_allocator_t allocator);
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__UTILITIES_HPP_

rclcpp/include/rclcpp/duration.hpp

@@ -28,12 +28,10 @@ class RCLCPP_PUBLIC Duration
 public:
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  // This constructor matches any numeric value - ints or floats
   explicit Duration(rcl_duration_value_t nanoseconds);
 
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 
-  // This constructor matches any std::chrono value other than nanoseconds
   // intentionally not using explicit to create a conversion constructor
   template<class Rep, class Period>
   // cppcheck-suppress noExplicitConstructor
@@ -57,11 +55,14 @@ public:
   operator=(const Duration & rhs);
 
   Duration &
-  operator=(const builtin_interfaces::msg::Duration & Duration_msg);
+  operator=(const builtin_interfaces::msg::Duration & duration_msg);
 
   bool
   operator==(const rclcpp::Duration & rhs) const;
 
+  bool
+  operator!=(const rclcpp::Duration & rhs) const;
+
   bool
   operator<(const rclcpp::Duration & rhs) const;
 
@@ -96,10 +97,6 @@ public:
   double
   seconds() const;
 
-  // Create a duration object from a floating point number representing seconds
-  static Duration
-  from_seconds(double seconds);
-
   template<class DurationT>
   DurationT
   to_chrono() const

rclcpp/include/rclcpp/exceptions.hpp

@@ -15,6 +15,211 @@
 #ifndef RCLCPP__EXCEPTIONS_HPP_
 #define RCLCPP__EXCEPTIONS_HPP_
 
-#include "rclcpp/exceptions/exceptions.hpp"
+#include <stdexcept>
+#include <string>
+
+#include "rcl/error_handling.h"
+#include "rcl/types.h"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace exceptions
+{
+
+/// Thrown when a method is trying to use a node, but it is invalid.
+class InvalidNodeError : public std::runtime_error
+{
+public:
+  InvalidNodeError()
+  : std::runtime_error("node is invalid") {}
+};
+
+/// Thrown when a any kind of name (node, namespace, topic, etc.) is invalid.
+class NameValidationError : public std::invalid_argument
+{
+public:
+  NameValidationError(
+    const char * name_type_,
+    const char * name_,
+    const char * error_msg_,
+    size_t invalid_index_)
+  : std::invalid_argument(format_error(name_type_, name_, error_msg_, invalid_index_)),
+    name_type(name_type_), name(name_), error_msg(error_msg_), invalid_index(invalid_index_)
+  {}
+
+  static std::string
+  format_error(
+    const char * name_type,
+    const char * name,
+    const char * error_msg,
+    size_t invalid_index);
+
+  const std::string name_type;
+  const std::string name;
+  const std::string error_msg;
+  const size_t invalid_index;
+};
+
+/// Thrown when a node name is invalid.
+class InvalidNodeNameError : public NameValidationError
+{
+public:
+  InvalidNodeNameError(const char * node_name, const char * error_msg, size_t invalid_index)
+  : NameValidationError("node name", node_name, error_msg, invalid_index)
+  {}
+};
+
+/// Thrown when a node namespace is invalid.
+class InvalidNamespaceError : public NameValidationError
+{
+public:
+  InvalidNamespaceError(const char * namespace_, const char * error_msg, size_t invalid_index)
+  : NameValidationError("namespace", namespace_, error_msg, invalid_index)
+  {}
+};
+
+/// Thrown when a topic name is invalid.
+class InvalidTopicNameError : public NameValidationError
+{
+public:
+  InvalidTopicNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
+  : NameValidationError("topic name", namespace_, error_msg, invalid_index)
+  {}
+};
+
+/// Thrown when a service name is invalid.
+class InvalidServiceNameError : public NameValidationError
+{
+public:
+  InvalidServiceNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
+  : NameValidationError("service name", namespace_, error_msg, invalid_index)
+  {}
+};
+
+/// Throw a C++ std::exception which was created based on an rcl error.
+/**
+ * Passing nullptr for reset_error is safe and will avoid calling any function
+ * to reset the error.
+ *
+ * \param ret the return code for the current error state
+ * \param prefix string to prefix to the error if applicable (not all errors have custom messages)
+ * \param error_state error state to create exception from, if nullptr rcl_get_error_state is used
+ * \param reset_error function to be called before throwing which whill clear the error state
+ * \throws std::invalid_argument if ret is RCL_RET_OK
+ * \throws std::runtime_error if the rcl_get_error_state returns 0
+ * \throws RCLErrorBase some child class exception based on ret
+ */
+/* *INDENT-OFF* */  // Uncrustify cannot yet understand [[noreturn]] properly
+RCLCPP_PUBLIC
+void
+throw_from_rcl_error [[noreturn]] (
+  rcl_ret_t ret,
+  const std::string & prefix = "",
+  const rcl_error_state_t * error_state = nullptr,
+  void (* reset_error)() = rcl_reset_error);
+/* *INDENT-ON* */
+
+class RCLErrorBase
+{
+public:
+  RCLCPP_PUBLIC
+  RCLErrorBase(rcl_ret_t ret, const rcl_error_state_t * error_state);
+  virtual ~RCLErrorBase() {}
+
+  rcl_ret_t ret;
+  std::string message;
+  std::string file;
+  size_t line;
+  std::string formatted_message;
+};
+
+/// Created when the return code does not match one of the other specialized exceptions.
+class RCLError : public RCLErrorBase, public std::runtime_error
+{
+public:
+  RCLCPP_PUBLIC
+  RCLError(rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
+  RCLCPP_PUBLIC
+  RCLError(const RCLErrorBase & base_exc, const std::string & prefix);
+};
+
+/// Created when the ret is RCL_RET_BAD_ALLOC.
+class RCLBadAlloc : public RCLErrorBase, public std::bad_alloc
+{
+public:
+  RCLCPP_PUBLIC
+  RCLBadAlloc(rcl_ret_t ret, const rcl_error_state_t * error_state);
+  RCLCPP_PUBLIC
+  explicit RCLBadAlloc(const RCLErrorBase & base_exc);
+};
+
+/// Created when the ret is RCL_RET_INVALID_ARGUMENT.
+class RCLInvalidArgument : public RCLErrorBase, public std::invalid_argument
+{
+public:
+  RCLCPP_PUBLIC
+  RCLInvalidArgument(
+    rcl_ret_t ret,
+    const rcl_error_state_t * error_state,
+    const std::string & prefix);
+  RCLCPP_PUBLIC
+  RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix);
+};
+
+/// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
+class InvalidEventError : public std::runtime_error
+{
+public:
+  InvalidEventError()
+  : std::runtime_error("event is invalid") {}
+};
+
+/// Thrown when an unregistered rclcpp::Event is encountered where a registered one was expected.
+class EventNotRegisteredError : public std::runtime_error
+{
+public:
+  EventNotRegisteredError()
+  : std::runtime_error("event already registered") {}
+};
+
+/// Thrown if passed parameters are inconsistent or invalid
+class InvalidParametersException : public std::runtime_error
+{
+public:
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if passed parameter value is invalid.
+class InvalidParameterValueException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is already declared.
+class ParameterAlreadyDeclaredException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is not declared, e.g. either set or get was called without first declaring.
+class ParameterNotDeclaredException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+/// Thrown if parameter is immutable and therefore cannot be undeclared.
+class ParameterImmutableException : public std::runtime_error
+{
+  // Inherit constructors from runtime_error.
+  using std::runtime_error::runtime_error;
+};
+
+}  // namespace exceptions
+}  // namespace rclcpp
 
 #endif  // RCLCPP__EXCEPTIONS_HPP_

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -1,279 +0,0 @@
-// Copyright 2016 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXCEPTIONS__EXCEPTIONS_HPP_
-#define RCLCPP__EXCEPTIONS__EXCEPTIONS_HPP_
-
-#include <stdexcept>
-#include <string>
-#include <vector>
-
-#include "rcl/error_handling.h"
-#include "rcl/types.h"
-#include "rclcpp/visibility_control.hpp"
-
-#include "rcpputils/join.hpp"
-
-namespace rclcpp
-{
-namespace exceptions
-{
-
-/// Thrown when a method is trying to use a node, but it is invalid.
-class InvalidNodeError : public std::runtime_error
-{
-public:
-  InvalidNodeError()
-  : std::runtime_error("node is invalid") {}
-};
-
-/// Thrown when a any kind of name (node, namespace, topic, etc.) is invalid.
-class NameValidationError : public std::invalid_argument
-{
-public:
-  NameValidationError(
-    const char * name_type_,
-    const char * name_,
-    const char * error_msg_,
-    size_t invalid_index_)
-  : std::invalid_argument(format_error(name_type_, name_, error_msg_, invalid_index_)),
-    name_type(name_type_), name(name_), error_msg(error_msg_), invalid_index(invalid_index_)
-  {}
-
-  static std::string
-  format_error(
-    const char * name_type,
-    const char * name,
-    const char * error_msg,
-    size_t invalid_index);
-
-  const std::string name_type;
-  const std::string name;
-  const std::string error_msg;
-  const size_t invalid_index;
-};
-
-/// Thrown when a node name is invalid.
-class InvalidNodeNameError : public NameValidationError
-{
-public:
-  InvalidNodeNameError(const char * node_name, const char * error_msg, size_t invalid_index)
-  : NameValidationError("node name", node_name, error_msg, invalid_index)
-  {}
-};
-
-/// Thrown when a node namespace is invalid.
-class InvalidNamespaceError : public NameValidationError
-{
-public:
-  InvalidNamespaceError(const char * namespace_, const char * error_msg, size_t invalid_index)
-  : NameValidationError("namespace", namespace_, error_msg, invalid_index)
-  {}
-};
-
-/// Thrown when a topic name is invalid.
-class InvalidTopicNameError : public NameValidationError
-{
-public:
-  InvalidTopicNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
-  : NameValidationError("topic name", namespace_, error_msg, invalid_index)
-  {}
-};
-
-/// Thrown when a service name is invalid.
-class InvalidServiceNameError : public NameValidationError
-{
-public:
-  InvalidServiceNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
-  : NameValidationError("service name", namespace_, error_msg, invalid_index)
-  {}
-};
-
-/// Throw a C++ std::exception which was created based on an rcl error.
-/**
- * Passing nullptr for reset_error is safe and will avoid calling any function
- * to reset the error.
- *
- * \param ret the return code for the current error state
- * \param prefix string to prefix to the error if applicable (not all errors have custom messages)
- * \param error_state error state to create exception from, if nullptr rcl_get_error_state is used
- * \param reset_error function to be called before throwing which whill clear the error state
- * \throws std::invalid_argument if ret is RCL_RET_OK
- * \throws std::runtime_error if the rcl_get_error_state returns 0
- * \throws RCLErrorBase some child class exception based on ret
- */
-/* *INDENT-OFF* */  // Uncrustify cannot yet understand [[noreturn]] properly
-RCLCPP_PUBLIC
-void
-throw_from_rcl_error [[noreturn]] (
-  rcl_ret_t ret,
-  const std::string & prefix = "",
-  const rcl_error_state_t * error_state = nullptr,
-  void (* reset_error)() = rcl_reset_error);
-/* *INDENT-ON* */
-
-class RCLErrorBase
-{
-public:
-  RCLCPP_PUBLIC
-  RCLErrorBase(rcl_ret_t ret, const rcl_error_state_t * error_state);
-  virtual ~RCLErrorBase() {}
-
-  rcl_ret_t ret;
-  std::string message;
-  std::string file;
-  size_t line;
-  std::string formatted_message;
-};
-
-/// Created when the return code does not match one of the other specialized exceptions.
-class RCLError : public RCLErrorBase, public std::runtime_error
-{
-public:
-  RCLCPP_PUBLIC
-  RCLError(rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLError(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Created when the ret is RCL_RET_BAD_ALLOC.
-class RCLBadAlloc : public RCLErrorBase, public std::bad_alloc
-{
-public:
-  RCLCPP_PUBLIC
-  RCLBadAlloc(rcl_ret_t ret, const rcl_error_state_t * error_state);
-  RCLCPP_PUBLIC
-  explicit RCLBadAlloc(const RCLErrorBase & base_exc);
-};
-
-/// Created when the ret is RCL_RET_INVALID_ARGUMENT.
-class RCLInvalidArgument : public RCLErrorBase, public std::invalid_argument
-{
-public:
-  RCLCPP_PUBLIC
-  RCLInvalidArgument(
-    rcl_ret_t ret,
-    const rcl_error_state_t * error_state,
-    const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Created when the ret is RCL_RET_INVALID_ROS_ARGS.
-class RCLInvalidROSArgsError : public RCLErrorBase, public std::runtime_error
-{
-public:
-  RCLCPP_PUBLIC
-  RCLInvalidROSArgsError(
-    rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLInvalidROSArgsError(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Thrown when unparsed ROS specific arguments are found.
-class UnknownROSArgsError : public std::runtime_error
-{
-public:
-  explicit UnknownROSArgsError(std::vector<std::string> && unknown_ros_args_in)
-  : std::runtime_error(
-      "found unknown ROS arguments: '" + rcpputils::join(unknown_ros_args_in, "', '") + "'"),
-    unknown_ros_args(unknown_ros_args_in)
-  {
-  }
-
-  const std::vector<std::string> unknown_ros_args;
-};
-
-/// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
-class InvalidEventError : public std::runtime_error
-{
-public:
-  InvalidEventError()
-  : std::runtime_error("event is invalid") {}
-};
-
-/// Thrown when an unregistered rclcpp::Event is encountered where a registered one was expected.
-class EventNotRegisteredError : public std::runtime_error
-{
-public:
-  EventNotRegisteredError()
-  : std::runtime_error("event already registered") {}
-};
-
-/// Thrown if passed parameters are inconsistent or invalid
-class InvalidParametersException : public std::runtime_error
-{
-public:
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if passed parameter value is invalid.
-class InvalidParameterValueException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if requested parameter type is invalid.
-/**
- * Essentially the same as rclcpp::ParameterTypeException, but with parameter
- * name in the error message.
- */
-class InvalidParameterTypeException : public std::runtime_error
-{
-public:
-  /// Construct an instance.
-  /**
-   * \param[in] name the name of the parameter.
-   * \param[in] message custom exception message.
-   */
-  RCLCPP_PUBLIC
-  InvalidParameterTypeException(const std::string & name, const std::string message)
-  : std::runtime_error("parameter '" + name + "' has invalid type: " + message)
-  {}
-};
-
-/// Thrown if parameter is already declared.
-class ParameterAlreadyDeclaredException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if parameter is not declared, e.g. either set or get was called without first declaring.
-class ParameterNotDeclaredException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if parameter is immutable and therefore cannot be undeclared.
-class ParameterImmutableException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if parameter is modified while in a set callback.
-class ParameterModifiedInCallbackException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-}  // namespace exceptions
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXCEPTIONS__EXCEPTIONS_HPP_

rclcpp/include/rclcpp/executor.hpp

@@ -30,13 +30,12 @@
 #include "rcl/wait.h"
 
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/executor_options.hpp"
-#include "rclcpp/future_return_code.hpp"
 #include "rclcpp/memory_strategies.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -44,6 +43,47 @@ namespace rclcpp
 // Forward declaration is used in convenience method signature.
 class Node;
 
+namespace executor
+{
+
+/// Return codes to be used with spin_until_future_complete.
+/**
+ * SUCCESS: The future is complete and can be accessed with "get" without blocking.
+ * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
+ * TIMEOUT: Spinning timed out.
+ */
+enum class FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
+
+RCLCPP_PUBLIC
+std::ostream &
+operator<<(std::ostream & os, const FutureReturnCode & future_return_code);
+
+RCLCPP_PUBLIC
+std::string
+to_string(const FutureReturnCode & future_return_code);
+
+///
+/**
+ * Options to be passed to the executor constructor.
+ */
+struct ExecutorArgs
+{
+  ExecutorArgs()
+  : memory_strategy(memory_strategies::create_default_strategy()),
+    context(rclcpp::contexts::default_context::get_global_default_context()),
+    max_conditions(0)
+  {}
+
+  memory_strategy::MemoryStrategy::SharedPtr memory_strategy;
+  std::shared_ptr<rclcpp::Context> context;
+  size_t max_conditions;
+};
+
+static inline ExecutorArgs create_default_executor_arguments()
+{
+  return ExecutorArgs();
+}
+
 /// Coordinate the order and timing of available communication tasks.
 /**
  * Executor provides spin functions (including spin_node_once and spin_some).
@@ -60,11 +100,9 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor)
 
   /// Default constructor.
-  /**
-   * \param[in] options Options used to configure the executor.
-   */
+  // \param[in] ms The memory strategy to be used with this executor.
   RCLCPP_PUBLIC
-  explicit Executor(const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
+  explicit Executor(const ExecutorArgs & args = ExecutorArgs());
 
   /// Default destructor.
   RCLCPP_PUBLIC
@@ -174,8 +212,8 @@ public:
 
   /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
   /**
-   * \param[in] future The future to wait on. If this function returns SUCCESS, the future can be
-   *   accessed without blocking (though it may still throw an exception).
+   * \param[in] future The future to wait on. If SUCCESS, the future is safe to access after this
+   *   function.
    * \param[in] timeout Optional timeout parameter, which gets passed to Executor::spin_node_once.
    *   `-1` is block forever, `0` is non-blocking.
    *   If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return
@@ -185,7 +223,7 @@ public:
   template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
   FutureReturnCode
   spin_until_future_complete(
-    const std::shared_future<ResponseT> & future,
+    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
@@ -206,9 +244,14 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    while (rclcpp::ok(this->context_)) {
+    if (spinning.exchange(true)) {
+      throw std::runtime_error("spin_until_future_complete() called while already spinning");
+    }
+    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+    while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
-      spin_once(timeout_left);
+      spin_once_impl(timeout_left);
+
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
@@ -267,6 +310,11 @@ protected:
   execute_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription);
 
+  RCLCPP_PUBLIC
+  static void
+  execute_intra_process_subscription(
+    rclcpp::SubscriptionBase::SharedPtr subscription);
+
   RCLCPP_PUBLIC
   static void
   execute_timer(rclcpp::TimerBase::SharedPtr timer);
@@ -285,12 +333,16 @@ protected:
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-  get_node_by_group(rclcpp::CallbackGroup::SharedPtr group);
+  get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
-  rclcpp::CallbackGroup::SharedPtr
+  rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
+  RCLCPP_PUBLIC
+  void
+  get_next_timer(AnyExecutable & any_exec);
+
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
@@ -319,17 +371,17 @@ protected:
   /// The context associated with this executor.
   std::shared_ptr<rclcpp::Context> context_;
 
+private:
   RCLCPP_DISABLE_COPY(Executor)
 
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout);
+
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
   std::list<const rcl_guard_condition_t *> guard_conditions_;
 };
 
-namespace executor
-{
-
-using Executor [[deprecated("use rclcpp::Executor instead")]] = rclcpp::Executor;
-
 }  // namespace executor
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/executor_options.hpp

@@ -1,57 +0,0 @@
-// Copyright 2014-2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXECUTOR_OPTIONS_HPP_
-#define RCLCPP__EXECUTOR_OPTIONS_HPP_
-
-#include "rclcpp/context.hpp"
-#include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/memory_strategies.hpp"
-#include "rclcpp/memory_strategy.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-
-/// Options to be passed to the executor constructor.
-struct ExecutorOptions
-{
-  ExecutorOptions()
-  : memory_strategy(rclcpp::memory_strategies::create_default_strategy()),
-    context(rclcpp::contexts::get_global_default_context()),
-    max_conditions(0)
-  {}
-
-  rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy;
-  rclcpp::Context::SharedPtr context;
-  size_t max_conditions;
-};
-
-namespace executor
-{
-
-using ExecutorArgs [[deprecated("use rclcpp::ExecutorOptions instead")]] = ExecutorOptions;
-
-[[deprecated("use rclcpp::ExecutorOptions() instead")]]
-inline
-rclcpp::ExecutorOptions
-create_default_executor_arguments()
-{
-  return rclcpp::ExecutorOptions();
-}
-
-}  // namespace executor
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTOR_OPTIONS_HPP_

rclcpp/include/rclcpp/executors.hpp

@@ -20,7 +20,6 @@
 
 #include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
-#include "rclcpp/executors/static_single_threaded_executor.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -67,11 +66,11 @@ using rclcpp::executors::SingleThreadedExecutor;
  * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
  */
 template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::FutureReturnCode
+rclcpp::executor::FutureReturnCode
 spin_node_until_future_complete(
-  rclcpp::Executor & executor,
+  rclcpp::executor::Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const std::shared_future<ResponseT> & future,
+  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
@@ -84,11 +83,11 @@ spin_node_until_future_complete(
 
 template<typename NodeT = rclcpp::Node, typename ResponseT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
-rclcpp::FutureReturnCode
+rclcpp::executor::FutureReturnCode
 spin_node_until_future_complete(
-  rclcpp::Executor & executor,
+  rclcpp::executor::Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
-  const std::shared_future<ResponseT> & future,
+  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(
@@ -101,10 +100,10 @@ spin_node_until_future_complete(
 }  // namespace executors
 
 template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::FutureReturnCode
+rclcpp::executor::FutureReturnCode
 spin_until_future_complete(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const std::shared_future<FutureT> & future,
+  std::shared_future<FutureT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
   rclcpp::executors::SingleThreadedExecutor executor;
@@ -113,10 +112,10 @@ spin_until_future_complete(
 
 template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
-rclcpp::FutureReturnCode
+rclcpp::executor::FutureReturnCode
 spin_until_future_complete(
   std::shared_ptr<NodeT> node_ptr,
-  const std::shared_future<FutureT> & future,
+  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/multi_threaded_executor.hpp

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
 #define RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
 
-#include <chrono>
 #include <memory>
 #include <mutex>
 #include <set>
@@ -32,7 +31,7 @@ namespace rclcpp
 namespace executors
 {
 
-class MultiThreadedExecutor : public rclcpp::Executor
+class MultiThreadedExecutor : public executor::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor)
@@ -45,24 +44,24 @@ public:
    * This is useful for reproducing some bugs related to taking work more than
    * once.
    *
-   * \param options common options for all executors
+   * \param args common arguments for all executors
    * \param number_of_threads number of threads to have in the thread pool,
    *   the default 0 will use the number of cpu cores found instead
    * \param yield_before_execute if true std::this_thread::yield() is called
+   * \param timeout maximum time to wait
    */
   RCLCPP_PUBLIC
   MultiThreadedExecutor(
-    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions(),
+    const executor::ExecutorArgs & args = executor::ExecutorArgs(),
     size_t number_of_threads = 0,
-    bool yield_before_execute = false,
-    std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
+    bool yield_before_execute = false);
 
   RCLCPP_PUBLIC
   virtual ~MultiThreadedExecutor();
 
   RCLCPP_PUBLIC
   void
-  spin() override;
+  spin();
 
   RCLCPP_PUBLIC
   size_t
@@ -79,7 +78,6 @@ private:
   std::mutex wait_mutex_;
   size_t number_of_threads_;
   bool yield_before_execute_;
-  std::chrono::nanoseconds next_exec_timeout_;
 
   std::set<TimerBase::SharedPtr> scheduled_timers_;
 };

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp

@@ -35,34 +35,28 @@ namespace rclcpp
 namespace executors
 {
 
-/// Single-threaded executor implementation.
-/**
- * This is the default executor created by rclcpp::spin.
- */
-class SingleThreadedExecutor : public rclcpp::Executor
+/// Single-threaded executor implementation
+// This is the default executor created by rclcpp::spin.
+class SingleThreadedExecutor : public executor::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor)
 
   /// Default constructor. See the default constructor for Executor.
   RCLCPP_PUBLIC
-  explicit SingleThreadedExecutor(
-    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
+  SingleThreadedExecutor(
+    const executor::ExecutorArgs & args = executor::ExecutorArgs());
 
-  /// Default destructor.
+  /// Default destrcutor.
   RCLCPP_PUBLIC
   virtual ~SingleThreadedExecutor();
 
   /// Single-threaded implementation of spin.
-  /**
-   * This function will block until work comes in, execute it, and then repeat
-   * the process until canceled.
-   * It may be interrupt by a call to rclcpp::Executor::cancel() or by ctrl-c
-   * if the associated context is configured to shutdown on SIGINT.
-   */
+  // This function will block until work comes in, execute it, and keep blocking.
+  // It will only be interrupt by a CTRL-C (managed by the global signal handler).
   RCLCPP_PUBLIC
   void
-  spin() override;
+  spin();
 
 private:
   RCLCPP_DISABLE_COPY(SingleThreadedExecutor)

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -1,168 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXECUTORS__STATIC_EXECUTOR_ENTITIES_COLLECTOR_HPP_
-#define RCLCPP__EXECUTORS__STATIC_EXECUTOR_ENTITIES_COLLECTOR_HPP_
-
-#include <chrono>
-#include <list>
-#include <memory>
-
-#include "rcl/guard_condition.h"
-#include "rcl/wait.h"
-
-#include "rclcpp/experimental/executable_list.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/memory_strategy.hpp"
-#include "rclcpp/visibility_control.hpp"
-#include "rclcpp/waitable.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-
-class StaticExecutorEntitiesCollector final
-  : public rclcpp::Waitable,
-  public std::enable_shared_from_this<StaticExecutorEntitiesCollector>
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(StaticExecutorEntitiesCollector)
-
-  // Constructor
-  RCLCPP_PUBLIC
-  StaticExecutorEntitiesCollector() = default;
-
-  // Destructor
-  ~StaticExecutorEntitiesCollector();
-
-  RCLCPP_PUBLIC
-  void
-  init(
-    rcl_wait_set_t * p_wait_set,
-    rclcpp::memory_strategy::MemoryStrategy::SharedPtr & memory_strategy,
-    rcl_guard_condition_t * executor_guard_condition);
-
-  RCLCPP_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.
-  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.
-  RCLCPP_PUBLIC
-  void
-  refresh_wait_set(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
-
-  RCLCPP_PUBLIC
-  bool
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
-
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_ready_guard_conditions() override;
-
-  RCLCPP_PUBLIC
-  void
-  add_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  RCLCPP_PUBLIC
-  bool
-  remove_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /// Complete all available queued work without blocking.
-  /**
-   * This function checks if after the guard condition was triggered
-   * (or a spurious wakeup happened) we are really ready to execute
-   * i.e. re-collect entities
-   */
-  RCLCPP_PUBLIC
-  bool
-  is_ready(rcl_wait_set_t * wait_set) override;
-
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_timers() {return exec_list_.number_of_timers;}
-
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_subscriptions() {return exec_list_.number_of_subscriptions;}
-
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_services() {return exec_list_.number_of_services;}
-
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_clients() {return exec_list_.number_of_clients;}
-
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_waitables() {return exec_list_.number_of_waitables;}
-
-  RCLCPP_PUBLIC
-  rclcpp::SubscriptionBase::SharedPtr
-  get_subscription(size_t i) {return exec_list_.subscription[i];}
-
-  RCLCPP_PUBLIC
-  rclcpp::TimerBase::SharedPtr
-  get_timer(size_t i) {return exec_list_.timer[i];}
-
-  RCLCPP_PUBLIC
-  rclcpp::ServiceBase::SharedPtr
-  get_service(size_t i) {return exec_list_.service[i];}
-
-  RCLCPP_PUBLIC
-  rclcpp::ClientBase::SharedPtr
-  get_client(size_t i) {return exec_list_.client[i];}
-
-  RCLCPP_PUBLIC
-  rclcpp::Waitable::SharedPtr
-  get_waitable(size_t i) {return exec_list_.waitable[i];}
-
-private:
-  /// 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_;
-
-  /// List of weak nodes registered in the static executor
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
-
-  /// Wait set for managing entities that the rmw layer waits on.
-  rcl_wait_set_t * p_wait_set_ = nullptr;
-
-  /// Executable list: timers, subscribers, clients, services and waitables
-  rclcpp::experimental::ExecutableList exec_list_;
-};
-
-}  // namespace executors
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTORS__STATIC_EXECUTOR_ENTITIES_COLLECTOR_HPP_

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -1,200 +0,0 @@
-// Copyright 2019 Nobleo Technology
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
-#define RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_
-
-#include <cassert>
-#include <cstdlib>
-#include <memory>
-#include <vector>
-#include <string>
-
-#include "rmw/rmw.h"
-
-#include "rclcpp/executor.hpp"
-#include "rclcpp/executors/static_executor_entities_collector.hpp"
-#include "rclcpp/experimental/executable_list.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/memory_strategies.hpp"
-#include "rclcpp/node.hpp"
-#include "rclcpp/rate.hpp"
-#include "rclcpp/utilities.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace executors
-{
-
-/// Static executor implementation
-/**
- * This executor is a static version of the original single threaded executor.
- * It's static because it doesn't reconstruct the executable list for every iteration.
- * All nodes, callbackgroups, timers, subscriptions etc. are created before
- * spin() is called, and modified only when an entity is added/removed to/from a node.
- *
- * To run this executor instead of SingleThreadedExecutor replace:
- * rclcpp::executors::SingleThreadedExecutor exec;
- * by
- * rclcpp::executors::StaticSingleThreadedExecutor exec;
- * in your source code and spin node(s) in the following way:
- * exec.add_node(node);
- * exec.spin();
- * exec.remove_node(node);
- */
-class StaticSingleThreadedExecutor : public rclcpp::Executor
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(StaticSingleThreadedExecutor)
-
-  /// Default constructor. See the default constructor for Executor.
-  RCLCPP_PUBLIC
-  explicit StaticSingleThreadedExecutor(
-    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
-
-  /// Default destrcutor.
-  RCLCPP_PUBLIC
-  virtual ~StaticSingleThreadedExecutor();
-
-  /// Static executor implementation of spin.
-  // This function will block until work comes in, execute it, and keep blocking.
-  // It will only be interrupt by a CTRL-C (managed by the global signal handler).
-  RCLCPP_PUBLIC
-  void
-  spin() override;
-
-  /// Add a node to the executor.
-  /**
-   * 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.
-   */
-  RCLCPP_PUBLIC
-  void
-  add_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
-  void
-  add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
-
-  /// Remove a node from the 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.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
-  void
-  remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) 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
-   *   accessed without blocking (though it may still throw an exception).
-   * \param[in] timeout Optional timeout parameter, which gets passed to
-   *    Executor::execute_ready_executables.
-   *   `-1` is block forever, `0` is non-blocking.
-   *   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`.
-   *
-   *  Example usage:
-   *  rclcpp::executors::StaticSingleThreadedExecutor exec;
-   *  // ... other part of code like creating node
-   *  // define future
-   *  exec.add_node(node);
-   *  exec.spin_until_future_complete(future);
-   */
-  template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-  rclcpp::FutureReturnCode
-  spin_until_future_complete(
-    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));
-    if (status == std::future_status::ready) {
-      return rclcpp::FutureReturnCode::SUCCESS;
-    }
-
-    auto end_time = std::chrono::steady_clock::now();
-    std::chrono::nanoseconds timeout_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
-      timeout);
-    if (timeout_ns > std::chrono::nanoseconds::zero()) {
-      end_time += timeout_ns;
-    }
-    std::chrono::nanoseconds timeout_left = timeout_ns;
-
-    entities_collector_ = std::make_shared<StaticExecutorEntitiesCollector>();
-    entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
-
-    while (rclcpp::ok(this->context_)) {
-      // Do one set of work.
-      entities_collector_->refresh_wait_set(timeout_left);
-      execute_ready_executables();
-      // Check if the future is set, return SUCCESS if it is.
-      status = future.wait_for(std::chrono::seconds(0));
-      if (status == std::future_status::ready) {
-        return rclcpp::FutureReturnCode::SUCCESS;
-      }
-      // If the original timeout is < 0, then this is blocking, never TIMEOUT.
-      if (timeout_ns < std::chrono::nanoseconds::zero()) {
-        continue;
-      }
-      // Otherwise check if we still have time to wait, return TIMEOUT if not.
-      auto now = std::chrono::steady_clock::now();
-      if (now >= end_time) {
-        return rclcpp::FutureReturnCode::TIMEOUT;
-      }
-      // Subtract the elapsed time from the original timeout.
-      timeout_left = std::chrono::duration_cast<std::chrono::nanoseconds>(end_time - now);
-    }
-
-    // The future did not complete before ok() returned false, return INTERRUPTED.
-    return rclcpp::FutureReturnCode::INTERRUPTED;
-  }
-
-protected:
-  /// Check which executables in ExecutableList struct are ready from wait_set and execute them.
-  /**
-   * \param[in] exec_list Structure that can hold subscriptionbases, timerbases, etc
-   * \param[in] timeout Optional timeout parameter.
-   */
-  RCLCPP_PUBLIC
-  void
-  execute_ready_executables();
-
-private:
-  RCLCPP_DISABLE_COPY(StaticSingleThreadedExecutor)
-
-  StaticExecutorEntitiesCollector::SharedPtr entities_collector_;
-};
-
-}  // namespace executors
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXECUTORS__STATIC_SINGLE_THREADED_EXECUTOR_HPP_

rclcpp/include/rclcpp/experimental/README.md

@@ -1,4 +0,0 @@
-Notice that headers in this folder should only provide symbols in the rclcpp::experimental namespace.
-
-Also notice that these headers are not considered part of the public API as they have not yet been stabilized.
-And therefore they are subject to change without notice.

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

@@ -1,42 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__BUFFERS__BUFFER_IMPLEMENTATION_BASE_HPP_
-#define RCLCPP__EXPERIMENTAL__BUFFERS__BUFFER_IMPLEMENTATION_BASE_HPP_
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace buffers
-{
-
-template<typename BufferT>
-class BufferImplementationBase
-{
-public:
-  virtual ~BufferImplementationBase() {}
-
-  virtual BufferT dequeue() = 0;
-  virtual void enqueue(BufferT request) = 0;
-
-  virtual void clear() = 0;
-  virtual bool has_data() const = 0;
-};
-
-}  // namespace buffers
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__BUFFERS__BUFFER_IMPLEMENTATION_BASE_HPP_

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

@@ -1,241 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__BUFFERS__INTRA_PROCESS_BUFFER_HPP_
-#define RCLCPP__EXPERIMENTAL__BUFFERS__INTRA_PROCESS_BUFFER_HPP_
-
-#include <memory>
-#include <type_traits>
-#include <utility>
-
-#include "rclcpp/allocator/allocator_common.hpp"
-#include "rclcpp/allocator/allocator_deleter.hpp"
-#include "rclcpp/experimental/buffers/buffer_implementation_base.hpp"
-#include "rclcpp/macros.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace buffers
-{
-
-class IntraProcessBufferBase
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(IntraProcessBufferBase)
-
-  virtual ~IntraProcessBufferBase() {}
-
-  virtual void clear() = 0;
-
-  virtual bool has_data() const = 0;
-  virtual bool use_take_shared_method() const = 0;
-};
-
-template<
-  typename MessageT,
-  typename Alloc = std::allocator<void>,
-  typename MessageDeleter = std::default_delete<MessageT>>
-class IntraProcessBuffer : public IntraProcessBufferBase
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(IntraProcessBuffer)
-
-  virtual ~IntraProcessBuffer() {}
-
-  using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
-  using MessageSharedPtr = std::shared_ptr<const MessageT>;
-
-  virtual void add_shared(MessageSharedPtr msg) = 0;
-  virtual void add_unique(MessageUniquePtr msg) = 0;
-
-  virtual MessageSharedPtr consume_shared() = 0;
-  virtual MessageUniquePtr consume_unique() = 0;
-};
-
-template<
-  typename MessageT,
-  typename Alloc = std::allocator<void>,
-  typename MessageDeleter = std::default_delete<MessageT>,
-  typename BufferT = std::unique_ptr<MessageT>>
-class TypedIntraProcessBuffer : public IntraProcessBuffer<MessageT, Alloc, MessageDeleter>
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(TypedIntraProcessBuffer)
-
-  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
-  using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
-  using MessageSharedPtr = std::shared_ptr<const MessageT>;
-
-  explicit
-  TypedIntraProcessBuffer(
-    std::unique_ptr<BufferImplementationBase<BufferT>> buffer_impl,
-    std::shared_ptr<Alloc> allocator = nullptr)
-  {
-    bool valid_type = (std::is_same<BufferT, MessageSharedPtr>::value ||
-      std::is_same<BufferT, MessageUniquePtr>::value);
-    if (!valid_type) {
-      throw std::runtime_error("Creating TypedIntraProcessBuffer with not valid BufferT");
-    }
-
-    buffer_ = std::move(buffer_impl);
-
-    if (!allocator) {
-      message_allocator_ = std::make_shared<MessageAlloc>();
-    } else {
-      message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
-    }
-  }
-
-  virtual ~TypedIntraProcessBuffer() {}
-
-  void add_shared(MessageSharedPtr msg) override
-  {
-    add_shared_impl<BufferT>(std::move(msg));
-  }
-
-  void add_unique(MessageUniquePtr msg) override
-  {
-    buffer_->enqueue(std::move(msg));
-  }
-
-  MessageSharedPtr consume_shared() override
-  {
-    return consume_shared_impl<BufferT>();
-  }
-
-  MessageUniquePtr consume_unique() override
-  {
-    return consume_unique_impl<BufferT>();
-  }
-
-  bool has_data() const override
-  {
-    return buffer_->has_data();
-  }
-
-  void clear() override
-  {
-    buffer_->clear();
-  }
-
-  bool use_take_shared_method() const override
-  {
-    return std::is_same<BufferT, MessageSharedPtr>::value;
-  }
-
-private:
-  std::unique_ptr<BufferImplementationBase<BufferT>> buffer_;
-
-  std::shared_ptr<MessageAlloc> message_allocator_;
-
-  // MessageSharedPtr to MessageSharedPtr
-  template<typename DestinationT>
-  typename std::enable_if<
-    std::is_same<DestinationT, MessageSharedPtr>::value
-  >::type
-  add_shared_impl(MessageSharedPtr shared_msg)
-  {
-    buffer_->enqueue(std::move(shared_msg));
-  }
-
-  // MessageSharedPtr to MessageUniquePtr
-  template<typename DestinationT>
-  typename std::enable_if<
-    std::is_same<DestinationT, MessageUniquePtr>::value
-  >::type
-  add_shared_impl(MessageSharedPtr shared_msg)
-  {
-    // This should not happen: here a copy is unconditionally made, while the intra-process manager
-    // can decide whether a copy is needed depending on the number and the type of buffers
-
-    MessageUniquePtr unique_msg;
-    MessageDeleter * deleter = std::get_deleter<MessageDeleter, const MessageT>(shared_msg);
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr, *shared_msg);
-    if (deleter) {
-      unique_msg = MessageUniquePtr(ptr, *deleter);
-    } else {
-      unique_msg = MessageUniquePtr(ptr);
-    }
-
-    buffer_->enqueue(std::move(unique_msg));
-  }
-
-  // MessageSharedPtr to MessageSharedPtr
-  template<typename OriginT>
-  typename std::enable_if<
-    std::is_same<OriginT, MessageSharedPtr>::value,
-    MessageSharedPtr
-  >::type
-  consume_shared_impl()
-  {
-    return buffer_->dequeue();
-  }
-
-  // MessageUniquePtr to MessageSharedPtr
-  template<typename OriginT>
-  typename std::enable_if<
-    (std::is_same<OriginT, MessageUniquePtr>::value),
-    MessageSharedPtr
-  >::type
-  consume_shared_impl()
-  {
-    // automatic cast from unique ptr to shared ptr
-    return buffer_->dequeue();
-  }
-
-  // MessageSharedPtr to MessageUniquePtr
-  template<typename OriginT>
-  typename std::enable_if<
-    (std::is_same<OriginT, MessageSharedPtr>::value),
-    MessageUniquePtr
-  >::type
-  consume_unique_impl()
-  {
-    MessageSharedPtr buffer_msg = buffer_->dequeue();
-
-    MessageUniquePtr unique_msg;
-    MessageDeleter * deleter = std::get_deleter<MessageDeleter, const MessageT>(buffer_msg);
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr, *buffer_msg);
-    if (deleter) {
-      unique_msg = MessageUniquePtr(ptr, *deleter);
-    } else {
-      unique_msg = MessageUniquePtr(ptr);
-    }
-
-    return unique_msg;
-  }
-
-  // MessageUniquePtr to MessageUniquePtr
-  template<typename OriginT>
-  typename std::enable_if<
-    (std::is_same<OriginT, MessageUniquePtr>::value),
-    MessageUniquePtr
-  >::type
-  consume_unique_impl()
-  {
-    return buffer_->dequeue();
-  }
-};
-
-}  // namespace buffers
-}  // namespace experimental
-}  // namespace rclcpp
-
-
-#endif  // RCLCPP__EXPERIMENTAL__BUFFERS__INTRA_PROCESS_BUFFER_HPP_

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

@@ -1,122 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__BUFFERS__RING_BUFFER_IMPLEMENTATION_HPP_
-#define RCLCPP__EXPERIMENTAL__BUFFERS__RING_BUFFER_IMPLEMENTATION_HPP_
-
-#include <algorithm>
-#include <cstddef>
-#include <cstdint>
-#include <memory>
-#include <mutex>
-#include <stdexcept>
-#include <utility>
-#include <vector>
-
-#include "rclcpp/experimental/buffers/buffer_implementation_base.hpp"
-#include "rclcpp/logger.hpp"
-#include "rclcpp/logging.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace buffers
-{
-
-template<typename BufferT>
-class RingBufferImplementation : public BufferImplementationBase<BufferT>
-{
-public:
-  explicit RingBufferImplementation(size_t capacity)
-  : capacity_(capacity),
-    ring_buffer_(capacity),
-    write_index_(capacity_ - 1),
-    read_index_(0),
-    size_(0)
-  {
-    if (capacity == 0) {
-      throw std::invalid_argument("capacity must be a positive, non-zero value");
-    }
-  }
-
-  virtual ~RingBufferImplementation() {}
-
-  void enqueue(BufferT request)
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-
-    write_index_ = next(write_index_);
-    ring_buffer_[write_index_] = std::move(request);
-
-    if (is_full()) {
-      read_index_ = next(read_index_);
-    } else {
-      size_++;
-    }
-  }
-
-  BufferT dequeue()
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-
-    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_);
-
-    size_--;
-
-    return request;
-  }
-
-  inline size_t next(size_t val)
-  {
-    return (val + 1) % capacity_;
-  }
-
-  inline bool has_data() const
-  {
-    return size_ != 0;
-  }
-
-  inline bool is_full()
-  {
-    return size_ == capacity_;
-  }
-
-  void clear() {}
-
-private:
-  size_t capacity_;
-
-  std::vector<BufferT> ring_buffer_;
-
-  size_t write_index_;
-  size_t read_index_;
-  size_t size_;
-
-  std::mutex mutex_;
-};
-
-}  // namespace buffers
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__BUFFERS__RING_BUFFER_IMPLEMENTATION_HPP_

rclcpp/include/rclcpp/experimental/create_intra_process_buffer.hpp

@@ -1,99 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__CREATE_INTRA_PROCESS_BUFFER_HPP_
-#define RCLCPP__EXPERIMENTAL__CREATE_INTRA_PROCESS_BUFFER_HPP_
-
-#include <memory>
-#include <type_traits>
-#include <utility>
-
-#include "rcl/subscription.h"
-
-#include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
-#include "rclcpp/experimental/buffers/ring_buffer_implementation.hpp"
-#include "rclcpp/intra_process_buffer_type.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-
-template<
-  typename MessageT,
-  typename Alloc = std::allocator<void>,
-  typename Deleter = std::default_delete<MessageT>>
-typename rclcpp::experimental::buffers::IntraProcessBuffer<MessageT, Alloc, Deleter>::UniquePtr
-create_intra_process_buffer(
-  IntraProcessBufferType buffer_type,
-  rmw_qos_profile_t qos,
-  std::shared_ptr<Alloc> allocator)
-{
-  using MessageSharedPtr = std::shared_ptr<const MessageT>;
-  using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
-
-  size_t buffer_size = qos.depth;
-
-  using rclcpp::experimental::buffers::IntraProcessBuffer;
-  typename IntraProcessBuffer<MessageT, Alloc, Deleter>::UniquePtr buffer;
-
-  switch (buffer_type) {
-    case IntraProcessBufferType::SharedPtr:
-      {
-        using BufferT = MessageSharedPtr;
-
-        auto buffer_implementation =
-          std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<BufferT>>(
-          buffer_size);
-
-        // Construct the intra_process_buffer
-        buffer =
-          std::make_unique<rclcpp::experimental::buffers::TypedIntraProcessBuffer<MessageT, Alloc,
-            Deleter, BufferT>>(
-          std::move(buffer_implementation),
-          allocator);
-
-        break;
-      }
-    case IntraProcessBufferType::UniquePtr:
-      {
-        using BufferT = MessageUniquePtr;
-
-        auto buffer_implementation =
-          std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<BufferT>>(
-          buffer_size);
-
-        // Construct the intra_process_buffer
-        buffer =
-          std::make_unique<rclcpp::experimental::buffers::TypedIntraProcessBuffer<MessageT, Alloc,
-            Deleter, BufferT>>(
-          std::move(buffer_implementation),
-          allocator);
-
-        break;
-      }
-    default:
-      {
-        throw std::runtime_error("Unrecognized IntraProcessBufferType value");
-        break;
-      }
-  }
-
-  return buffer;
-}
-
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__CREATE_INTRA_PROCESS_BUFFER_HPP_

rclcpp/include/rclcpp/experimental/executable_list.hpp

@@ -1,92 +0,0 @@
-// Copyright 2019 Nobleo Technology
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_
-#define RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_
-
-#include <memory>
-#include <vector>
-
-#include "rclcpp/client.hpp"
-#include "rclcpp/service.hpp"
-#include "rclcpp/subscription_base.hpp"
-#include "rclcpp/timer.hpp"
-#include "rclcpp/visibility_control.hpp"
-#include "rclcpp/waitable.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-
-/// This class contains subscriptionbase, timerbase, etc. which can be used to run callbacks.
-class ExecutableList final
-{
-public:
-  RCLCPP_PUBLIC
-  ExecutableList();
-
-  RCLCPP_PUBLIC
-  ~ExecutableList();
-
-  RCLCPP_PUBLIC
-  void
-  clear();
-
-  RCLCPP_PUBLIC
-  void
-  add_subscription(rclcpp::SubscriptionBase::SharedPtr subscription);
-
-  RCLCPP_PUBLIC
-  void
-  add_timer(rclcpp::TimerBase::SharedPtr timer);
-
-  RCLCPP_PUBLIC
-  void
-  add_service(rclcpp::ServiceBase::SharedPtr service);
-
-  RCLCPP_PUBLIC
-  void
-  add_client(rclcpp::ClientBase::SharedPtr client);
-
-  RCLCPP_PUBLIC
-  void
-  add_waitable(rclcpp::Waitable::SharedPtr waitable);
-
-  // Vector containing the SubscriptionBase of all the subscriptions added to the executor.
-  std::vector<rclcpp::SubscriptionBase::SharedPtr> subscription;
-  // Contains the count of added subscriptions
-  size_t number_of_subscriptions;
-  // Vector containing the TimerBase of all the timers added to the executor.
-  std::vector<rclcpp::TimerBase::SharedPtr> timer;
-  // Contains the count of added timers
-  size_t number_of_timers;
-  // Vector containing the ServiceBase of all the services added to the executor.
-  std::vector<rclcpp::ServiceBase::SharedPtr> service;
-  // Contains the count of added services
-  size_t number_of_services;
-  // Vector containing the ClientBase of all the clients added to the executor.
-  std::vector<rclcpp::ClientBase::SharedPtr> client;
-  // Contains the count of added clients
-  size_t number_of_clients;
-  // Vector containing all the waitables added to the executor.
-  std::vector<rclcpp::Waitable::SharedPtr> waitable;
-  // Contains the count of added waitables
-  size_t number_of_waitables;
-};
-
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -1,424 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__INTRA_PROCESS_MANAGER_HPP_
-#define RCLCPP__EXPERIMENTAL__INTRA_PROCESS_MANAGER_HPP_
-
-#include <rmw/types.h>
-
-#include <shared_mutex>
-
-#include <algorithm>
-#include <atomic>
-#include <cstdint>
-#include <exception>
-#include <map>
-#include <memory>
-#include <string>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include "rclcpp/allocator/allocator_deleter.hpp"
-#include "rclcpp/experimental/subscription_intra_process.hpp"
-#include "rclcpp/experimental/subscription_intra_process_base.hpp"
-#include "rclcpp/logger.hpp"
-#include "rclcpp/logging.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/publisher_base.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-
-namespace experimental
-{
-
-/// This class performs intra process communication between nodes.
-/**
- * This class is used in the creation of publishers and subscriptions.
- * A singleton instance of this class is owned by a rclcpp::Context and a
- * rclcpp::Node can use an associated Context to get an instance of this class.
- * Nodes which do not have a common Context will not exchange intra process
- * messages because they do not share access to the same instance of this class.
- *
- * When a Node creates a subscription, it can also create a helper class,
- * called SubscriptionIntraProcess, meant to receive intra process messages.
- * It can be registered with this class.
- * It is also allocated an id which is unique among all publishers
- * and subscriptions in this process and that is associated to the subscription.
- *
- * When a Node creates a publisher, as with subscriptions, a helper class can
- * be registered with this class.
- * This is required in order to publish intra-process messages.
- * It is also allocated an id which is unique among all publishers
- * and subscriptions in this process and that is associated to the publisher.
- *
- * When a publisher or a subscription are registered, this class checks to see
- * which other subscriptions or publishers it will communicate with,
- * i.e. they have the same topic and compatible QoS.
- *
- * When the user publishes a message, if intra-process communication is enabled
- * on the publisher, the message is given to this class.
- * Using the publisher id, a list of recipients for the message is selected.
- * For each subscription in the list, this class stores the message, whether
- * sharing ownership or making a copy, in a buffer associated with the
- * subscription helper class.
- *
- * The subscription helper class contains a buffer where published
- * intra-process messages are stored until they are taken from the subscription.
- * Depending on the data type stored in the buffer, the subscription helper
- * class can request either shared or exclusive ownership on the message.
- *
- * Thus, when an intra-process message is published, this class knows how many
- * intra-process subscriptions needs it and how many require ownership.
- * This information allows this class to operate efficiently by performing the
- * fewest number of copies of the message required.
- *
- * This class is neither CopyConstructable nor CopyAssignable.
- */
-class IntraProcessManager
-{
-private:
-  RCLCPP_DISABLE_COPY(IntraProcessManager)
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(IntraProcessManager)
-
-  RCLCPP_PUBLIC
-  IntraProcessManager();
-
-  RCLCPP_PUBLIC
-  virtual ~IntraProcessManager();
-
-  /// Register a subscription with the manager, returns subscriptions unique id.
-  /**
-   * This method stores the subscription intra process object, together with
-   * the information of its wrapped subscription (i.e. topic name and QoS).
-   *
-   * In addition this generates a unique intra process id for the subscription.
-   *
-   * \param subscription the SubscriptionIntraProcess to register.
-   * \return an unsigned 64-bit integer which is the subscription's unique id.
-   */
-  RCLCPP_PUBLIC
-  uint64_t
-  add_subscription(rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription);
-
-  /// Unregister a subscription using the subscription's unique id.
-  /**
-   * This method does not allocate memory.
-   *
-   * \param intra_process_subscription_id id of the subscription to remove.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_subscription(uint64_t intra_process_subscription_id);
-
-  /// Register a publisher with the manager, returns the publisher unique id.
-  /**
-   * This method stores the publisher intra process object, together with
-   * the information of its wrapped publisher (i.e. topic name and QoS).
-   *
-   * In addition this generates a unique intra process id for the publisher.
-   *
-   * \param publisher publisher to be registered with the manager.
-   * \return an unsigned 64-bit integer which is the publisher's unique id.
-   */
-  RCLCPP_PUBLIC
-  uint64_t
-  add_publisher(rclcpp::PublisherBase::SharedPtr publisher);
-
-  /// Unregister a publisher using the publisher's unique id.
-  /**
-   * This method does not allocate memory.
-   *
-   * \param intra_process_publisher_id id of the publisher to remove.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_publisher(uint64_t intra_process_publisher_id);
-
-  /// Publishes an intra-process message, passed as a unique pointer.
-  /**
-   * This is one of the two methods for publishing intra-process.
-   *
-   * Using the intra-process publisher id, a list of recipients is obtained.
-   * This list is split in half, depending whether they require ownership or not.
-   *
-   * This particular method takes a unique pointer as input.
-   * The pointer can be promoted to a shared pointer and passed to all the subscriptions
-   * that do not require ownership.
-   * In case of subscriptions requiring ownership, the message will be copied for all of
-   * them except the last one, when ownership can be transferred.
-   *
-   * This method can save an additional copy compared to the shared pointer one.
-   *
-   * This method can throw an exception if the publisher id is not found or
-   * if the publisher shared_ptr given to add_publisher has gone out of scope.
-   *
-   * This method does allocate memory.
-   *
-   * \param intra_process_publisher_id the id of the publisher of this message.
-   * \param message the message that is being stored.
-   */
-  template<
-    typename MessageT,
-    typename Alloc = std::allocator<void>,
-    typename Deleter = std::default_delete<MessageT>>
-  void
-  do_intra_process_publish(
-    uint64_t intra_process_publisher_id,
-    std::unique_ptr<MessageT, Deleter> message,
-    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
-  {
-    using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
-    using MessageAllocatorT = typename MessageAllocTraits::allocator_type;
-
-    std::shared_lock<std::shared_timed_mutex> lock(mutex_);
-
-    auto publisher_it = pub_to_subs_.find(intra_process_publisher_id);
-    if (publisher_it == pub_to_subs_.end()) {
-      // Publisher is either invalid or no longer exists.
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp"),
-        "Calling do_intra_process_publish for invalid or no longer existing publisher id");
-      return;
-    }
-    const auto & sub_ids = publisher_it->second;
-
-    if (sub_ids.take_ownership_subscriptions.empty()) {
-      // None of the buffers require ownership, so we promote the pointer
-      std::shared_ptr<MessageT> msg = std::move(message);
-
-      this->template add_shared_msg_to_buffers<MessageT>(msg, sub_ids.take_shared_subscriptions);
-    } else if (!sub_ids.take_ownership_subscriptions.empty() && // NOLINT
-      sub_ids.take_shared_subscriptions.size() <= 1)
-    {
-      // There is at maximum 1 buffer that does not require 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);
-      concatenated_vector.insert(
-        concatenated_vector.end(),
-        sub_ids.take_ownership_subscriptions.begin(),
-        sub_ids.take_ownership_subscriptions.end());
-
-      this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
-        std::move(message),
-        concatenated_vector,
-        allocator);
-    } else if (!sub_ids.take_ownership_subscriptions.empty() && // NOLINT
-      sub_ids.take_shared_subscriptions.size() > 1)
-    {
-      // Construct a new shared pointer from the message
-      // for the buffers that do not require ownership
-      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
-
-      this->template add_shared_msg_to_buffers<MessageT>(
-        shared_msg, sub_ids.take_shared_subscriptions);
-      this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
-        std::move(message), sub_ids.take_ownership_subscriptions, allocator);
-    }
-  }
-
-  template<
-    typename MessageT,
-    typename Alloc = std::allocator<void>,
-    typename Deleter = std::default_delete<MessageT>>
-  std::shared_ptr<const MessageT>
-  do_intra_process_publish_and_return_shared(
-    uint64_t intra_process_publisher_id,
-    std::unique_ptr<MessageT, Deleter> message,
-    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
-  {
-    using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
-    using MessageAllocatorT = typename MessageAllocTraits::allocator_type;
-
-    std::shared_lock<std::shared_timed_mutex> lock(mutex_);
-
-    auto publisher_it = pub_to_subs_.find(intra_process_publisher_id);
-    if (publisher_it == pub_to_subs_.end()) {
-      // Publisher is either invalid or no longer exists.
-      RCLCPP_WARN(
-        rclcpp::get_logger("rclcpp"),
-        "Calling do_intra_process_publish for invalid or no longer existing publisher id");
-      return nullptr;
-    }
-    const auto & sub_ids = publisher_it->second;
-
-    if (sub_ids.take_ownership_subscriptions.empty()) {
-      // If there are no owning, just convert to shared.
-      std::shared_ptr<MessageT> shared_msg = std::move(message);
-      if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT>(
-          shared_msg, sub_ids.take_shared_subscriptions);
-      }
-      return shared_msg;
-    } else {
-      // Construct a new shared pointer from the message for the buffers that
-      // do not require ownership and to return.
-      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
-
-      if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT>(
-          shared_msg,
-          sub_ids.take_shared_subscriptions);
-      }
-      if (!sub_ids.take_ownership_subscriptions.empty()) {
-        this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
-          std::move(message),
-          sub_ids.take_ownership_subscriptions,
-          allocator);
-      }
-
-      return shared_msg;
-    }
-  }
-
-  /// Return true if the given rmw_gid_t matches any stored Publishers.
-  RCLCPP_PUBLIC
-  bool
-  matches_any_publishers(const rmw_gid_t * id) const;
-
-  /// Return the number of intraprocess subscriptions that are matched with a given publisher id.
-  RCLCPP_PUBLIC
-  size_t
-  get_subscription_count(uint64_t intra_process_publisher_id) const;
-
-  RCLCPP_PUBLIC
-  rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr
-  get_subscription_intra_process(uint64_t intra_process_subscription_id);
-
-private:
-  struct SubscriptionInfo
-  {
-    SubscriptionInfo() = default;
-
-    rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription;
-    rmw_qos_profile_t qos;
-    const char * topic_name;
-    bool use_take_shared_method;
-  };
-
-  struct PublisherInfo
-  {
-    PublisherInfo() = default;
-
-    rclcpp::PublisherBase::WeakPtr publisher;
-    rmw_qos_profile_t qos;
-    const char * topic_name;
-  };
-
-  struct SplittedSubscriptions
-  {
-    std::vector<uint64_t> take_shared_subscriptions;
-    std::vector<uint64_t> take_ownership_subscriptions;
-  };
-
-  using SubscriptionMap =
-    std::unordered_map<uint64_t, SubscriptionInfo>;
-
-  using PublisherMap =
-    std::unordered_map<uint64_t, PublisherInfo>;
-
-  using PublisherToSubscriptionIdsMap =
-    std::unordered_map<uint64_t, SplittedSubscriptions>;
-
-  RCLCPP_PUBLIC
-  static
-  uint64_t
-  get_next_unique_id();
-
-  RCLCPP_PUBLIC
-  void
-  insert_sub_id_for_pub(uint64_t sub_id, uint64_t pub_id, bool use_take_shared_method);
-
-  RCLCPP_PUBLIC
-  bool
-  can_communicate(PublisherInfo pub_info, SubscriptionInfo sub_info) const;
-
-  template<typename MessageT>
-  void
-  add_shared_msg_to_buffers(
-    std::shared_ptr<const MessageT> message,
-    std::vector<uint64_t> subscription_ids)
-  {
-    for (auto id : subscription_ids) {
-      auto subscription_it = subscriptions_.find(id);
-      if (subscription_it == subscriptions_.end()) {
-        throw std::runtime_error("subscription has unexpectedly gone out of scope");
-      }
-      auto subscription_base = subscription_it->second.subscription;
-
-      auto subscription = std::static_pointer_cast<
-        rclcpp::experimental::SubscriptionIntraProcess<MessageT>
-        >(subscription_base);
-
-      subscription->provide_intra_process_message(message);
-    }
-  }
-
-  template<
-    typename MessageT,
-    typename Alloc = std::allocator<void>,
-    typename Deleter = std::default_delete<MessageT>>
-  void
-  add_owned_msg_to_buffers(
-    std::unique_ptr<MessageT, Deleter> message,
-    std::vector<uint64_t> subscription_ids,
-    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
-  {
-    using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
-    using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
-
-    for (auto it = subscription_ids.begin(); it != subscription_ids.end(); it++) {
-      auto subscription_it = subscriptions_.find(*it);
-      if (subscription_it == subscriptions_.end()) {
-        throw std::runtime_error("subscription has unexpectedly gone out of scope");
-      }
-      auto subscription_base = subscription_it->second.subscription;
-
-      auto subscription = std::static_pointer_cast<
-        rclcpp::experimental::SubscriptionIntraProcess<MessageT>
-        >(subscription_base);
-
-      if (std::next(it) == subscription_ids.end()) {
-        // If this is the last subscription, give up ownership
-        subscription->provide_intra_process_message(std::move(message));
-      } else {
-        // Copy the message since we have additional subscriptions to serve
-        MessageUniquePtr copy_message;
-        Deleter deleter = message.get_deleter();
-        auto ptr = MessageAllocTraits::allocate(*allocator.get(), 1);
-        MessageAllocTraits::construct(*allocator.get(), ptr, *message);
-        copy_message = MessageUniquePtr(ptr, deleter);
-
-        subscription->provide_intra_process_message(std::move(copy_message));
-      }
-    }
-  }
-
-  PublisherToSubscriptionIdsMap pub_to_subs_;
-  SubscriptionMap subscriptions_;
-  PublisherMap publishers_;
-
-  mutable std::shared_timed_mutex mutex_;
-};
-
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__INTRA_PROCESS_MANAGER_HPP_

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -1,176 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_HPP_
-#define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_HPP_
-
-#include <rmw/rmw.h>
-
-#include <functional>
-#include <memory>
-#include <string>
-#include <utility>
-
-#include "rcl/error_handling.h"
-
-#include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
-#include "rclcpp/experimental/create_intra_process_buffer.hpp"
-#include "rclcpp/experimental/subscription_intra_process_base.hpp"
-#include "rclcpp/type_support_decl.hpp"
-#include "rclcpp/waitable.hpp"
-#include "tracetools/tracetools.h"
-
-namespace rclcpp
-{
-namespace experimental
-{
-
-template<
-  typename MessageT,
-  typename Alloc = std::allocator<void>,
-  typename Deleter = std::default_delete<MessageT>,
-  typename CallbackMessageT = MessageT>
-class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcess)
-
-  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
-  using ConstMessageSharedPtr = std::shared_ptr<const MessageT>;
-  using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
-
-  using BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
-    MessageT,
-    Alloc,
-    Deleter
-    >::UniquePtr;
-
-  SubscriptionIntraProcess(
-    AnySubscriptionCallback<CallbackMessageT, Alloc> callback,
-    std::shared_ptr<Alloc> allocator,
-    rclcpp::Context::SharedPtr context,
-    const std::string & topic_name,
-    rmw_qos_profile_t qos_profile,
-    rclcpp::IntraProcessBufferType buffer_type)
-  : SubscriptionIntraProcessBase(topic_name, qos_profile),
-    any_callback_(callback)
-  {
-    if (!std::is_same<MessageT, CallbackMessageT>::value) {
-      throw std::runtime_error("SubscriptionIntraProcess wrong callback type");
-    }
-
-    // Create the intra-process buffer.
-    buffer_ = rclcpp::experimental::create_intra_process_buffer<MessageT, Alloc, Deleter>(
-      buffer_type,
-      qos_profile,
-      allocator);
-
-    // Create the guard condition.
-    rcl_guard_condition_options_t guard_condition_options =
-      rcl_guard_condition_get_default_options();
-
-    gc_ = rcl_get_zero_initialized_guard_condition();
-    rcl_ret_t ret = rcl_guard_condition_init(
-      &gc_, context->get_rcl_context().get(), guard_condition_options);
-
-    if (RCL_RET_OK != ret) {
-      throw std::runtime_error("SubscriptionIntraProcess init error initializing guard condition");
-    }
-
-    TRACEPOINT(
-      rclcpp_subscription_callback_added,
-      (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.
-#ifndef TRACETOOLS_DISABLED
-    any_callback_.register_callback_for_tracing();
-#endif
-  }
-
-  bool
-  is_ready(rcl_wait_set_t * wait_set)
-  {
-    (void)wait_set;
-    return buffer_->has_data();
-  }
-
-  void execute()
-  {
-    execute_impl<CallbackMessageT>();
-  }
-
-  void
-  provide_intra_process_message(ConstMessageSharedPtr message)
-  {
-    buffer_->add_shared(std::move(message));
-    trigger_guard_condition();
-  }
-
-  void
-  provide_intra_process_message(MessageUniquePtr message)
-  {
-    buffer_->add_unique(std::move(message));
-    trigger_guard_condition();
-  }
-
-  bool
-  use_take_shared_method() const
-  {
-    return buffer_->use_take_shared_method();
-  }
-
-private:
-  void
-  trigger_guard_condition()
-  {
-    rcl_ret_t ret = rcl_trigger_guard_condition(&gc_);
-    (void)ret;
-  }
-
-  template<typename T>
-  typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl()
-  {
-    throw std::runtime_error("Subscription intra-process can't handle serialized messages");
-  }
-
-  template<class T>
-  typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl()
-  {
-    rmw_message_info_t msg_info;
-    msg_info.publisher_gid = {0, {0}};
-    msg_info.from_intra_process = true;
-
-    if (any_callback_.use_take_shared_method()) {
-      ConstMessageSharedPtr msg = buffer_->consume_shared();
-      any_callback_.dispatch_intra_process(msg, msg_info);
-    } else {
-      MessageUniquePtr msg = buffer_->consume_unique();
-      any_callback_.dispatch_intra_process(std::move(msg), msg_info);
-    }
-  }
-
-  AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
-  BufferUniquePtr buffer_;
-};
-
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_HPP_

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -1,88 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BASE_HPP_
-#define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BASE_HPP_
-
-#include <rmw/rmw.h>
-
-#include <functional>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <utility>
-
-#include "rcl/error_handling.h"
-
-#include "rclcpp/type_support_decl.hpp"
-#include "rclcpp/waitable.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-
-class SubscriptionIntraProcessBase : public rclcpp::Waitable
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(SubscriptionIntraProcessBase)
-
-  RCLCPP_PUBLIC
-  SubscriptionIntraProcessBase(const std::string & topic_name, rmw_qos_profile_t qos_profile)
-  : topic_name_(topic_name), qos_profile_(qos_profile)
-  {}
-
-  virtual ~SubscriptionIntraProcessBase() = default;
-
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_ready_guard_conditions() {return 1;}
-
-  RCLCPP_PUBLIC
-  bool
-  add_to_wait_set(rcl_wait_set_t * wait_set);
-
-  virtual bool
-  is_ready(rcl_wait_set_t * wait_set) = 0;
-
-  virtual void
-  execute() = 0;
-
-  virtual bool
-  use_take_shared_method() const = 0;
-
-  RCLCPP_PUBLIC
-  const char *
-  get_topic_name() const;
-
-  RCLCPP_PUBLIC
-  rmw_qos_profile_t
-  get_actual_qos() const;
-
-protected:
-  std::recursive_mutex reentrant_mutex_;
-  rcl_guard_condition_t gc_;
-
-private:
-  virtual void
-  trigger_guard_condition() = 0;
-
-  std::string topic_name_;
-  rmw_qos_profile_t qos_profile_;
-};
-
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BASE_HPP_

rclcpp/include/rclcpp/future_return_code.hpp

@@ -1,61 +0,0 @@
-// Copyright 2014 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__FUTURE_RETURN_CODE_HPP_
-#define RCLCPP__FUTURE_RETURN_CODE_HPP_
-
-#include <iostream>
-#include <string>
-
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-
-/// Return codes to be used with spin_until_future_complete.
-/**
- * SUCCESS: The future is complete and can be accessed with "get" without blocking.
- *          This does not indicate that the operation succeeded; "get" may still throw an exception.
- * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
- * TIMEOUT: Spinning timed out.
- */
-enum class FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
-
-/// Stream operator for FutureReturnCode.
-RCLCPP_PUBLIC
-std::ostream &
-operator<<(std::ostream & os, const FutureReturnCode & future_return_code);
-
-/// String conversion function for FutureReturnCode.
-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

@@ -165,7 +165,7 @@ private:
   void
   __shutdown(bool);
 
-  rclcpp::Context::WeakPtr parent_context_;
+  rclcpp::Context::SharedPtr parent_context_;
 
   std::thread listener_thread_;
   bool is_started_;
@@ -177,6 +177,7 @@ private:
   std::vector<rclcpp::node_interfaces::NodeGraphInterface *> node_graph_interfaces_;
 
   rcl_guard_condition_t interrupt_guard_condition_ = rcl_get_zero_initialized_guard_condition();
+  std::shared_ptr<rcl_context_t> interrupt_guard_condition_context_;
   rcl_guard_condition_t * shutdown_guard_condition_;
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 };

rclcpp/include/rclcpp/guard_condition.hpp

@@ -1,100 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__GUARD_CONDITION_HPP_
-#define RCLCPP__GUARD_CONDITION_HPP_
-
-#include <atomic>
-
-#include "rcl/guard_condition.h"
-
-#include "rclcpp/context.hpp"
-#include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-
-/// A condition that can be waited on in a single wait set and asynchronously triggered.
-class GuardCondition
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(GuardCondition)
-
-  // TODO(wjwwood): support custom allocator, maybe restrict to polymorphic allocator
-  /// Construct the guard condition, optionally specifying which Context to use.
-  /**
-   * \param[in] context Optional custom context to be used.
-   *   Defaults to using the global default context singleton.
-   *   Shared ownership of the context is held with the guard condition until
-   *   destruction.
-   * \throws std::invalid_argument if the context is nullptr.
-   * \throws rclcpp::exceptions::RCLError based exceptions when underlying
-   *   rcl functions fail.
-   */
-  RCLCPP_PUBLIC
-  explicit GuardCondition(
-    rclcpp::Context::SharedPtr context =
-    rclcpp::contexts::get_global_default_context());
-
-  RCLCPP_PUBLIC
-  virtual
-  ~GuardCondition();
-
-  /// Return the context used when creating this guard condition.
-  RCLCPP_PUBLIC
-  rclcpp::Context::SharedPtr
-  get_context() const;
-
-  /// Return the underlying rcl guard condition structure.
-  RCLCPP_PUBLIC
-  const rcl_guard_condition_t &
-  get_rcl_guard_condition() const;
-
-  /// Notify the wait set waiting on this condition, if any, that the condition had been met.
-  /**
-   * This function is thread-safe, and may be called concurrently with waiting
-   * on this guard condition in a wait set.
-   *
-   * \throws rclcpp::exceptions::RCLError based exceptions when underlying
-   *   rcl functions fail.
-   */
-  RCLCPP_PUBLIC
-  void
-  trigger();
-
-  /// Exchange the "in use by wait set" state for this guard condition.
-  /**
-   * This is used to ensure this guard condition is not used by multiple
-   * wait sets at the same time.
-   *
-   * \param[in] in_use_state the new state to exchange into the state, true
-   *   indicates it is now in use by a wait set, and false is that it is no
-   *   longer in use by a wait set.
-   * \returns the previous state.
-   */
-  RCLCPP_PUBLIC
-  bool
-  exchange_in_use_by_wait_set_state(bool in_use_state);
-
-protected:
-  rclcpp::Context::SharedPtr context_;
-  rcl_guard_condition_t rcl_guard_condition_;
-  std::atomic<bool> in_use_by_wait_set_{false};
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__GUARD_CONDITION_HPP_

rclcpp/include/rclcpp/init_options.hpp

@@ -42,16 +42,6 @@ public:
   RCLCPP_PUBLIC
   InitOptions(const InitOptions & other);
 
-  /// Return `true` if logging should be initialized when `rclcpp::Context::init` is called.
-  RCLCPP_PUBLIC
-  bool
-  auto_initialize_logging() const;
-
-  /// Set flag indicating if logging should be initialized or not.
-  RCLCPP_PUBLIC
-  InitOptions &
-  auto_initialize_logging(bool initialize_logging);
-
   /// Assignment operator.
   RCLCPP_PUBLIC
   InitOptions &
@@ -72,7 +62,6 @@ protected:
 
 private:
   std::unique_ptr<rcl_init_options_t> init_options_;
-  bool initialize_logging_{true};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/intra_process_buffer_type.hpp

@@ -1,35 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__INTRA_PROCESS_BUFFER_TYPE_HPP_
-#define RCLCPP__INTRA_PROCESS_BUFFER_TYPE_HPP_
-
-namespace rclcpp
-{
-
-/// Used as argument in create_publisher and create_subscriber
-/// when intra-process communication is enabled
-enum class IntraProcessBufferType
-{
-  /// Set the data type used in the intra-process buffer as std::shared_ptr<MessageT>
-  SharedPtr,
-  /// Set the data type used in the intra-process buffer as std::unique_ptr<MessageT>
-  UniquePtr,
-  /// Set the data type used in the intra-process buffer as the same used in the callback
-  CallbackDefault
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__INTRA_PROCESS_BUFFER_TYPE_HPP_

rclcpp/include/rclcpp/intra_process_manager.hpp

@@ -0,0 +1,420 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__INTRA_PROCESS_MANAGER_HPP_
+#define RCLCPP__INTRA_PROCESS_MANAGER_HPP_
+
+#include <rmw/types.h>
+
+#include <algorithm>
+#include <atomic>
+#include <cstdint>
+#include <exception>
+#include <map>
+#include <memory>
+#include <mutex>
+#include <unordered_map>
+#include <utility>
+#include <set>
+
+#include "rclcpp/allocator/allocator_deleter.hpp"
+#include "rclcpp/intra_process_manager_impl.hpp"
+#include "rclcpp/mapped_ring_buffer.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace intra_process_manager
+{
+
+/// This class facilitates intra process communication between nodes.
+/**
+ * This class is used in the creation of publishers and subscriptions.
+ * A singleton instance of this class is owned by a rclcpp::Context and a
+ * rclcpp::Node can use an associated Context to get an instance of this class.
+ * Nodes which do not have a common Context will not exchange intra process
+ * messages because they will not share access to an instance of this class.
+ *
+ * When a Node creates a publisher or subscription, it will register them
+ * with this class.
+ * The node will also hook into the publisher's publish call
+ * in order to do intra process related work.
+ *
+ * When a publisher is created, it advertises on the topic the user provided,
+ * as well as a "shadowing" topic of type rcl_interfaces/IntraProcessMessage.
+ * For instance, if the user specified the topic '/namespace/chatter', then the
+ * corresponding intra process topic might be '/namespace/chatter/_intra'.
+ * The publisher is also allocated an id which is unique among all publishers
+ * and subscriptions in this process.
+ * Additionally, when registered with this class a ring buffer is created and
+ * owned by this class as a temporary place to hold messages destined for intra
+ * process subscriptions.
+ *
+ * When a subscription is created, it subscribes to the topic provided by the
+ * user as well as to the corresponding intra process topic.
+ * It is also gets a unique id from the singleton instance of this class which
+ * is unique among publishers and subscriptions.
+ *
+ * When the user publishes a message, the message is stored by calling
+ * store_intra_process_message on this class.
+ * The instance of that message is uniquely identified by a publisher id and a
+ * message sequence number.
+ * The publisher id, message sequence pair is unique with in the process.
+ * At that point a list of the id's of intra process subscriptions which have
+ * been registered with the singleton instance of this class are stored with
+ * the message instance so that delivery is only made to those subscriptions.
+ * Then an instance of rcl_interfaces/IntraProcessMessage is published to the
+ * intra process topic which is specific to the topic specified by the user.
+ *
+ * When an instance of rcl_interfaces/IntraProcessMessage is received by a
+ * subscription, then it is handled by calling take_intra_process_message
+ * on a singleton of this class.
+ * The subscription passes a publisher id, message sequence pair which
+ * uniquely identifies the message instance it was suppose to receive as well
+ * as the subscriptions unique id.
+ * If the message is still being held by this class and the subscription's id
+ * is in the list of intended subscriptions then the message is returned.
+ * If either of those predicates are not satisfied then the message is not
+ * returned and the subscription does not call the users callback.
+ *
+ * Since the publisher builds a list of destined subscriptions on publish, and
+ * other requests are ignored, this class knows how many times a message
+ * instance should be requested.
+ * The final time a message is requested, the ownership is passed out of this
+ * class and passed to the final subscription, effectively freeing space in
+ * this class's internal storage.
+ *
+ * Since a topic is being used to ferry notifications about new intra process
+ * messages between publishers and subscriptions, it is possible for that
+ * notification to be lost.
+ * It is also possible that a subscription which was available when publish was
+ * called will no longer exist once the notification gets posted.
+ * In both cases this might result in a message instance getting requested
+ * fewer times than expected.
+ * This is why the internal storage of this class is a ring buffer.
+ * That way if a message is orphaned it will eventually be dropped from storage
+ * when a new message instance is stored and will not result in a memory leak.
+ *
+ * However, since the storage system is finite, this also means that a message
+ * instance might get displaced by an incoming message instance before all
+ * interested parties have called take_intra_process_message.
+ * Because of this the size of the internal storage should be carefully
+ * considered.
+ *
+ * /TODO(wjwwood): update to include information about handling latching.
+ * /TODO(wjwwood): consider thread safety of the class.
+ *
+ * This class is neither CopyConstructable nor CopyAssignable.
+ */
+class IntraProcessManager
+{
+private:
+  RCLCPP_DISABLE_COPY(IntraProcessManager)
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(IntraProcessManager)
+
+  RCLCPP_PUBLIC
+  explicit IntraProcessManager(
+    IntraProcessManagerImplBase::SharedPtr state = create_default_impl());
+
+  RCLCPP_PUBLIC
+  virtual ~IntraProcessManager();
+
+  /// Register a subscription with the manager, returns subscriptions unique id.
+  /**
+   * In addition to generating a unique intra process id for the subscription,
+   * this method also stores the topic name of the subscription.
+   *
+   * This method is normally called during the creation of a subscription,
+   * but after it creates the internal intra process rmw_subscription_t.
+   *
+   * This method will allocate memory.
+   *
+   * \param subscription the Subscription to register.
+   * \return an unsigned 64-bit integer which is the subscription's unique id.
+   */
+  RCLCPP_PUBLIC
+  uint64_t
+  add_subscription(SubscriptionBase::SharedPtr subscription);
+
+  /// Unregister a subscription using the subscription's unique id.
+  /**
+   * This method does not allocate memory.
+   *
+   * \param intra_process_subscription_id id of the subscription to remove.
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_subscription(uint64_t intra_process_subscription_id);
+
+  /// Register a publisher with the manager, returns the publisher unique id.
+  /**
+   * In addition to generating and returning a unique id for the publisher,
+   * this method creates internal ring buffer storage for "in-flight" intra
+   * process messages which are stored when store_intra_process_message is
+   * called with this publisher's unique id.
+   *
+   * The buffer_size must be less than or equal to the max uint64_t value.
+   * If the buffer_size is 0 then a buffer size is calculated using the
+   * publisher's QoS settings.
+   * The default is to use the depth field of the publisher's QoS.
+   * TODO(wjwwood): Consider doing depth *= 1.2, round up, or similar.
+   * TODO(wjwwood): Consider what to do for keep all.
+   *
+   * This method is templated on the publisher's message type so that internal
+   * storage of the same type can be allocated.
+   *
+   * This method will allocate memory.
+   *
+   * \param publisher publisher to be registered with the manager.
+   * \param buffer_size if 0 (default) a size is calculated based on the QoS.
+   * \return an unsigned 64-bit integer which is the publisher's unique id.
+   */
+  RCLCPP_PUBLIC
+  uint64_t
+  add_publisher(
+    rclcpp::PublisherBase::SharedPtr publisher,
+    size_t buffer_size = 0);
+
+  /// Unregister a publisher using the publisher's unique id.
+  /**
+   * This method does not allocate memory.
+   *
+   * \param intra_process_publisher_id id of the publisher to remove.
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_publisher(uint64_t intra_process_publisher_id);
+
+  /// Store a message in the manager, and return the message sequence number.
+  /**
+   * The given message is stored in internal storage using the given publisher
+   * id and the newly generated message sequence, which is also returned.
+   * The combination of publisher id and message sequence number can later
+   * be used with a subscription id to retrieve the message by calling
+   * take_intra_process_message.
+   * The number of times take_intra_process_message can be called with this
+   * unique pair of id's is determined by the number of subscriptions currently
+   * subscribed to the same topic and which share the same Context, i.e. once
+   * for each subscription which should receive the intra process message.
+   *
+   * The ownership of the incoming message is transfered to the internal
+   * storage in order to avoid copying the message data.
+   * Therefore, the message parameter will no longer contain the original
+   * message after calling this method.
+   * Instead it will either be a nullptr or it will contain the ownership of
+   * the message instance which was displaced.
+   * If the message parameter is not equal to nullptr after calling this method
+   * then a message was prematurely displaced, i.e. take_intra_process_message
+   * had not been called on it as many times as was expected.
+   *
+   * This method can throw an exception if the publisher id is not found or
+   * if the publisher shared_ptr given to add_publisher has gone out of scope.
+   *
+   * This method does allocate memory.
+   *
+   * \param intra_process_publisher_id the id of the publisher of this message.
+   * \param message the message that is being stored.
+   * \return the message sequence number.
+   */
+  template<
+    typename MessageT, typename Alloc = std::allocator<void>>
+  uint64_t
+  store_intra_process_message(
+    uint64_t intra_process_publisher_id,
+    std::shared_ptr<const MessageT> message)
+  {
+    using MRBMessageAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<MessageT>;
+    using TypedMRB = typename mapped_ring_buffer::MappedRingBuffer<MessageT, MRBMessageAlloc>;
+    uint64_t message_seq = 0;
+    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = impl_->get_publisher_info_for_id(
+      intra_process_publisher_id, message_seq);
+    typename TypedMRB::SharedPtr typed_buffer = std::static_pointer_cast<TypedMRB>(buffer);
+    if (!typed_buffer) {
+      throw std::runtime_error("Typecast failed due to incorrect message type");
+    }
+
+    // Insert the message into the ring buffer using the message_seq to identify it.
+    bool did_replace = typed_buffer->push_and_replace(message_seq, message);
+    // TODO(wjwwood): do something when a message was displaced. log debug?
+    (void)did_replace;  // Avoid unused variable warning.
+
+    impl_->store_intra_process_message(intra_process_publisher_id, message_seq);
+
+    // Return the message sequence which is sent to the subscription.
+    return message_seq;
+  }
+
+  template<
+    typename MessageT, typename Alloc = std::allocator<void>,
+    typename Deleter = std::default_delete<MessageT>>
+  uint64_t
+  store_intra_process_message(
+    uint64_t intra_process_publisher_id,
+    std::unique_ptr<MessageT, Deleter> message)
+  {
+    using MRBMessageAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<MessageT>;
+    using TypedMRB = typename mapped_ring_buffer::MappedRingBuffer<MessageT, MRBMessageAlloc>;
+    uint64_t message_seq = 0;
+    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = impl_->get_publisher_info_for_id(
+      intra_process_publisher_id, message_seq);
+    typename TypedMRB::SharedPtr typed_buffer = std::static_pointer_cast<TypedMRB>(buffer);
+    if (!typed_buffer) {
+      throw std::runtime_error("Typecast failed due to incorrect message type");
+    }
+
+    // Insert the message into the ring buffer using the message_seq to identify it.
+    bool did_replace = typed_buffer->push_and_replace(message_seq, std::move(message));
+    // TODO(wjwwood): do something when a message was displaced. log debug?
+    (void)did_replace;  // Avoid unused variable warning.
+
+    impl_->store_intra_process_message(intra_process_publisher_id, message_seq);
+
+    // Return the message sequence which is sent to the subscription.
+    return message_seq;
+  }
+
+  /// Take an intra process message.
+  /**
+   * The intra_process_publisher_id and message_sequence_number parameters
+   * uniquely identify a message instance, which should be taken.
+   *
+   * The requesting_subscriptions_intra_process_id parameter is used to make
+   * sure the requesting subscription was intended to receive this message
+   * instance.
+   * This check is made because it could happen that the requester
+   * comes up after the publish event, so it still receives the notification of
+   * a new intra process message, but it wasn't registered with the manager at
+   * the time of publishing, causing it to take when it wasn't intended.
+   * This should be avioded unless latching-like behavior is involved.
+   *
+   * The message parameter is used to store the taken message.
+   * On the last expected call to this method, the ownership is transfered out
+   * of internal storage and into the message parameter.
+   * On all previous calls a copy of the internally stored message is made and
+   * the ownership of the copy is transfered to the message parameter.
+   * TODO(wjwwood): update this documentation when latching is supported.
+   *
+   * The message parameter can be set to nullptr if:
+   *
+   * - The publisher id is not found.
+   * - The message sequence is not found for the given publisher id.
+   * - The requesting subscription's id is not in the list of intended takers.
+   * - The requesting subscription's id has been used before with this message.
+   *
+   * This method may allocate memory to copy the stored message.
+   *
+   * \param intra_process_publisher_id the id of the message's publisher.
+   * \param message_sequence_number the sequence number of the message.
+   * \param requesting_subscriptions_intra_process_id the subscription's id.
+   * \param message the message typed unique_ptr used to return the message.
+   */
+  template<
+    typename MessageT, typename Alloc = std::allocator<void>,
+    typename Deleter = std::default_delete<MessageT>>
+  void
+  take_intra_process_message(
+    uint64_t intra_process_publisher_id,
+    uint64_t message_sequence_number,
+    uint64_t requesting_subscriptions_intra_process_id,
+    std::unique_ptr<MessageT, Deleter> & message)
+  {
+    using MRBMessageAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<MessageT>;
+    using TypedMRB = mapped_ring_buffer::MappedRingBuffer<MessageT, MRBMessageAlloc>;
+    message = nullptr;
+
+    size_t target_subs_size = 0;
+    std::lock_guard<std::mutex> lock(take_mutex_);
+    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = impl_->take_intra_process_message(
+      intra_process_publisher_id,
+      message_sequence_number,
+      requesting_subscriptions_intra_process_id,
+      target_subs_size
+    );
+    typename TypedMRB::SharedPtr typed_buffer = std::static_pointer_cast<TypedMRB>(buffer);
+    if (!typed_buffer) {
+      return;
+    }
+    // Return a copy or the unique_ptr (ownership) depending on how many subscriptions are left.
+    if (target_subs_size) {
+      // There are more subscriptions to serve, return a copy.
+      typed_buffer->get(message_sequence_number, message);
+    } else {
+      // This is the last one to be returned, transfer ownership.
+      typed_buffer->pop(message_sequence_number, message);
+    }
+  }
+
+  template<
+    typename MessageT, typename Alloc = std::allocator<void>>
+  void
+  take_intra_process_message(
+    uint64_t intra_process_publisher_id,
+    uint64_t message_sequence_number,
+    uint64_t requesting_subscriptions_intra_process_id,
+    std::shared_ptr<const MessageT> & message)
+  {
+    using MRBMessageAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<MessageT>;
+    using TypedMRB = mapped_ring_buffer::MappedRingBuffer<MessageT, MRBMessageAlloc>;
+    message = nullptr;
+
+    size_t target_subs_size = 0;
+    std::lock_guard<std::mutex> lock(take_mutex_);
+    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer = impl_->take_intra_process_message(
+      intra_process_publisher_id,
+      message_sequence_number,
+      requesting_subscriptions_intra_process_id,
+      target_subs_size
+    );
+    typename TypedMRB::SharedPtr typed_buffer = std::static_pointer_cast<TypedMRB>(buffer);
+    if (!typed_buffer) {
+      return;
+    }
+    // Return a copy or the unique_ptr (ownership) depending on how many subscriptions are left.
+    if (target_subs_size) {
+      // There are more subscriptions to serve, return a copy.
+      typed_buffer->get(message_sequence_number, message);
+    } else {
+      // This is the last one to be returned, transfer ownership.
+      typed_buffer->pop(message_sequence_number, message);
+    }
+  }
+
+  /// Return true if the given rmw_gid_t matches any stored Publishers.
+  RCLCPP_PUBLIC
+  bool
+  matches_any_publishers(const rmw_gid_t * id) const;
+
+  /// Return the number of intraprocess subscriptions to a topic, given the publisher id.
+  RCLCPP_PUBLIC
+  size_t
+  get_subscription_count(uint64_t intra_process_publisher_id) const;
+
+private:
+  RCLCPP_PUBLIC
+  static uint64_t
+  get_next_unique_id();
+
+  IntraProcessManagerImplBase::SharedPtr impl_;
+  std::mutex take_mutex_;
+};
+
+}  // namespace intra_process_manager
+}  // namespace rclcpp
+
+#endif  // RCLCPP__INTRA_PROCESS_MANAGER_HPP_

rclcpp/include/rclcpp/intra_process_manager_impl.hpp

@@ -0,0 +1,358 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__INTRA_PROCESS_MANAGER_IMPL_HPP_
+#define RCLCPP__INTRA_PROCESS_MANAGER_IMPL_HPP_
+
+#include <algorithm>
+#include <array>
+#include <atomic>
+#include <cstring>
+#include <functional>
+#include <limits>
+#include <map>
+#include <memory>
+#include <mutex>
+#include <set>
+#include <stdexcept>
+#include <string>
+#include <unordered_map>
+#include <utility>
+
+#include "rmw/validate_full_topic_name.h"
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/mapped_ring_buffer.hpp"
+#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace intra_process_manager
+{
+
+class IntraProcessManagerImplBase
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(IntraProcessManagerImplBase)
+
+  IntraProcessManagerImplBase() = default;
+  virtual ~IntraProcessManagerImplBase() = default;
+
+  virtual void
+  add_subscription(uint64_t id, SubscriptionBase::SharedPtr subscription) = 0;
+
+  virtual void
+  remove_subscription(uint64_t intra_process_subscription_id) = 0;
+
+  virtual void add_publisher(
+    uint64_t id,
+    PublisherBase::WeakPtr publisher,
+    mapped_ring_buffer::MappedRingBufferBase::SharedPtr mrb,
+    size_t size) = 0;
+
+  virtual void
+  remove_publisher(uint64_t intra_process_publisher_id) = 0;
+
+  virtual mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  get_publisher_info_for_id(
+    uint64_t intra_process_publisher_id,
+    uint64_t & message_seq) = 0;
+
+  virtual void
+  store_intra_process_message(uint64_t intra_process_publisher_id, uint64_t message_seq) = 0;
+
+  virtual mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  take_intra_process_message(
+    uint64_t intra_process_publisher_id,
+    uint64_t message_sequence_number,
+    uint64_t requesting_subscriptions_intra_process_id,
+    size_t & size) = 0;
+
+  virtual bool
+  matches_any_publishers(const rmw_gid_t * id) const = 0;
+
+  virtual size_t
+  get_subscription_count(uint64_t intra_process_publisher_id) const = 0;
+
+private:
+  RCLCPP_DISABLE_COPY(IntraProcessManagerImplBase)
+};
+
+template<typename Allocator = std::allocator<void>>
+class IntraProcessManagerImpl : public IntraProcessManagerImplBase
+{
+public:
+  IntraProcessManagerImpl() = default;
+  ~IntraProcessManagerImpl() = default;
+
+  void
+  add_subscription(uint64_t id, SubscriptionBase::SharedPtr subscription)
+  {
+    subscriptions_[id] = subscription;
+    subscription_ids_by_topic_[fixed_size_string(subscription->get_topic_name())].insert(id);
+  }
+
+  void
+  remove_subscription(uint64_t intra_process_subscription_id)
+  {
+    subscriptions_.erase(intra_process_subscription_id);
+    for (auto & pair : subscription_ids_by_topic_) {
+      pair.second.erase(intra_process_subscription_id);
+    }
+    // Iterate over all publisher infos and all stored subscription id's and
+    // remove references to this subscription's id.
+    for (auto & publisher_pair : publishers_) {
+      for (auto & sub_pair : publisher_pair.second.target_subscriptions_by_message_sequence) {
+        sub_pair.second.erase(intra_process_subscription_id);
+      }
+    }
+  }
+
+  void add_publisher(
+    uint64_t id,
+    PublisherBase::WeakPtr publisher,
+    mapped_ring_buffer::MappedRingBufferBase::SharedPtr mrb,
+    size_t size)
+  {
+    publishers_[id].publisher = publisher;
+    // As long as the size of the ring buffer is less than the max sequence number, we're safe.
+    if (size > std::numeric_limits<uint64_t>::max()) {
+      throw std::invalid_argument("the calculated buffer size is too large");
+    }
+    publishers_[id].sequence_number.store(0);
+
+    publishers_[id].buffer = mrb;
+    publishers_[id].target_subscriptions_by_message_sequence.reserve(size);
+  }
+
+  void
+  remove_publisher(uint64_t intra_process_publisher_id)
+  {
+    publishers_.erase(intra_process_publisher_id);
+  }
+
+  // return message_seq and mrb
+  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  get_publisher_info_for_id(
+    uint64_t intra_process_publisher_id,
+    uint64_t & message_seq)
+  {
+    std::lock_guard<std::mutex> lock(runtime_mutex_);
+    auto it = publishers_.find(intra_process_publisher_id);
+    if (it == publishers_.end()) {
+      throw std::runtime_error("get_publisher_info_for_id called with invalid publisher id");
+    }
+    PublisherInfo & info = it->second;
+    // Calculate the next message sequence number.
+    message_seq = info.sequence_number.fetch_add(1);
+
+    return info.buffer;
+  }
+
+  void
+  store_intra_process_message(uint64_t intra_process_publisher_id, uint64_t message_seq)
+  {
+    std::lock_guard<std::mutex> lock(runtime_mutex_);
+    auto it = publishers_.find(intra_process_publisher_id);
+    if (it == publishers_.end()) {
+      throw std::runtime_error("store_intra_process_message called with invalid publisher id");
+    }
+    PublisherInfo & info = it->second;
+    auto publisher = info.publisher.lock();
+    if (!publisher) {
+      throw std::runtime_error("publisher has unexpectedly gone out of scope");
+    }
+
+    // Figure out what subscriptions should receive the message.
+    auto & destined_subscriptions =
+      subscription_ids_by_topic_[fixed_size_string(publisher->get_topic_name())];
+    // Store the list for later comparison.
+    if (info.target_subscriptions_by_message_sequence.count(message_seq) == 0) {
+      info.target_subscriptions_by_message_sequence.emplace(
+        message_seq, AllocSet(std::less<uint64_t>(), uint64_allocator));
+    } else {
+      info.target_subscriptions_by_message_sequence[message_seq].clear();
+    }
+    std::copy(
+      destined_subscriptions.begin(), destined_subscriptions.end(),
+      // Memory allocation occurs in info.target_subscriptions_by_message_sequence[message_seq]
+      std::inserter(
+        info.target_subscriptions_by_message_sequence[message_seq],
+        // This ends up only being a hint to std::set, could also be .begin().
+        info.target_subscriptions_by_message_sequence[message_seq].end()
+      )
+    );
+  }
+
+  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  take_intra_process_message(
+    uint64_t intra_process_publisher_id,
+    uint64_t message_sequence_number,
+    uint64_t requesting_subscriptions_intra_process_id,
+    size_t & size
+  )
+  {
+    std::lock_guard<std::mutex> lock(runtime_mutex_);
+    PublisherInfo * info;
+    {
+      auto it = publishers_.find(intra_process_publisher_id);
+      if (it == publishers_.end()) {
+        // Publisher is either invalid or no longer exists.
+        return 0;
+      }
+      info = &it->second;
+    }
+    // Figure out how many subscriptions are left.
+    AllocSet * target_subs;
+    {
+      auto it = info->target_subscriptions_by_message_sequence.find(message_sequence_number);
+      if (it == info->target_subscriptions_by_message_sequence.end()) {
+        // Message is no longer being stored by this publisher.
+        return 0;
+      }
+      target_subs = &it->second;
+    }
+    {
+      auto it = std::find(
+        target_subs->begin(), target_subs->end(),
+        requesting_subscriptions_intra_process_id);
+      if (it == target_subs->end()) {
+        // This publisher id/message seq pair was not intended for this subscription.
+        return 0;
+      }
+      target_subs->erase(it);
+    }
+    size = target_subs->size();
+    return info->buffer;
+  }
+
+  bool
+  matches_any_publishers(const rmw_gid_t * id) const
+  {
+    for (auto & publisher_pair : publishers_) {
+      auto publisher = publisher_pair.second.publisher.lock();
+      if (!publisher) {
+        continue;
+      }
+      if (*publisher.get() == id) {
+        return true;
+      }
+    }
+    return false;
+  }
+
+  size_t
+  get_subscription_count(uint64_t intra_process_publisher_id) const
+  {
+    auto publisher_it = publishers_.find(intra_process_publisher_id);
+    if (publisher_it == publishers_.end()) {
+      // Publisher is either invalid or no longer exists.
+      return 0;
+    }
+    auto publisher = publisher_it->second.publisher.lock();
+    if (!publisher) {
+      throw std::runtime_error("publisher has unexpectedly gone out of scope");
+    }
+    auto sub_map_it =
+      subscription_ids_by_topic_.find(fixed_size_string(publisher->get_topic_name()));
+    if (sub_map_it == subscription_ids_by_topic_.end()) {
+      // No intraprocess subscribers
+      return 0;
+    }
+    return sub_map_it->second.size();
+  }
+
+private:
+  RCLCPP_DISABLE_COPY(IntraProcessManagerImpl)
+
+  using FixedSizeString = std::array<char, RMW_TOPIC_MAX_NAME_LENGTH + 1>;
+
+  FixedSizeString
+  fixed_size_string(const char * str) const
+  {
+    FixedSizeString ret;
+    size_t size = std::strlen(str) + 1;
+    if (size > ret.size()) {
+      throw std::runtime_error("failed to copy topic name");
+    }
+    std::memcpy(ret.data(), str, size);
+    return ret;
+  }
+  struct strcmp_wrapper
+  {
+    bool
+    operator()(const FixedSizeString lhs, const FixedSizeString rhs) const
+    {
+      return std::strcmp(lhs.data(), rhs.data()) < 0;
+    }
+  };
+
+  template<typename T>
+  using RebindAlloc = typename std::allocator_traits<Allocator>::template rebind_alloc<T>;
+
+  RebindAlloc<uint64_t> uint64_allocator;
+
+  using AllocSet = std::set<uint64_t, std::less<uint64_t>, RebindAlloc<uint64_t>>;
+  using SubscriptionMap = std::unordered_map<
+    uint64_t, SubscriptionBase::WeakPtr,
+    std::hash<uint64_t>, std::equal_to<uint64_t>,
+    RebindAlloc<std::pair<const uint64_t, SubscriptionBase::WeakPtr>>>;
+
+  using IDTopicMap = std::map<
+    FixedSizeString,
+    AllocSet,
+    strcmp_wrapper,
+    RebindAlloc<std::pair<const FixedSizeString, AllocSet>>>;
+
+  SubscriptionMap subscriptions_;
+
+  IDTopicMap subscription_ids_by_topic_;
+
+  struct PublisherInfo
+  {
+    RCLCPP_DISABLE_COPY(PublisherInfo)
+
+    PublisherInfo() = default;
+
+    PublisherBase::WeakPtr publisher;
+    std::atomic<uint64_t> sequence_number;
+    mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer;
+
+    using TargetSubscriptionsMap = std::unordered_map<
+      uint64_t, AllocSet,
+      std::hash<uint64_t>, std::equal_to<uint64_t>,
+      RebindAlloc<std::pair<const uint64_t, AllocSet>>>;
+    TargetSubscriptionsMap target_subscriptions_by_message_sequence;
+  };
+
+  using PublisherMap = std::unordered_map<
+    uint64_t, PublisherInfo,
+    std::hash<uint64_t>, std::equal_to<uint64_t>,
+    RebindAlloc<std::pair<const uint64_t, PublisherInfo>>>;
+
+  PublisherMap publishers_;
+
+  std::mutex runtime_mutex_;
+};
+
+RCLCPP_PUBLIC
+IntraProcessManagerImplBase::SharedPtr
+create_default_impl();
+
+}  // namespace intra_process_manager
+}  // namespace rclcpp
+
+#endif  // RCLCPP__INTRA_PROCESS_MANAGER_IMPL_HPP_

rclcpp/include/rclcpp/loaned_message.hpp

@@ -1,207 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__LOANED_MESSAGE_HPP_
-#define RCLCPP__LOANED_MESSAGE_HPP_
-
-#include <memory>
-#include <utility>
-
-#include "rclcpp/allocator/allocator_common.hpp"
-#include "rclcpp/logging.hpp"
-#include "rclcpp/publisher_base.hpp"
-
-#include "rcl/allocator.h"
-#include "rcl/publisher.h"
-
-namespace rclcpp
-{
-
-template<typename MessageT, typename AllocatorT = std::allocator<void>>
-class LoanedMessage
-{
-  using MessageAllocatorTraits = rclcpp::allocator::AllocRebind<MessageT, AllocatorT>;
-  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
-
-public:
-  /// Constructor of the LoanedMessage class.
-  /**
-   * The constructor of this class allocates memory for a given message type
-   * and associates this with a given publisher.
-   *
-   * Given the publisher instance, a case differentiation is being performaned
-   * which decides whether the underlying middleware is able to allocate the appropriate
-   * memory for this message type or not.
-   * In the case that the middleware can not loan messages, the passed in allocator instance
-   * is being used to allocate the message within the scope of this class.
-   * Otherwise, the allocator is being ignored and the allocation is solely performaned
-   * in the underlying middleware with its appropriate allocation strategy.
-   * The need for this arises as the user code can be written explicitly targeting a middleware
-   * capable of loaning messages.
-   * However, this user code is ought to be usable even when dynamically linked against
-   * a middleware which doesn't support message loaning in which case the allocator will be used.
-   *
-   * \param pub rclcpp::Publisher instance to which the memory belongs
-   * \param allocator Allocator instance in case middleware can not allocate messages
-   */
-  LoanedMessage(
-    const rclcpp::PublisherBase & pub,
-    std::allocator<MessageT> allocator)
-  : pub_(pub),
-    message_(nullptr),
-    message_allocator_(std::move(allocator))
-  {
-    if (pub_.can_loan_messages()) {
-      void * message_ptr = nullptr;
-      auto ret = rcl_borrow_loaned_message(
-        pub_.get_publisher_handle(),
-        rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
-        &message_ptr);
-      if (RCL_RET_OK != ret) {
-        rclcpp::exceptions::throw_from_rcl_error(ret);
-      }
-      message_ = static_cast<MessageT *>(message_ptr);
-    } else {
-      RCLCPP_INFO_ONCE(
-        rclcpp::get_logger("rclcpp"),
-        "Currently used middleware can't loan messages. Local allocator will be used.");
-      message_ = message_allocator_.allocate(1);
-      new (message_) MessageT();
-    }
-  }
-
-  /// Constructor of the LoanedMessage class.
-  /**
-   * The constructor of this class allocates memory for a given message type
-   * and associates this with a given publisher.
-   *
-   * Given the publisher instance, a case differentiation is being performaned
-   * which decides whether the underlying middleware is able to allocate the appropriate
-   * memory for this message type or not.
-   * In the case that the middleware can not loan messages, the passed in allocator instance
-   * is being used to allocate the message within the scope of this class.
-   * Otherwise, the allocator is being ignored and the allocation is solely performaned
-   * in the underlying middleware with its appropriate allocation strategy.
-   * The need for this arises as the user code can be written explicitly targeting a middleware
-   * capable of loaning messages.
-   * However, this user code is ought to be usable even when dynamically linked against
-   * a middleware which doesn't support message loaning in which case the allocator will be used.
-   *
-   * \param pub rclcpp::Publisher instance to which the memory belongs
-   * \param allocator Allocator instance in case middleware can not allocate messages
-   */
-  LoanedMessage(
-    const rclcpp::PublisherBase * pub,
-    std::shared_ptr<std::allocator<MessageT>> allocator)
-  : LoanedMessage(*pub, *allocator)
-  {}
-
-  /// Move semantic for RVO
-  LoanedMessage(LoanedMessage<MessageT> && other)
-  : pub_(std::move(other.pub_)),
-    message_(std::move(other.message_)),
-    message_allocator_(std::move(other.message_allocator_))
-  {}
-
-  /// Destructor of the LoanedMessage class.
-  /**
-   * The destructor has the explicit task to return the allocated memory for its message
-   * instance.
-   * If the message was previously allocated via the middleware, the message is getting
-   * returned to the middleware to cleanly destroy the allocation.
-   * In the case that the local allocator instance was used, the same instance is then
-   * being used to destroy the allocated memory.
-   *
-   * The contract here is that the memory for this message is valid as long as this instance
-   * of the LoanedMessage class is alive.
-   */
-  virtual ~LoanedMessage()
-  {
-    auto error_logger = rclcpp::get_logger("LoanedMessage");
-
-    if (message_ == nullptr) {
-      return;
-    }
-
-    if (pub_.can_loan_messages()) {
-      // return allocated memory to the middleware
-      auto ret =
-        rcl_return_loaned_message_from_publisher(pub_.get_publisher_handle(), message_);
-      if (ret != RCL_RET_OK) {
-        RCLCPP_ERROR(
-          error_logger, "rcl_deallocate_loaned_message failed: %s", rcl_get_error_string().str);
-        rcl_reset_error();
-      }
-    } else {
-      // call destructor before deallocating
-      message_->~MessageT();
-      message_allocator_.deallocate(message_, 1);
-    }
-    message_ = nullptr;
-  }
-
-  /// Validate if the message was correctly allocated.
-  /**
-   * The allocated memory might not be always consistent and valid.
-   * Reasons why this could fail is that an allocation step was failing,
-   * e.g. just like malloc could fail or a maximum amount of previously allocated
-   * messages is exceeded in which case the loaned messages have to be returned
-   * to the middleware prior to be able to allocate a new one.
-   */
-  bool is_valid() const
-  {
-    return message_ != nullptr;
-  }
-
-  /// Access the ROS message instance.
-  /**
-   * A call to `get()` will return a mutable reference to the underlying ROS message instance.
-   * This allows a user to modify the content of the message prior to publishing it.
-   *
-   * If this reference is copied, the memory for this copy is no longer managed
-   * by the LoanedMessage instance and has to be cleanup individually.
-   */
-  MessageT & get() const
-  {
-    return *message_;
-  }
-
-  /// Release ownership of the ROS message instance.
-  /**
-   * A call to `release()` will unmanage the memory for the ROS message.
-   * That means that the destructor of this class will not free the memory on scope exit.
-   *
-   * \return Raw pointer to the message instance.
-   */
-  MessageT * release()
-  {
-    auto msg = message_;
-    message_ = nullptr;
-    return msg;
-  }
-
-protected:
-  const rclcpp::PublisherBase & pub_;
-
-  MessageT * message_;
-
-  MessageAllocator message_allocator_;
-
-  /// Deleted copy constructor to preserve memory integrity.
-  LoanedMessage(const LoanedMessage<MessageT> & other) = delete;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__LOANED_MESSAGE_HPP_

rclcpp/include/rclcpp/macros.hpp

@@ -66,7 +66,6 @@
 #define RCLCPP_SMART_PTR_ALIASES_ONLY(...) \
   __RCLCPP_SHARED_PTR_ALIAS(__VA_ARGS__) \
   __RCLCPP_WEAK_PTR_ALIAS(__VA_ARGS__) \
-  __RCLCPP_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
   __RCLCPP_MAKE_SHARED_DEFINITION(__VA_ARGS__)
 
 #define __RCLCPP_SHARED_PTR_ALIAS(...) \

rclcpp/include/rclcpp/mapped_ring_buffer.hpp

@@ -0,0 +1,319 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__MAPPED_RING_BUFFER_HPP_
+#define RCLCPP__MAPPED_RING_BUFFER_HPP_
+
+#include <algorithm>
+#include <cstddef>
+#include <cstdint>
+#include <memory>
+#include <mutex>
+#include <stdexcept>
+#include <utility>
+#include <vector>
+
+#include "rclcpp/allocator/allocator_common.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace mapped_ring_buffer
+{
+
+class RCLCPP_PUBLIC MappedRingBufferBase
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(MappedRingBufferBase)
+};
+
+/// Ring buffer container of shared_ptr's or unique_ptr's of T, which can be accessed by a key.
+/**
+ * T must be a CopyConstructable and CopyAssignable.
+ * This class can be used in a container by using the base class MappedRingBufferBase.
+ * This class must have a positive, non-zero size.
+ * This class cannot be resized nor can it reserve additional space after construction.
+ * This class is not CopyConstructable nor CopyAssignable.
+ *
+ * The key's are not guaranteed to be unique because push_and_replace does not
+ * check for colliding keys.
+ * It is up to the user to only use unique keys.
+ * A side effect of this is that when get_copy_at_key or pop_at_key are called,
+ * they return the first encountered instance of the key.
+ * But iteration does not begin with the ring buffer's head, and therefore
+ * there is no guarantee on which value is returned if a key is used multiple
+ * times.
+ */
+template<typename T, typename Alloc = std::allocator<void>>
+class MappedRingBuffer : public MappedRingBufferBase
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(MappedRingBuffer<T, Alloc>)
+  using ElemAllocTraits = allocator::AllocRebind<T, Alloc>;
+  using ElemAlloc = typename ElemAllocTraits::allocator_type;
+  using ElemDeleter = allocator::Deleter<ElemAlloc, T>;
+
+  using ConstElemSharedPtr = std::shared_ptr<const T>;
+  using ElemUniquePtr = std::unique_ptr<T, ElemDeleter>;
+
+  /// Constructor.
+  /**
+   * The constructor will allocate memory while reserving space.
+   *
+   * \param size size of the ring buffer; must be positive and non-zero.
+   * \param allocator optional custom allocator
+   */
+  explicit MappedRingBuffer(size_t size, std::shared_ptr<Alloc> allocator = nullptr)
+  : elements_(size), head_(0)
+  {
+    if (size == 0) {
+      throw std::invalid_argument("size must be a positive, non-zero value");
+    }
+    if (!allocator) {
+      allocator_ = std::make_shared<ElemAlloc>();
+    } else {
+      allocator_ = std::make_shared<ElemAlloc>(*allocator.get());
+    }
+  }
+
+  virtual ~MappedRingBuffer() {}
+
+  /// Return a copy of the value stored in the ring buffer at the given key.
+  /**
+   * The key is matched if an element in the ring buffer has a matching key.
+   * This method will allocate in order to return a copy.
+   *
+   * The key is not guaranteed to be unique, see the class docs for more.
+   *
+   * The contents of value before the method is called are discarded.
+   *
+   * \param key the key associated with the stored value
+   * \param value if the key is found, the value is stored in this parameter
+   */
+  void
+  get(uint64_t key, ElemUniquePtr & value)
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    auto it = get_iterator_of_key(key);
+    value = nullptr;
+    if (it != elements_.end() && it->in_use) {
+      if (it->unique_value) {
+        ElemDeleter deleter = it->unique_value.get_deleter();
+        auto ptr = ElemAllocTraits::allocate(*allocator_.get(), 1);
+        ElemAllocTraits::construct(*allocator_.get(), ptr, *it->unique_value);
+        value = ElemUniquePtr(ptr, deleter);
+      } else if (it->shared_value) {
+        ElemDeleter * deleter = std::get_deleter<ElemDeleter, const T>(it->shared_value);
+        auto ptr = ElemAllocTraits::allocate(*allocator_.get(), 1);
+        ElemAllocTraits::construct(*allocator_.get(), ptr, *it->shared_value);
+        if (deleter) {
+          value = ElemUniquePtr(ptr, *deleter);
+        } else {
+          value = ElemUniquePtr(ptr);
+        }
+      } else {
+        throw std::runtime_error("Unexpected empty MappedRingBuffer element.");
+      }
+    }
+  }
+
+  /// Share ownership of the value stored in the ring buffer at the given key.
+  /**
+   * The key is matched if an element in the ring buffer has a matching key.
+   *
+   * The key is not guaranteed to be unique, see the class docs for more.
+   *
+   * The contents of value before the method is called are discarded.
+   *
+   * \param key the key associated with the stored value
+   * \param value if the key is found, the value is stored in this parameter
+   */
+  void
+  get(uint64_t key, ConstElemSharedPtr & value)
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    auto it = get_iterator_of_key(key);
+    value.reset();
+    if (it != elements_.end() && it->in_use) {
+      if (!it->shared_value) {
+        // The stored unique_ptr is upgraded to a shared_ptr here.
+        // All the remaining get and pop calls done with unique_ptr
+        // signature will receive a copy.
+        if (!it->unique_value) {
+          throw std::runtime_error("Unexpected empty MappedRingBuffer element.");
+        }
+        it->shared_value = std::move(it->unique_value);
+      }
+      value = it->shared_value;
+    }
+  }
+
+  /// Give the ownership of the stored value to the caller if possible, or copy and release.
+  /**
+   * The key is matched if an element in the ring buffer has a matching key.
+   * This method may allocate in order to return a copy.
+   *
+   * If the stored value is a shared_ptr, it is not possible to downgrade it to a unique_ptr.
+   * In that case, a copy is returned and the stored value is released.
+   *
+   * The key is not guaranteed to be unique, see the class docs for more.
+   *
+   * The contents of value before the method is called are discarded.
+   *
+   * \param key the key associated with the stored value
+   * \param value if the key is found, the value is stored in this parameter
+   */
+  void
+  pop(uint64_t key, ElemUniquePtr & value)
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    auto it = get_iterator_of_key(key);
+    value = nullptr;
+    if (it != elements_.end() && it->in_use) {
+      if (it->unique_value) {
+        value = std::move(it->unique_value);
+      } else if (it->shared_value) {
+        auto ptr = ElemAllocTraits::allocate(*allocator_.get(), 1);
+        ElemAllocTraits::construct(*allocator_.get(), ptr, *it->shared_value);
+        auto deleter = std::get_deleter<ElemDeleter, const T>(it->shared_value);
+        if (deleter) {
+          value = ElemUniquePtr(ptr, *deleter);
+        } else {
+          value = ElemUniquePtr(ptr);
+        }
+        it->shared_value.reset();
+      } else {
+        throw std::runtime_error("Unexpected empty MappedRingBuffer element.");
+      }
+      it->in_use = false;
+    }
+  }
+
+  /// Give the ownership of the stored value to the caller, at the given key.
+  /**
+   * The key is matched if an element in the ring buffer has a matching key.
+   *
+   * The key is not guaranteed to be unique, see the class docs for more.
+   *
+   * The contents of value before the method is called are discarded.
+   *
+   * \param key the key associated with the stored value
+   * \param value if the key is found, the value is stored in this parameter
+   */
+  void
+  pop(uint64_t key, ConstElemSharedPtr & value)
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    auto it = get_iterator_of_key(key);
+    if (it != elements_.end() && it->in_use) {
+      if (it->shared_value) {
+        value = std::move(it->shared_value);
+      } else if (it->unique_value) {
+        value = std::move(it->unique_value);
+      } else {
+        throw std::runtime_error("Unexpected empty MappedRingBuffer element.");
+      }
+      it->in_use = false;
+    }
+  }
+
+  /// Insert a key-value pair, displacing an existing pair if necessary.
+  /**
+   * The key's uniqueness is not checked on insertion.
+   * It is up to the user to ensure the key is unique.
+   * This method should not allocate memory.
+   *
+   * After insertion the value will be a nullptr.
+   * If a pair were replaced, its smart pointer is reset.
+   *
+   * \param key the key associated with the value to be stored
+   * \param value the value to store, and optionally the value displaced
+   */
+  bool
+  push_and_replace(uint64_t key, ConstElemSharedPtr value)
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    bool did_replace = elements_[head_].in_use;
+    Element & element = elements_[head_];
+    element.key = key;
+    element.unique_value.reset();
+    element.shared_value.reset();
+    element.shared_value = value;
+    element.in_use = true;
+    head_ = (head_ + 1) % elements_.size();
+    return did_replace;
+  }
+
+  /// Insert a key-value pair, displacing an existing pair if necessary.
+  /**
+   * See `bool push_and_replace(uint64_t key, const ConstElemSharedPtr & value)`.
+   */
+  bool
+  push_and_replace(uint64_t key, ElemUniquePtr value)
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    bool did_replace = elements_[head_].in_use;
+    Element & element = elements_[head_];
+    element.key = key;
+    element.unique_value.reset();
+    element.shared_value.reset();
+    element.unique_value = std::move(value);
+    element.in_use = true;
+    head_ = (head_ + 1) % elements_.size();
+    return did_replace;
+  }
+
+  /// Return true if the key is found in the ring buffer, otherwise false.
+  bool
+  has_key(uint64_t key)
+  {
+    std::lock_guard<std::mutex> lock(data_mutex_);
+    return elements_.end() != get_iterator_of_key(key);
+  }
+
+private:
+  RCLCPP_DISABLE_COPY(MappedRingBuffer<T, Alloc>)
+
+  struct Element
+  {
+    uint64_t key;
+    ElemUniquePtr unique_value;
+    ConstElemSharedPtr shared_value;
+    bool in_use;
+  };
+
+  using VectorAlloc = typename std::allocator_traits<Alloc>::template rebind_alloc<Element>;
+
+  typename std::vector<Element, VectorAlloc>::iterator
+  get_iterator_of_key(uint64_t key)
+  {
+    auto it = std::find_if(
+      elements_.begin(), elements_.end(),
+      [key](Element & e) -> bool {
+        return e.key == key && e.in_use;
+      });
+    return it;
+  }
+
+  std::vector<Element, VectorAlloc> elements_;
+  size_t head_;
+  std::shared_ptr<ElemAlloc> allocator_;
+  std::mutex data_mutex_;
+};
+
+}  // namespace mapped_ring_buffer
+}  // namespace rclcpp
+
+#endif  // RCLCPP__MAPPED_RING_BUFFER_HPP_

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -56,7 +56,6 @@ public:
   virtual size_t number_of_guard_conditions() const = 0;
   virtual size_t number_of_waitables() const = 0;
 
-  virtual void add_waitable_handle(const rclcpp::Waitable::SharedPtr & waitable) = 0;
   virtual bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) = 0;
   virtual void clear_handles() = 0;
   virtual void remove_null_handles(rcl_wait_set_t * wait_set) = 0;
@@ -67,27 +66,22 @@ public:
 
   virtual void
   get_next_subscription(
-    rclcpp::AnyExecutable & any_exec,
+    rclcpp::executor::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_service(
-    rclcpp::AnyExecutable & any_exec,
+    rclcpp::executor::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_client(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakNodeList & weak_nodes) = 0;
-
-  virtual void
-  get_next_timer(
-    rclcpp::AnyExecutable & any_exec,
+    rclcpp::executor::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_waitable(
-    rclcpp::AnyExecutable & any_exec,
+    rclcpp::executor::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual rcl_allocator_t
@@ -108,37 +102,27 @@ public:
     std::shared_ptr<const rcl_client_t> client_handle,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::TimerBase::SharedPtr
-  get_timer_by_handle(
-    std::shared_ptr<const rcl_timer_t> timer_handle,
-    const WeakNodeList & weak_nodes);
-
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
-    rclcpp::CallbackGroup::SharedPtr group,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::CallbackGroup::SharedPtr
+  static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::CallbackGroup::SharedPtr
+  static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_service(
     rclcpp::ServiceBase::SharedPtr service,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::CallbackGroup::SharedPtr
+  static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_client(
     rclcpp::ClientBase::SharedPtr client,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::CallbackGroup::SharedPtr
-  get_group_by_timer(
-    rclcpp::TimerBase::SharedPtr timer,
-    const WeakNodeList & weak_nodes);
-
-  static rclcpp::CallbackGroup::SharedPtr
+  static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_waitable(
     rclcpp::Waitable::SharedPtr waitable,
     const WeakNodeList & weak_nodes);

rclcpp/include/rclcpp/message_info.hpp

@@ -1,52 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__MESSAGE_INFO_HPP_
-#define RCLCPP__MESSAGE_INFO_HPP_
-
-#include "rmw/types.h"
-
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-
-/// Additional meta data about messages taken from subscriptions.
-class RCLCPP_PUBLIC MessageInfo
-{
-public:
-  /// Default empty constructor.
-  MessageInfo() = default;
-
-  /// Conversion constructor, which is intentionally not marked as explicit.
-  // cppcheck-suppress noExplicitConstructor
-  MessageInfo(const rmw_message_info_t & rmw_message_info);  // NOLINT(runtime/explicit)
-
-  virtual ~MessageInfo();
-
-  /// Return the message info as the underlying rmw message info type.
-  const rmw_message_info_t &
-  get_rmw_message_info() const;
-
-  /// Return the message info as the underlying rmw message info type.
-  rmw_message_info_t &
-  get_rmw_message_info();
-
-private:
-  rmw_message_info_t rmw_message_info_;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__MESSAGE_INFO_HPP_

rclcpp/include/rclcpp/message_memory_strategy.hpp

@@ -23,7 +23,6 @@
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/serialized_message.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 #include "rcutils/logging_macros.h"
@@ -47,10 +46,10 @@ public:
   using MessageAlloc = typename MessageAllocTraits::allocator_type;
   using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
 
-  using SerializedMessageAllocTraits = allocator::AllocRebind<rclcpp::SerializedMessage, Alloc>;
+  using SerializedMessageAllocTraits = allocator::AllocRebind<rcl_serialized_message_t, Alloc>;
   using SerializedMessageAlloc = typename SerializedMessageAllocTraits::allocator_type;
   using SerializedMessageDeleter =
-    allocator::Deleter<SerializedMessageAlloc, rclcpp::SerializedMessage>;
+    allocator::Deleter<SerializedMessageAlloc, rcl_serialized_message_t>;
 
   using BufferAllocTraits = allocator::AllocRebind<char, Alloc>;
   using BufferAlloc = typename BufferAllocTraits::allocator_type;
@@ -87,12 +86,30 @@ public:
     return std::allocate_shared<MessageT, MessageAlloc>(*message_allocator_.get());
   }
 
-  virtual std::shared_ptr<rclcpp::SerializedMessage> borrow_serialized_message(size_t capacity)
+  virtual std::shared_ptr<rcl_serialized_message_t> borrow_serialized_message(size_t capacity)
   {
-    return std::make_shared<rclcpp::SerializedMessage>(capacity);
+    auto msg = new rcl_serialized_message_t;
+    *msg = rmw_get_zero_initialized_serialized_message();
+    auto ret = rmw_serialized_message_init(msg, capacity, &rcutils_allocator_);
+    if (ret != RCL_RET_OK) {
+      rclcpp::exceptions::throw_from_rcl_error(ret);
+    }
+
+    auto serialized_msg = std::shared_ptr<rcl_serialized_message_t>(msg,
+        [](rmw_serialized_message_t * msg) {
+          auto ret = rmw_serialized_message_fini(msg);
+          delete msg;
+          if (ret != RCL_RET_OK) {
+            RCUTILS_LOG_ERROR_NAMED(
+              "rclcpp",
+              "failed to destroy serialized message: %s", rcl_get_error_string().str);
+          }
+        });
+
+    return serialized_msg;
   }
 
-  virtual std::shared_ptr<rclcpp::SerializedMessage> borrow_serialized_message()
+  virtual std::shared_ptr<rcl_serialized_message_t> borrow_serialized_message()
   {
     return borrow_serialized_message(default_buffer_capacity_);
   }
@@ -109,8 +126,7 @@ public:
     msg.reset();
   }
 
-  virtual void return_serialized_message(
-    std::shared_ptr<rclcpp::SerializedMessage> & serialized_msg)
+  virtual void return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & serialized_msg)
   {
     serialized_msg.reset();
   }

rclcpp/include/rclcpp/node.hpp

@@ -135,12 +135,12 @@ public:
 
   /// Create and return a callback group.
   RCLCPP_PUBLIC
-  rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(rclcpp::CallbackGroupType group_type);
+  rclcpp::callback_group::CallbackGroup::SharedPtr
+  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
 
   /// Return the list of callback groups in the node.
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
+  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
   get_callback_groups() const;
 
   /// Create and return a Publisher.
@@ -151,17 +151,15 @@ public:
    *
    * For example, all of these cases will work:
    *
-   * ```cpp
-   * pub = node->create_publisher<MsgT>("chatter", 10);  // implicitly KeepLast
-   * pub = node->create_publisher<MsgT>("chatter", QoS(10));  // implicitly KeepLast
-   * pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
-   * pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
-   * pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().volatile());
-   * {
-   *   rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
-   *   pub = node->create_publisher<MsgT>("chatter", custom_qos);
-   * }
-   * ```
+   *   pub = node->create_publisher<MsgT>("chatter", 10);  // implicitly KeepLast
+   *   pub = node->create_publisher<MsgT>("chatter", QoS(10));  // implicitly KeepLast
+   *   pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
+   *   pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
+   *   pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().durability_volatile());
+   *   {
+   *     rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
+   *     pub = node->create_publisher<MsgT>("chatter", custom_qos);
+   *   }
    *
    * The publisher options may optionally be passed as the third argument for
    * any of the above cases.
@@ -174,7 +172,7 @@ public:
   template<
     typename MessageT,
     typename AllocatorT = std::allocator<void>,
-    typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
+    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
   std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name,
@@ -183,6 +181,44 @@ public:
     PublisherOptionsWithAllocator<AllocatorT>()
   );
 
+  /// Create and return a Publisher.
+  /**
+   * \param[in] topic_name The topic for this publisher to publish on.
+   * \param[in] qos_history_depth The depth of the publisher message queue.
+   * \param[in] allocator Custom allocator.
+   * \return Shared pointer to the created publisher.
+   */
+  template<
+    typename MessageT,
+    typename AllocatorT = std::allocator<void>,
+    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
+  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
+  std::shared_ptr<PublisherT>
+  create_publisher(
+    const std::string & topic_name,
+    size_t qos_history_depth,
+    std::shared_ptr<AllocatorT> allocator);
+
+  /// Create and return a Publisher.
+  /**
+   * \param[in] topic_name The topic for this publisher to publish on.
+   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
+   * \param[in] allocator Optional custom allocator.
+   * \return Shared pointer to the created publisher.
+   */
+  template<
+    typename MessageT,
+    typename AllocatorT = std::allocator<void>,
+    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
+  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
+  std::shared_ptr<PublisherT>
+  create_publisher(
+    const std::string & topic_name,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
+    std::shared_ptr<AllocatorT> allocator = nullptr);
+
   /// Create and return a Subscription.
   /**
    * \param[in] topic_name The topic to subscribe on.
@@ -192,18 +228,16 @@ public:
    * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
    * \return Shared pointer to the created subscription.
    */
+  /* TODO(jacquelinekay):
+     Windows build breaks when static member function passed as default
+     argument to msg_mem_strat, nullptr is a workaround.
+   */
   template<
     typename MessageT,
     typename CallbackT,
     typename AllocatorT = std::allocator<void>,
-    typename CallbackMessageT =
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
-    typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-    typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      CallbackMessageT,
-      AllocatorT
-    >
-  >
+    typename SubscriptionT = rclcpp::Subscription<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>>
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -211,10 +245,84 @@ public:
     CallbackT && callback,
     const SubscriptionOptionsWithAllocator<AllocatorT> & options =
     SubscriptionOptionsWithAllocator<AllocatorT>(),
-    typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-      MessageMemoryStrategyT::create_default()
-    )
-  );
+    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
+    >::SharedPtr
+    msg_mem_strat = nullptr);
+
+  /// Create and return a Subscription.
+  /**
+   * \param[in] topic_name The topic to subscribe on.
+   * \param[in] callback The user-defined callback function.
+   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
+   * \param[in] group The callback group for this subscription. NULL for no callback group.
+   * \param[in] ignore_local_publications True to ignore local publications.
+   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
+   * \param[in] allocator Optional custom allocator.
+   * \return Shared pointer to the created subscription.
+   */
+  /* TODO(jacquelinekay):
+     Windows build breaks when static member function passed as default
+     argument to msg_mem_strat, nullptr is a workaround.
+   */
+  template<
+    typename MessageT,
+    typename CallbackT,
+    typename Alloc = std::allocator<void>,
+    typename SubscriptionT = rclcpp::Subscription<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
+  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+  [[deprecated(
+    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
+  )]]
+  std::shared_ptr<SubscriptionT>
+  create_subscription(
+    const std::string & topic_name,
+    CallbackT && callback,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
+    bool ignore_local_publications = false,
+    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
+    msg_mem_strat = nullptr,
+    std::shared_ptr<Alloc> allocator = nullptr);
+
+  /// Create and return a Subscription.
+  /**
+   * \param[in] topic_name The topic to subscribe on.
+   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
+   * \param[in] callback The user-defined callback function.
+   * \param[in] group The callback group for this subscription. NULL for no callback group.
+   * \param[in] ignore_local_publications True to ignore local publications.
+   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
+   * \param[in] allocator Optional custom allocator.
+   * \return Shared pointer to the created subscription.
+   */
+  /* TODO(jacquelinekay):
+     Windows build breaks when static member function passed as default
+     argument to msg_mem_strat, nullptr is a workaround.
+   */
+  template<
+    typename MessageT,
+    typename CallbackT,
+    typename Alloc = std::allocator<void>,
+    typename SubscriptionT = rclcpp::Subscription<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
+  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+  [[deprecated(
+    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
+  )]]
+  std::shared_ptr<SubscriptionT>
+  create_subscription(
+    const std::string & topic_name,
+    CallbackT && callback,
+    size_t qos_history_depth,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
+    bool ignore_local_publications = false,
+    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
+    msg_mem_strat = nullptr,
+    std::shared_ptr<Alloc> allocator = nullptr);
 
   /// Create a timer.
   /**
@@ -227,24 +335,37 @@ public:
   create_wall_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  /* Create and return a Client. */
+  /// Create and return a Client.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created client.
+   */
   template<typename ServiceT>
   typename rclcpp::Client<ServiceT>::SharedPtr
   create_client(
     const std::string & service_name,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  /* Create and return a Service. */
+  /// Create and return a Service.
+  /**
+   * \param[in] service_name The topic to service on.
+   * \param[in] callback User-defined callback function.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] group Callback group to call the service.
+   * \return Shared pointer to the created service.
+   */
   template<typename ServiceT, typename CallbackT>
   typename rclcpp::Service<ServiceT>::SharedPtr
   create_service(
     const std::string & service_name,
     CallbackT && callback,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
   /// Declare and initialize a parameter, return the effective value.
   /**
@@ -261,8 +382,6 @@ public:
    * are ignored, and should be specified using the name argument to this
    * function and the default value's type instead.
    *
-   * If `ignore_override` is `true`, the parameter override will be ignored.
-   *
    * This method, if successful, will result in any callback registered with
    * set_on_parameters_set_callback to be called.
    * If that callback prevents the initial value for the parameter from being
@@ -276,8 +395,6 @@ public:
    *   did not override it.
    * \param[in] parameter_descriptor An optional, custom description for
    *   the parameter.
-   * \param[in] ignore_override When `true`, the parameter override is ignored.
-   *    Default to `false`.
    * \return A const reference to the value of the parameter.
    * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
    *   has already been declared.
@@ -292,8 +409,7 @@ public:
     const std::string & name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false);
+    rcl_interfaces::msg::ParameterDescriptor());
 
   /// Declare and initialize a parameter with a type.
   /**
@@ -301,7 +417,7 @@ public:
    *
    * If the type of the default value, and therefore also the type of return
    * value, differs from the initial value provided in the node options, then
-   * a rclcpp::exceptions::InvalidParameterTypeException may be thrown.
+   * a rclcpp::ParameterTypeException may be thrown.
    * To avoid this, use the declare_parameter() method which returns an
    * rclcpp::ParameterValue instead.
    *
@@ -322,8 +438,7 @@ public:
     const std::string & name,
     const ParameterT & default_value,
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false);
+    rcl_interfaces::msg::ParameterDescriptor());
 
   /// Declare and initialize several parameters with the same namespace and type.
   /**
@@ -338,12 +453,11 @@ public:
    * expanding "namespace.key".
    * This allows you to declare several parameters at once without a namespace.
    *
-   * The map contains default values for parameters.
-   * There is another overload which takes the std::pair with the default value
-   * and descriptor.
-   *
-   * If `ignore_overrides` is `true`, all the overrides of the parameters declared
-   * by the function call will be ignored.
+   * The map may either contain default values for parameters, or a std::pair
+   * where the first element is a default value and the second is a
+   * parameter descriptor.
+   * This function only takes the default value, but there is another overload
+   * which takes the std::pair with the default value and descriptor.
    *
    * This method, if successful, will result in any callback registered with
    * set_on_parameters_set_callback to be called, once for each parameter.
@@ -352,8 +466,6 @@ public:
    *
    * \param[in] namespace_ The namespace in which to declare the parameters.
    * \param[in] parameters The parameters to set in the given namespace.
-   * \param[in] ignore_overrides When `true`, the parameters overrides are ignored.
-   *    Default to `false`.
    * \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
    *   has already been declared.
    * \throws rclcpp::exceptions::InvalidParametersException if a parameter
@@ -365,8 +477,7 @@ public:
   std::vector<ParameterT>
   declare_parameters(
     const std::string & namespace_,
-    const std::map<std::string, ParameterT> & parameters,
-    bool ignore_overrides = false);
+    const std::map<std::string, ParameterT> & parameters);
 
   /// Declare and initialize several parameters with the same namespace and type.
   /**
@@ -382,8 +493,7 @@ public:
     const std::map<
       std::string,
       std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-    > & parameters,
-    bool ignore_overrides = false);
+    > & parameters);
 
   /// Undeclare a previously declared parameter.
   /**
@@ -514,6 +624,38 @@ public:
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
+  /// Set one parameter, unless that parameter has already been set.
+  /**
+   * Set the given parameter unless already set.
+   *
+   * Deprecated, instead use declare_parameter().
+   *
+   * \param[in] parameters The vector of parameters to be set.
+   * \return The result of each set action as a vector.
+   */
+  template<typename ParameterT>
+  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
+  [[deprecated("use declare_parameter() instead")]]
+  void
+  set_parameter_if_not_set(const std::string & name, const ParameterT & value);
+
+  /// Set a map of parameters with the same prefix.
+  /**
+   * For each key in the map, a parameter with a name of "name.key" will be set
+   * to the value in the map.
+   *
+   * Deprecated, instead use declare_parameters().
+   *
+   * \param[in] name The prefix of the parameters to set.
+   * \param[in] values The parameters to set in the given prefix.
+   */
+  template<typename ParameterT>
+  [[deprecated("use declare_parameters() instead")]]
+  void
+  set_parameters_if_not_set(
+    const std::string & name,
+    const std::map<std::string, ParameterT> & values);
+
   /// Return the parameter by the given name.
   /**
    * If the parameter has not been declared, then this method may throw the
@@ -657,6 +799,28 @@ public:
     const std::string & prefix,
     std::map<std::string, ParameterT> & values) const;
 
+  /// Get the parameter value; if not set, set the "alternative value" and store it in the node.
+  /**
+   * If the parameter is set, then the "value" argument is assigned the value
+   * in the parameter.
+   * If the parameter is not set, then the "value" argument is assigned the "alternative_value",
+   * and the parameter is set to the "alternative_value" on the node.
+   *
+   * Deprecated, instead use declare_parameter()'s return value, or use
+   * has_parameter() to ensure it exists before getting it.
+   *
+   * \param[in] name The name of the parameter to get.
+   * \param[out] value The output where the value of the parameter should be assigned.
+   * \param[in] alternative_value Value to be used if the parameter was not set.
+   */
+  template<typename ParameterT>
+  [[deprecated("use declare_parameter() and it's return value instead")]]
+  void
+  get_parameter_or_set(
+    const std::string & name,
+    ParameterT & value,
+    const ParameterT & alternative_value);
+
   /// Return the parameter descriptor for the given parameter name.
   /**
    * Like get_parameters(), this method may throw the
@@ -727,12 +891,10 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
-  using OnSetParametersCallbackHandle =
-    rclcpp::node_interfaces::OnSetParametersCallbackHandle;
   using OnParametersSetCallbackType =
     rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
 
-  /// Add a callback for when parameters are being set.
+  /// Register a callback to be called anytime a parameter is about to be changed.
   /**
    * The callback signature is designed to allow handling of any of the above
    * `set_parameter*` or `declare_parameter*` methods, and so it takes a const
@@ -742,21 +904,19 @@ public:
    *
    * For an example callback:
    *
-   * ```cpp
-   * rcl_interfaces::msg::SetParametersResult
-   * my_callback(const std::vector<rclcpp::Parameter> & parameters)
-   * {
-   *   rcl_interfaces::msg::SetParametersResult result;
-   *   result.successful = true;
-   *   for (const auto & parameter : parameters) {
-   *     if (!some_condition) {
-   *       result.successful = false;
-   *       result.reason = "the reason it could not be allowed";
+   *   rcl_interfaces::msg::SetParametersResult
+   *   my_callback(const std::vector<rclcpp::Parameter> & parameters)
+   *   {
+   *     rcl_interfaces::msg::SetParametersResult result;
+   *     result.successful = true;
+   *     for (const auto & parameter : parameters) {
+   *       if (!some_condition) {
+   *         result.successful = false;
+   *         result.reason = "the reason it could not be allowed";
+   *       }
    *     }
+   *     return result;
    *   }
-   *   return result;
-   * }
-   * ```
    *
    * You can see that the SetParametersResult is a boolean flag for success
    * and an optional reason that can be used in error reporting when it fails.
@@ -770,68 +930,9 @@ public:
    *
    * Some constraints like read_only are enforced before the callback is called.
    *
-   * The callback may introspect other already set parameters (by calling any
-   * of the {get,list,describe}_parameter() methods), but may *not* modify
-   * other parameters (by calling any of the {set,declare}_parameter() methods)
-   * or modify the registered callback itself (by calling the
-   * set_on_parameters_set_callback() method).  If a callback tries to do any
-   * of the latter things,
-   * rclcpp::exceptions::ParameterModifiedInCallbackException will be thrown.
-   *
-   * The callback functions must remain valid as long as the
-   * returned smart pointer is valid.
-   * The returned smart pointer can be promoted to a shared version.
-   *
-   * Resetting or letting the smart pointer go out of scope unregisters the callback.
-   * `remove_on_set_parameters_callback` can also be used.
-   *
-   * The registered callbacks are called when a parameter is set.
-   * When a callback returns a not successful result, the remaining callbacks aren't called.
-   * The order of the callback is the reverse from the registration order.
-   *
-   * \param callback The callback to register.
-   * \returns A shared pointer. The callback is valid as long as the smart pointer is alive.
-   * \throws std::bad_alloc if the allocation of the OnSetParametersCallbackHandle fails.
-   */
-  RCLCPP_PUBLIC
-  OnSetParametersCallbackHandle::SharedPtr
-  add_on_set_parameters_callback(OnParametersSetCallbackType callback);
-
-  /// Remove a callback registered with `add_on_set_parameters_callback`.
-  /**
-   * Delete a handler returned by `add_on_set_parameters_callback`.
-   *
-   * e.g.:
-   *
-   *    `remove_on_set_parameters_callback(scoped_callback.get())`
-   *
-   * As an alternative, the smart pointer can be reset:
-   *
-   *    `scoped_callback.reset()`
-   *
-   * Supposing that `scoped_callback` was the only owner.
-   *
-   * Calling `remove_on_set_parameters_callback` more than once with the same handler,
-   * or calling it after the shared pointer has been reset is an error.
-   * Resetting or letting the smart pointer go out of scope after calling
-   * `remove_on_set_parameters_callback` is not a problem.
-   *
-   * \param handler The callback handler to remove.
-   * \throws std::runtime_error if the handler was not created with `add_on_set_parameters_callback`,
-   *   or if it has been removed before.
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
-
-  /// Register a callback to be called anytime a parameter is about to be changed.
-  /**
-   * With this method, only one callback can be set at a time. The callback that was previously
-   * set by this method is returned or `nullptr` if no callback was previously set.
-   *
-   * The callbacks added with `add_on_set_parameters_callback` are stored in a different place.
-   * `remove_on_set_parameters_callback` can't be used with the callbacks registered with this
-   * method. For removing it, use `set_on_parameters_set_callback(nullptr)`.
+   * There may only be one callback set at a time, so the previously set
+   * callback is returned when this method is used, or nullptr will be returned
+   * if no callback was previously set.
    *
    * \param[in] callback The callback to be called when the value for a
    *   parameter is about to be set.
@@ -839,9 +940,20 @@ public:
    *   otherwise nullptr.
    */
   RCLCPP_PUBLIC
-  OnParametersSetCallbackType
+  rclcpp::Node::OnParametersSetCallbackType
   set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
 
+  /// Register the callback for parameter changes
+  /**
+   * \param[in] callback User defined callback function.
+   *   It is expected to atomically set parameters.
+   * \note Repeated invocations of this function will overwrite previous callbacks.
+   */
+  template<typename CallbackT>
+  [[deprecated("use set_on_parameters_set_callback() instead")]]
+  void
+  register_param_change_callback(CallbackT && callback);
+
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.
@@ -867,58 +979,6 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const;
 
-  /// Return the topic endpoint information about publishers on a given topic.
-  /**
-   * The returned parameter is a list of topic endpoint information, where each item will contain
-   * the node name, node namespace, topic type, endpoint type, topic endpoint's GID, and its QoS
-   * profile.
-   *
-   * When the `no_mangle` parameter is `true`, the provided `topic_name` should be a valid topic
-   * name for the middleware (useful when combining ROS with native middleware (e.g. DDS) apps).
-   * When the `no_mangle` parameter is `false`, the provided `topic_name` should follow
-   * ROS topic name conventions.
-   *
-   * `topic_name` may be a relative, private, or fully qualified topic name.
-   * 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 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.
-   * \throws InvalidTopicNameError if the given topic_name is invalid.
-   * \throws std::runtime_error if internal error happens.
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::TopicEndpointInfo>
-  get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
-
-  /// Return the topic endpoint information about subscriptions on a given topic.
-  /**
-   * The returned parameter is a list of topic endpoint information, where each item will contain
-   * the node name, node namespace, topic type, endpoint type, topic endpoint's GID, and its QoS
-   * profile.
-   *
-   * When the `no_mangle` parameter is `true`, the provided `topic_name` should be a valid topic
-   * name for the middleware (useful when combining ROS with native middleware (e.g. DDS) apps).
-   * When the `no_mangle` parameter is `false`, the provided `topic_name` should follow
-   * ROS topic name conventions.
-   *
-   * `topic_name` may be a relative, private, or fully qualified topic name.
-   * 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 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.
-   * \throws InvalidTopicNameError if the given topic_name is invalid.
-   * \throws std::runtime_error if internal error happens.
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::TopicEndpointInfo>
-  get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
-
   /// Return a graph event, which will be set anytime a graph change occurs.
   /* The graph Event object is a loan which must be returned.
    * The Event object is scoped and therefore to return the loan just let it go
@@ -946,13 +1006,9 @@ public:
   rclcpp::Clock::SharedPtr
   get_clock();
 
-  RCLCPP_PUBLIC
-  rclcpp::Clock::ConstSharedPtr
-  get_clock() const;
-
   RCLCPP_PUBLIC
   Time
-  now() const;
+  now();
 
   /// Return the Node's internal NodeBaseInterface implementation.
   RCLCPP_PUBLIC
@@ -1012,17 +1068,15 @@ public:
    *
    * For example, consider:
    *
-   * ```cpp
-   * auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
-   * node->get_sub_namespace();  // -> ""
-   * auto sub_node1 = node->create_sub_node("a");
-   * sub_node1->get_sub_namespace();  // -> "a"
-   * auto sub_node2 = sub_node1->create_sub_node("b");
-   * sub_node2->get_sub_namespace();  // -> "a/b"
-   * auto sub_node3 = node->create_sub_node("foo");
-   * sub_node3->get_sub_namespace();  // -> "foo"
-   * node->get_sub_namespace();  // -> ""
-   * ```
+   *   auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
+   *   node->get_sub_namespace();  // -> ""
+   *   auto sub_node1 = node->create_sub_node("a");
+   *   sub_node1->get_sub_namespace();  // -> "a"
+   *   auto sub_node2 = sub_node1->create_sub_node("b");
+   *   sub_node2->get_sub_namespace();  // -> "a/b"
+   *   auto sub_node3 = node->create_sub_node("foo");
+   *   sub_node3->get_sub_namespace();  // -> "foo"
+   *   node->get_sub_namespace();  // -> ""
    *
    * get_namespace() will return the original node namespace, and will not
    * include the sub-namespace if one exists.
@@ -1044,17 +1098,15 @@ public:
    *
    * For example, consider:
    *
-   * ```cpp
-   * auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
-   * node->get_effective_namespace();  // -> "/my_ns"
-   * auto sub_node1 = node->create_sub_node("a");
-   * sub_node1->get_effective_namespace();  // -> "/my_ns/a"
-   * auto sub_node2 = sub_node1->create_sub_node("b");
-   * sub_node2->get_effective_namespace();  // -> "/my_ns/a/b"
-   * auto sub_node3 = node->create_sub_node("foo");
-   * sub_node3->get_effective_namespace();  // -> "/my_ns/foo"
-   * node->get_effective_namespace();  // -> "/my_ns"
-   * ```
+   *   auto node = std::make_shared<rclcpp::Node>("my_node", "my_ns");
+   *   node->get_effective_namespace();  // -> "/my_ns"
+   *   auto sub_node1 = node->create_sub_node("a");
+   *   sub_node1->get_effective_namespace();  // -> "/my_ns/a"
+   *   auto sub_node2 = sub_node1->create_sub_node("b");
+   *   sub_node2->get_effective_namespace();  // -> "/my_ns/a/b"
+   *   auto sub_node3 = node->create_sub_node("foo");
+   *   sub_node3->get_effective_namespace();  // -> "/my_ns/foo"
+   *   node->get_effective_namespace();  // -> "/my_ns"
    *
    * \sa get_namespace()
    * \sa get_sub_namespace()
@@ -1142,7 +1194,7 @@ private:
 
   RCLCPP_PUBLIC
   bool
-  group_in_node(CallbackGroup::SharedPtr group);
+  group_in_node(callback_group::CallbackGroup::SharedPtr group);
 
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;

rclcpp/include/rclcpp/node_impl.hpp

@@ -19,7 +19,6 @@
 #include <rmw/rmw.h>
 
 #include <algorithm>
-#include <chrono>
 #include <cstdlib>
 #include <iostream>
 #include <limits>
@@ -34,16 +33,15 @@
 #include "rcl/publisher.h"
 #include "rcl/subscription.h"
 
+#include "rcl_interfaces/msg/intra_process_message.hpp"
+
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/create_client.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
-#include "rclcpp/create_timer.hpp"
 #include "rclcpp/create_subscription.hpp"
-#include "rclcpp/detail/resolve_enable_topic_statistics.hpp"
+#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/timer.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -80,20 +78,48 @@ Node::create_publisher(
     options);
 }
 
+template<typename MessageT, typename AllocatorT, typename PublisherT>
+std::shared_ptr<PublisherT>
+Node::create_publisher(
+  const std::string & topic_name,
+  size_t qos_history_depth,
+  std::shared_ptr<AllocatorT> allocator)
+{
+  PublisherOptionsWithAllocator<AllocatorT> pub_options;
+  pub_options.allocator = allocator;
+  return this->create_publisher<MessageT, AllocatorT, PublisherT>(
+    topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), pub_options);
+}
+
+template<typename MessageT, typename AllocatorT, typename PublisherT>
+std::shared_ptr<PublisherT>
+Node::create_publisher(
+  const std::string & topic_name,
+  const rmw_qos_profile_t & qos_profile,
+  std::shared_ptr<AllocatorT> allocator)
+{
+  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
+  qos.get_rmw_qos_profile() = qos_profile;
+
+  PublisherOptionsWithAllocator<AllocatorT> pub_options;
+  pub_options.allocator = allocator;
+  return this->create_publisher<MessageT, AllocatorT, PublisherT>(topic_name, qos, pub_options);
+}
+
 template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename CallbackMessageT,
-  typename SubscriptionT,
-  typename MessageMemoryStrategyT>
+  typename SubscriptionT>
 std::shared_ptr<SubscriptionT>
 Node::create_subscription(
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   CallbackT && callback,
   const SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::SharedPtr
+  msg_mem_strat)
 {
   return rclcpp::create_subscription<MessageT>(
     *this,
@@ -104,19 +130,78 @@ Node::create_subscription(
     msg_mem_strat);
 }
 
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename Alloc,
+  typename SubscriptionT>
+std::shared_ptr<SubscriptionT>
+Node::create_subscription(
+  const std::string & topic_name,
+  CallbackT && callback,
+  const rmw_qos_profile_t & qos_profile,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
+  msg_mem_strat,
+  std::shared_ptr<Alloc> allocator)
+{
+  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
+  qos.get_rmw_qos_profile() = qos_profile;
+
+  SubscriptionOptionsWithAllocator<Alloc> sub_options;
+  sub_options.callback_group = group;
+  sub_options.ignore_local_publications = ignore_local_publications;
+  sub_options.allocator = allocator;
+
+  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
+    topic_name, qos, std::forward<CallbackT>(callback), sub_options, msg_mem_strat);
+}
+
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename Alloc,
+  typename SubscriptionT>
+std::shared_ptr<SubscriptionT>
+Node::create_subscription(
+  const std::string & topic_name,
+  CallbackT && callback,
+  size_t qos_history_depth,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  bool ignore_local_publications,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
+  msg_mem_strat,
+  std::shared_ptr<Alloc> allocator)
+{
+  SubscriptionOptionsWithAllocator<Alloc> sub_options;
+  sub_options.callback_group = group;
+  sub_options.ignore_local_publications = ignore_local_publications;
+  sub_options.allocator = allocator;
+
+  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
+    topic_name,
+    rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
+    std::forward<CallbackT>(callback),
+    sub_options,
+    msg_mem_strat);
+}
+
 template<typename DurationRepT, typename DurationT, typename CallbackT>
 typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::CallbackGroup::SharedPtr group)
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  return rclcpp::create_wall_timer(
-    period,
+  auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
+    std::chrono::duration_cast<std::chrono::nanoseconds>(period),
     std::move(callback),
-    group,
-    this->node_base_.get(),
-    this->node_timers_.get());
+    this->node_base_->get_context());
+  node_timers_->add_timer(timer, group);
+  return timer;
 }
 
 template<typename ServiceT>
@@ -124,15 +209,23 @@ typename Client<ServiceT>::SharedPtr
 Node::create_client(
   const std::string & service_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::CallbackGroup::SharedPtr group)
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  return rclcpp::create_client<ServiceT>(
-    node_base_,
+  rcl_client_options_t options = rcl_client_get_default_options();
+  options.qos = qos_profile;
+
+  using rclcpp::Client;
+  using rclcpp::ClientBase;
+
+  auto cli = Client<ServiceT>::make_shared(
+    node_base_.get(),
     node_graph_,
-    node_services_,
     extend_name_with_sub_namespace(service_name, this->get_sub_namespace()),
-    qos_profile,
-    group);
+    options);
+
+  auto cli_base_ptr = std::dynamic_pointer_cast<ClientBase>(cli);
+  node_services_->add_client(cli_base_ptr, group);
+  return cli;
 }
 
 template<typename ServiceT, typename CallbackT>
@@ -141,7 +234,7 @@ Node::create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::CallbackGroup::SharedPtr group)
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_service<ServiceT, CallbackT>(
     node_base_,
@@ -157,38 +250,27 @@ auto
 Node::declare_parameter(
   const std::string & name,
   const ParameterT & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
-  bool ignore_override)
+  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
 {
-  try {
-    return this->declare_parameter(
-      name,
-      rclcpp::ParameterValue(default_value),
-      parameter_descriptor,
-      ignore_override
-    ).get<ParameterT>();
-  } catch (const ParameterTypeException & ex) {
-    throw exceptions::InvalidParameterTypeException(name, ex.what());
-  }
+  return this->declare_parameter(
+    name,
+    rclcpp::ParameterValue(default_value),
+    parameter_descriptor
+  ).get<ParameterT>();
 }
 
 template<typename ParameterT>
 std::vector<ParameterT>
 Node::declare_parameters(
   const std::string & namespace_,
-  const std::map<std::string, ParameterT> & parameters,
-  bool ignore_overrides)
+  const std::map<std::string, ParameterT> & parameters)
 {
   std::vector<ParameterT> result;
   std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
   std::transform(
     parameters.begin(), parameters.end(), std::back_inserter(result),
-    [this, &normalized_namespace, ignore_overrides](auto element) {
-      return this->declare_parameter(
-        normalized_namespace + element.first,
-        element.second,
-        rcl_interfaces::msg::ParameterDescriptor(),
-        ignore_overrides);
+    [this, &normalized_namespace](auto element) {
+      return this->declare_parameter(normalized_namespace + element.first, element.second);
     }
   );
   return result;
@@ -201,26 +283,62 @@ Node::declare_parameters(
   const std::map<
     std::string,
     std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-  > & parameters,
-  bool ignore_overrides)
+  > & parameters)
 {
   std::vector<ParameterT> result;
   std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
   std::transform(
     parameters.begin(), parameters.end(), std::back_inserter(result),
-    [this, &normalized_namespace, ignore_overrides](auto element) {
+    [this, &normalized_namespace](auto element) {
       return static_cast<ParameterT>(
         this->declare_parameter(
           normalized_namespace + element.first,
           element.second.first,
-          element.second.second,
-          ignore_overrides)
+          element.second.second)
       );
     }
   );
   return result;
 }
 
+template<typename ParameterT>
+void
+Node::set_parameter_if_not_set(
+  const std::string & name,
+  const ParameterT & value)
+{
+  if (
+    !this->has_parameter(name) ||
+    this->describe_parameter(name).type == PARAMETER_NOT_SET)
+  {
+    this->set_parameter(rclcpp::Parameter(name, value));
+  }
+}
+
+// this is a partially-specialized version of set_parameter_if_not_set above,
+// where our concrete type for ParameterT is std::map, but the to-be-determined
+// type is the value in the map.
+template<typename ParameterT>
+void
+Node::set_parameters_if_not_set(
+  const std::string & name,
+  const std::map<std::string, ParameterT> & values)
+{
+  std::vector<rclcpp::Parameter> params;
+
+  for (const auto & val : values) {
+    std::string parameter_name = name + "." + val.first;
+    if (
+      !this->has_parameter(parameter_name) ||
+      this->describe_parameter(parameter_name).type == PARAMETER_NOT_SET)
+    {
+      params.push_back(rclcpp::Parameter(parameter_name, val.second));
+    }
+  }
+
+  this->set_parameters(params);
+}
+
 template<typename ParameterT>
 bool
 Node::get_parameter(const std::string & name, ParameterT & parameter) const
@@ -273,6 +391,31 @@ Node::get_parameters(
   return result;
 }
 
+template<typename ParameterT>
+void
+Node::get_parameter_or_set(
+  const std::string & name,
+  ParameterT & value,
+  const ParameterT & alternative_value)
+{
+  std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
+
+  bool got_parameter = get_parameter(sub_name, value);
+  if (!got_parameter) {
+    this->set_parameters({
+        rclcpp::Parameter(sub_name, alternative_value),
+      });
+    value = alternative_value;
+  }
+}
+
+template<typename CallbackT>
+void
+Node::register_param_change_callback(CallbackT && callback)
+{
+  this->node_parameters_->register_param_change_callback(std::forward<CallbackT>(callback));
+}
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__NODE_IMPL_HPP_

rclcpp/include/rclcpp/node_interfaces/get_node_base_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/get_node_timers_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/get_node_topics_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -23,6 +23,7 @@
 #include "rclcpp/context.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_options.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -42,112 +43,107 @@ public:
     const std::string & namespace_,
     rclcpp::Context::SharedPtr context,
     const rcl_node_options_t & rcl_node_options,
-    bool use_intra_process_default,
-    bool enable_topic_statistics_default);
+    bool use_intra_process_default);
 
   RCLCPP_PUBLIC
   virtual
   ~NodeBase();
 
   RCLCPP_PUBLIC
-
+  virtual
   const char *
-  get_name() const override;
+  get_name() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   const char *
-  get_namespace() const override;
+  get_namespace() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   const char *
-  get_fully_qualified_name() const override;
+  get_fully_qualified_name() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   rclcpp::Context::SharedPtr
-  get_context() override;
+  get_context();
 
   RCLCPP_PUBLIC
-
+  virtual
   rcl_node_t *
-  get_rcl_node_handle() override;
+  get_rcl_node_handle();
 
   RCLCPP_PUBLIC
-
+  virtual
   const rcl_node_t *
-  get_rcl_node_handle() const override;
+  get_rcl_node_handle() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   std::shared_ptr<rcl_node_t>
-  get_shared_rcl_node_handle() override;
+  get_shared_rcl_node_handle();
 
   RCLCPP_PUBLIC
-
+  virtual
   std::shared_ptr<const rcl_node_t>
-  get_shared_rcl_node_handle() const override;
+  get_shared_rcl_node_handle() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   bool
-  assert_liveliness() const override;
+  assert_liveliness() const;
 
   RCLCPP_PUBLIC
-
-  rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(rclcpp::CallbackGroupType group_type) override;
+  virtual
+  rclcpp::callback_group::CallbackGroup::SharedPtr
+  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
 
   RCLCPP_PUBLIC
-
-  rclcpp::CallbackGroup::SharedPtr
-  get_default_callback_group() override;
+  virtual
+  rclcpp::callback_group::CallbackGroup::SharedPtr
+  get_default_callback_group();
 
   RCLCPP_PUBLIC
-
+  virtual
   bool
-  callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override;
+  callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
-
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-  get_callback_groups() const override;
+  virtual
+  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  get_callback_groups() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   std::atomic_bool &
-  get_associated_with_executor_atomic() override;
+  get_associated_with_executor_atomic();
 
   RCLCPP_PUBLIC
-
+  virtual
   rcl_guard_condition_t *
-  get_notify_guard_condition() override;
+  get_notify_guard_condition();
 
   RCLCPP_PUBLIC
-
+  virtual
   std::unique_lock<std::recursive_mutex>
-  acquire_notify_guard_condition_lock() const override;
+  acquire_notify_guard_condition_lock() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   bool
-  get_use_intra_process_default() const override;
-
-  bool
-  get_enable_topic_statistics_default() const override;
+  get_use_intra_process_default() const;
 
 private:
   RCLCPP_DISABLE_COPY(NodeBase)
 
   rclcpp::Context::SharedPtr context_;
   bool use_intra_process_default_;
-  bool enable_topic_statistics_default_;
 
   std::shared_ptr<rcl_node_t> node_handle_;
 
-  rclcpp::CallbackGroup::SharedPtr default_callback_group_;
-  std::vector<rclcpp::CallbackGroup::WeakPtr> callback_groups_;
+  rclcpp::callback_group::CallbackGroup::SharedPtr default_callback_group_;
+  std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> callback_groups_;
 
   std::atomic_bool associated_with_executor_;
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -111,25 +111,25 @@ public:
   /// Create and return a callback group.
   RCLCPP_PUBLIC
   virtual
-  rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(rclcpp::CallbackGroupType group_type) = 0;
+  rclcpp::callback_group::CallbackGroup::SharedPtr
+  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type) = 0;
 
   /// Return the default callback group.
   RCLCPP_PUBLIC
   virtual
-  rclcpp::CallbackGroup::SharedPtr
+  rclcpp::callback_group::CallbackGroup::SharedPtr
   get_default_callback_group() = 0;
 
   /// Return true if the given callback group is associated with this node.
   RCLCPP_PUBLIC
   virtual
   bool
-  callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) = 0;
+  callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
 
   /// Return list of callback groups associated with this node.
   RCLCPP_PUBLIC
   virtual
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
+  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
   get_callback_groups() const = 0;
 
   /// Return the atomic bool which is used to ensure only one executor is used.
@@ -161,12 +161,6 @@ public:
   virtual
   bool
   get_use_intra_process_default() const = 0;
-
-  /// Return the default preference for enabling topic statistics collection.
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  get_enable_topic_statistics_default() const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_clock.hpp

@@ -15,14 +15,14 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
 
+#include "rclcpp/callback_group.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_clock_interface.hpp"
-#include "rclcpp/node_interfaces/node_graph_interface.hpp"
-#include "rclcpp/node_interfaces/node_logging_interface.hpp"
-#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/time_source.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -50,13 +50,9 @@ public:
 
   /// Get a clock which will be kept up to date by the node.
   RCLCPP_PUBLIC
+  virtual
   rclcpp::Clock::SharedPtr
-  get_clock() override;
-
-  /// Get a clock which will be kept up to date by the node.
-  RCLCPP_PUBLIC
-  rclcpp::Clock::ConstSharedPtr
-  get_clock() const override;
+  get_clock();
 
 private:
   RCLCPP_DISABLE_COPY(NodeClock)

rclcpp/include/rclcpp/node_interfaces/node_clock_interface.hpp

@@ -15,6 +15,7 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_
 
+#include "rclcpp/callback_group.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -39,12 +40,6 @@ public:
   virtual
   rclcpp::Clock::SharedPtr
   get_clock() = 0;
-
-  /// Get a const ROS clock which will be kept up to date by the node.
-  RCLCPP_PUBLIC
-  virtual
-  rclcpp::Clock::ConstSharedPtr
-  get_clock() const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -30,7 +30,6 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rmw/topic_endpoint_info_array.h"
 
 namespace rclcpp
 {
@@ -57,78 +56,66 @@ public:
   ~NodeGraph();
 
   RCLCPP_PUBLIC
-
+  virtual
   std::map<std::string, std::vector<std::string>>
-  get_topic_names_and_types(bool no_demangle = false) const override;
+  get_topic_names_and_types(bool no_demangle = false) const;
 
   RCLCPP_PUBLIC
-
+  virtual
   std::map<std::string, std::vector<std::string>>
-  get_service_names_and_types() const override;
+  get_service_names_and_types() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   std::vector<std::string>
-  get_node_names() const override;
+  get_node_names() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   std::vector<std::pair<std::string, std::string>>
-  get_node_names_and_namespaces() const override;
+  get_node_names_and_namespaces() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   size_t
-  count_publishers(const std::string & topic_name) const override;
+  count_publishers(const std::string & topic_name) const;
 
   RCLCPP_PUBLIC
-
+  virtual
   size_t
-  count_subscribers(const std::string & topic_name) const override;
+  count_subscribers(const std::string & topic_name) const;
 
   RCLCPP_PUBLIC
-
+  virtual
   const rcl_guard_condition_t *
-  get_graph_guard_condition() const override;
+  get_graph_guard_condition() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   void
-  notify_graph_change() override;
+  notify_graph_change();
 
   RCLCPP_PUBLIC
-
+  virtual
   void
-  notify_shutdown() override;
+  notify_shutdown();
 
   RCLCPP_PUBLIC
-
+  virtual
   rclcpp::Event::SharedPtr
-  get_graph_event() override;
+  get_graph_event();
 
   RCLCPP_PUBLIC
-
+  virtual
   void
   wait_for_graph_change(
     rclcpp::Event::SharedPtr event,
-    std::chrono::nanoseconds timeout) override;
+    std::chrono::nanoseconds timeout);
 
   RCLCPP_PUBLIC
-
+  virtual
   size_t
-  count_graph_users() override;
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::TopicEndpointInfo>
-  get_publishers_info_by_topic(
-    const std::string & topic_name,
-    bool no_mangle = false) const override;
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::TopicEndpointInfo>
-  get_subscriptions_info_by_topic(
-    const std::string & topic_name,
-    bool no_mangle = false) const override;
+  count_graph_users();
 
 private:
   RCLCPP_DISABLE_COPY(NodeGraph)

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -15,120 +15,20 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_
 
-#include <algorithm>
-#include <array>
 #include <chrono>
 #include <map>
 #include <string>
 #include <utility>
 #include <vector>
 
-#include "rcl/graph.h"
 #include "rcl/guard_condition.h"
 
 #include "rclcpp/event.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
-
-enum class EndpointType
-{
-  Invalid = RMW_ENDPOINT_INVALID,
-  Publisher = RMW_ENDPOINT_PUBLISHER,
-  Subscription = RMW_ENDPOINT_SUBSCRIPTION
-};
-
-/**
- * Struct that contains topic endpoint information like the associated node name, node namespace,
- * topic type, endpoint type, endpoint GID, and its QoS.
- */
-class TopicEndpointInfo
-{
-public:
-  /// Construct a TopicEndpointInfo from a rcl_topic_endpoint_info_t.
-  RCLCPP_PUBLIC
-  explicit TopicEndpointInfo(const rcl_topic_endpoint_info_t & info)
-  : node_name_(info.node_name),
-    node_namespace_(info.node_namespace),
-    topic_type_(info.topic_type),
-    endpoint_type_(static_cast<rclcpp::EndpointType>(info.endpoint_type)),
-    qos_profile_({info.qos_profile.history, info.qos_profile.depth}, info.qos_profile)
-  {
-    std::copy(info.endpoint_gid, info.endpoint_gid + RMW_GID_STORAGE_SIZE, endpoint_gid_.begin());
-  }
-
-  /// Get a mutable reference to the node name.
-  RCLCPP_PUBLIC
-  std::string &
-  node_name();
-
-  /// Get a const reference to the node name.
-  RCLCPP_PUBLIC
-  const std::string &
-  node_name() const;
-
-  /// Get a mutable reference to the node namespace.
-  RCLCPP_PUBLIC
-  std::string &
-  node_namespace();
-
-  /// Get a const reference to the node namespace.
-  RCLCPP_PUBLIC
-  const std::string &
-  node_namespace() const;
-
-  /// Get a mutable reference to the topic type string.
-  RCLCPP_PUBLIC
-  std::string &
-  topic_type();
-
-  /// Get a const reference to the topic type string.
-  RCLCPP_PUBLIC
-  const std::string &
-  topic_type() const;
-
-  /// Get a mutable reference to the topic endpoint type.
-  RCLCPP_PUBLIC
-  rclcpp::EndpointType &
-  endpoint_type();
-
-  /// Get a const reference to the topic endpoint type.
-  RCLCPP_PUBLIC
-  const rclcpp::EndpointType &
-  endpoint_type() const;
-
-  /// Get a mutable reference to the GID of the topic endpoint.
-  RCLCPP_PUBLIC
-  std::array<uint8_t, RMW_GID_STORAGE_SIZE> &
-  endpoint_gid();
-
-  /// Get a const reference to the GID of the topic endpoint.
-  RCLCPP_PUBLIC
-  const std::array<uint8_t, RMW_GID_STORAGE_SIZE> &
-  endpoint_gid() const;
-
-  /// Get a mutable reference to the QoS profile of the topic endpoint.
-  RCLCPP_PUBLIC
-  rclcpp::QoS &
-  qos_profile();
-
-  /// Get a const reference to the QoS profile of the topic endpoint.
-  RCLCPP_PUBLIC
-  const rclcpp::QoS &
-  qos_profile() const;
-
-private:
-  std::string node_name_;
-  std::string node_namespace_;
-  std::string topic_type_;
-  rclcpp::EndpointType endpoint_type_;
-  std::array<uint8_t, RMW_GID_STORAGE_SIZE> endpoint_gid_;
-  rclcpp::QoS qos_profile_;
-};
-
 namespace node_interfaces
 {
 
@@ -250,24 +150,6 @@ public:
   virtual
   size_t
   count_graph_users() = 0;
-
-  /// Return the topic endpoint information about publishers on a given topic.
-  /**
-   * \sa rclcpp::Node::get_publishers_info_by_topic
-   */
-  RCLCPP_PUBLIC
-  virtual
-  std::vector<rclcpp::TopicEndpointInfo>
-  get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const = 0;
-
-  /// Return the topic endpoint information about subscriptions on a given topic.
-  /**
-   * \sa rclcpp::Node::get_subscriptions_info_by_topic
-   */
-  RCLCPP_PUBLIC
-  virtual
-  std::vector<rclcpp::TopicEndpointInfo>
-  get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_logging.hpp

@@ -42,14 +42,14 @@ public:
   ~NodeLogging();
 
   RCLCPP_PUBLIC
-
+  virtual
   rclcpp::Logger
-  get_logger() const override;
+  get_logger() const;
 
   RCLCPP_PUBLIC
-
+  virtual
   const char *
-  get_logger_name() const override;
+  get_logger_name() const;
 
 private:
   RCLCPP_DISABLE_COPY(NodeLogging)

rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp

@@ -19,6 +19,7 @@
 
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -17,7 +17,6 @@
 
 #include <map>
 #include <memory>
-#include <list>
 #include <string>
 #include <vector>
 
@@ -28,7 +27,6 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
@@ -52,30 +50,6 @@ struct ParameterInfo
   rcl_interfaces::msg::ParameterDescriptor descriptor;
 };
 
-// Internal RAII-style guard for mutation recursion
-class ParameterMutationRecursionGuard
-{
-public:
-  explicit ParameterMutationRecursionGuard(bool & allow_mod)
-  : allow_modification_(allow_mod)
-  {
-    if (!allow_modification_) {
-      throw rclcpp::exceptions::ParameterModifiedInCallbackException(
-              "cannot set or declare a parameter, or change the callback from within set callback");
-    }
-
-    allow_modification_ = false;
-  }
-
-  ~ParameterMutationRecursionGuard()
-  {
-    allow_modification_ = true;
-  }
-
-private:
-  bool & allow_modification_;
-};
-
 /// Implementation of the NodeParameters part of the Node API.
 class NodeParameters : public NodeParametersInterface
 {
@@ -106,8 +80,7 @@ public:
   declare_parameter(
     const std::string & name,
     const rclcpp::ParameterValue & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
-    bool ignore_override) override;
+    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor) override;
 
   RCLCPP_PUBLIC
   void
@@ -159,38 +132,26 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const override;
 
-  RCLCPP_PUBLIC
-  OnSetParametersCallbackHandle::SharedPtr
-  add_on_set_parameters_callback(OnParametersSetCallbackType callback) override;
-
-  RCLCPP_PUBLIC
-  void
-  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
-
   RCLCPP_PUBLIC
   OnParametersSetCallbackType
   set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
 
+  [[deprecated("use set_on_parameters_set_callback() instead")]]
+  RCLCPP_PUBLIC
+  void
+  register_param_change_callback(OnParametersSetCallbackType callback) override;
+
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;
 
-  using CallbacksContainerType = std::list<OnSetParametersCallbackHandle::WeakPtr>;
-
 private:
   RCLCPP_DISABLE_COPY(NodeParameters)
 
-  mutable std::recursive_mutex mutex_;
-
-  // There are times when we don't want to allow modifications to parameters
-  // (particularly when a set_parameter callback tries to call set_parameter,
-  // declare_parameter, etc).  In those cases, this will be set to false.
-  bool parameter_modification_enabled_{true};
+  mutable std::mutex mutex_;
 
   OnParametersSetCallbackType on_parameters_set_callback_ = nullptr;
 
-  CallbacksContainerType on_parameters_set_callback_container_;
-
   std::map<std::string, ParameterInfo> parameters_;
 
   std::map<std::string, rclcpp::ParameterValue> parameter_overrides_;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_
 
 #include <map>
-#include <memory>
 #include <string>
 #include <vector>
 
@@ -33,18 +32,6 @@ namespace rclcpp
 namespace node_interfaces
 {
 
-struct OnSetParametersCallbackHandle
-{
-  RCLCPP_SMART_PTR_DEFINITIONS(OnSetParametersCallbackHandle)
-
-  using OnParametersSetCallbackType =
-    std::function<
-    rcl_interfaces::msg::SetParametersResult(
-      const std::vector<rclcpp::Parameter> &)>;
-
-  OnParametersSetCallbackType callback;
-};
-
 /// Pure virtual interface class for the NodeParameters part of the Node API.
 class NodeParametersInterface
 {
@@ -66,8 +53,7 @@ public:
     const std::string & name,
     const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
     const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor(),
-    bool ignore_override = false) = 0;
+    rcl_interfaces::msg::ParameterDescriptor()) = 0;
 
   /// Undeclare a parameter.
   /**
@@ -171,25 +157,13 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const = 0;
 
-  using OnParametersSetCallbackType = OnSetParametersCallbackHandle::OnParametersSetCallbackType;
+  using OnParametersSetCallbackType =
+    std::function<
+    rcl_interfaces::msg::SetParametersResult(const std::vector<rclcpp::Parameter> &)
+    >;
 
-  /// Add a callback for when parameters are being set.
-  /**
-   * \sa rclcpp::Node::add_on_set_parameters_callback
-   */
-  RCLCPP_PUBLIC
-  virtual
-  OnSetParametersCallbackHandle::SharedPtr
-  add_on_set_parameters_callback(OnParametersSetCallbackType callback) = 0;
-
-  /// Remove a callback registered with `add_on_set_parameters_callback`.
-  /**
-   * \sa rclcpp::Node::remove_on_set_parameters_callback
-   */
-  RCLCPP_PUBLIC
-  virtual
-  void
-  remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) = 0;
+  using ParametersCallbackFunction [[deprecated("use OnParametersSetCallbackType instead")]] =
+    OnParametersSetCallbackType;
 
   /// Register a callback for when parameters are being set, return an existing one.
   /**
@@ -200,6 +174,12 @@ public:
   OnParametersSetCallbackType
   set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
 
+  [[deprecated("use set_on_parameters_set_callback() instead")]]
+  RCLCPP_PUBLIC
+  virtual
+  void
+  register_param_change_callback(OnParametersSetCallbackType callback) = 0;
+
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_services.hpp

@@ -42,18 +42,18 @@ public:
   ~NodeServices();
 
   RCLCPP_PUBLIC
-
+  virtual
   void
   add_client(
     rclcpp::ClientBase::SharedPtr client_base_ptr,
-    rclcpp::CallbackGroup::SharedPtr group) override;
+    rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
-
+  virtual
   void
   add_service(
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
-    rclcpp::CallbackGroup::SharedPtr group) override;
+    rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
 private:
   RCLCPP_DISABLE_COPY(NodeServices)

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

@@ -41,14 +41,14 @@ public:
   void
   add_client(
     rclcpp::ClientBase::SharedPtr client_base_ptr,
-    rclcpp::CallbackGroup::SharedPtr group) = 0;
+    rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
 
   RCLCPP_PUBLIC
   virtual
   void
   add_service(
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
-    rclcpp::CallbackGroup::SharedPtr group) = 0;
+    rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_time_source.hpp

@@ -15,13 +15,12 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_TIME_SOURCE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_TIME_SOURCE_HPP_
 
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/clock.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_clock_interface.hpp"
-#include "rclcpp/node_interfaces/node_graph_interface.hpp"
-#include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
-#include "rclcpp/node_interfaces/node_services_interface.hpp"
 #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 #include "rclcpp/time_source.hpp"

rclcpp/include/rclcpp/node_interfaces/node_time_source_interface.hpp

@@ -15,6 +15,8 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_TIME_SOURCE_INTERFACE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_TIME_SOURCE_INTERFACE_HPP_
 
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/clock.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
 

rclcpp/include/rclcpp/node_interfaces/node_timers.hpp

@@ -42,11 +42,11 @@ public:
 
   /// Add a timer to the node.
   RCLCPP_PUBLIC
-
+  virtual
   void
   add_timer(
     rclcpp::TimerBase::SharedPtr timer,
-    rclcpp::CallbackGroup::SharedPtr callback_group) override;
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group);
 
 private:
   RCLCPP_DISABLE_COPY(NodeTimers)

rclcpp/include/rclcpp/node_interfaces/node_timers_interface.hpp

@@ -41,7 +41,7 @@ public:
   void
   add_timer(
     rclcpp::TimerBase::SharedPtr timer,
-    rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -22,7 +22,6 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 #include "rclcpp/publisher.hpp"
 #include "rclcpp/publisher_factory.hpp"
@@ -40,9 +39,7 @@ public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTopicsInterface)
 
   RCLCPP_PUBLIC
-  NodeTopics(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeTimersInterface * node_timers);
+  explicit NodeTopics(rclcpp::node_interfaces::NodeBaseInterface * node_base);
 
   RCLCPP_PUBLIC
   ~NodeTopics() override;
@@ -52,40 +49,37 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    const rclcpp::QoS & qos) override;
+    const rcl_publisher_options_t & publisher_options,
+    bool use_intra_process) override;
 
   RCLCPP_PUBLIC
   void
   add_publisher(
     rclcpp::PublisherBase::SharedPtr publisher,
-    rclcpp::CallbackGroup::SharedPtr callback_group) override;
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
 
   RCLCPP_PUBLIC
   rclcpp::SubscriptionBase::SharedPtr
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    const rclcpp::QoS & qos) override;
+    const rcl_subscription_options_t & subscription_options,
+    bool use_intra_process) override;
 
   RCLCPP_PUBLIC
   void
   add_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    rclcpp::CallbackGroup::SharedPtr callback_group) override;
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface *
   get_node_base_interface() const override;
 
-  RCLCPP_PUBLIC
-  rclcpp::node_interfaces::NodeTimersInterface *
-  get_node_timers_interface() const override;
-
 private:
   RCLCPP_DISABLE_COPY(NodeTopics)
 
   rclcpp::node_interfaces::NodeBaseInterface * node_base_;
-  rclcpp::node_interfaces::NodeTimersInterface * node_timers_;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -22,10 +22,7 @@
 #include "rcl/publisher.h"
 #include "rcl/subscription.h"
 
-#include "rclcpp/callback_group.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/publisher.hpp"
 #include "rclcpp/publisher_factory.hpp"
 #include "rclcpp/subscription.hpp"
@@ -53,14 +50,15 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    const rclcpp::QoS & qos) = 0;
+    const rcl_publisher_options_t & publisher_options,
+    bool use_intra_process) = 0;
 
   RCLCPP_PUBLIC
   virtual
   void
   add_publisher(
     rclcpp::PublisherBase::SharedPtr publisher,
-    rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
 
   RCLCPP_PUBLIC
   virtual
@@ -68,24 +66,20 @@ public:
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    const rclcpp::QoS & qos) = 0;
+    const rcl_subscription_options_t & subscription_options,
+    bool use_intra_process) = 0;
 
   RCLCPP_PUBLIC
   virtual
   void
   add_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
 
   RCLCPP_PUBLIC
   virtual
   rclcpp::node_interfaces::NodeBaseInterface *
   get_node_base_interface() const = 0;
-
-  RCLCPP_PUBLIC
-  virtual
-  rclcpp::node_interfaces::NodeTimersInterface *
-  get_node_timers_interface() const = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_waitables.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP__NODE_INTERFACES__NODE_WAITABLES_HPP_
 
 #include "rclcpp/callback_group.hpp"
+#include "rclcpp/client.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_waitables_interface.hpp"
@@ -41,18 +42,18 @@ public:
   ~NodeWaitables();
 
   RCLCPP_PUBLIC
-
+  virtual
   void
   add_waitable(
     rclcpp::Waitable::SharedPtr waitable_base_ptr,
-    rclcpp::CallbackGroup::SharedPtr group) override;
+    rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
-
+  virtual
   void
   remove_waitable(
     rclcpp::Waitable::SharedPtr waitable_ptr,
-    rclcpp::CallbackGroup::SharedPtr group) noexcept override;
+    rclcpp::callback_group::CallbackGroup::SharedPtr group) noexcept;
 
 private:
   RCLCPP_DISABLE_COPY(NodeWaitables)

rclcpp/include/rclcpp/node_interfaces/node_waitables_interface.hpp

@@ -40,7 +40,7 @@ public:
   void
   add_waitable(
     rclcpp::Waitable::SharedPtr waitable_ptr,
-    rclcpp::CallbackGroup::SharedPtr group) = 0;
+    rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
 
   /// \note this function should not throw because it may be called in destructors
   RCLCPP_PUBLIC
@@ -48,7 +48,7 @@ public:
   void
   remove_waitable(
     rclcpp::Waitable::SharedPtr waitable_ptr,
-    rclcpp::CallbackGroup::SharedPtr group) noexcept = 0;
+    rclcpp::callback_group::CallbackGroup::SharedPtr group) noexcept = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_options.hpp

@@ -38,12 +38,11 @@ public:
   /**
    * Default values for the node options:
    *
-   *   - context = rclcpp::contexts::get_global_default_context()
+   *   - context = rclcpp::contexts::default_context::get_global_default_context()
    *   - arguments = {}
    *   - parameter_overrides = {}
    *   - use_global_arguments = true
    *   - use_intra_process_comms = false
-   *   - enable_topic_statistics = false
    *   - start_parameter_services = true
    *   - start_parameter_event_publisher = true
    *   - parameter_event_qos = rclcpp::ParameterEventQoS
@@ -100,7 +99,7 @@ public:
   /// Set the arguments, return this for parameter idiom.
   /**
    * These arguments are used to extract remappings used by the node and other
-   * ROS specific settings, as well as user defined non-ROS arguments.
+   * settings.
    *
    * This will cause the internal rcl_node_options_t struct to be invalidated.
    */
@@ -153,22 +152,6 @@ public:
   NodeOptions &
   use_global_arguments(bool use_global_arguments);
 
-  /// Return the enable_rosout flag.
-  RCLCPP_PUBLIC
-  bool
-  enable_rosout() const;
-
-  /// Set the enable_rosout flag, return this for parameter idiom.
-  /**
-   * If false this will cause the node not to use rosout logging.
-   *
-   * Defaults to true for now, as there are still some cases where it is
-   * desirable.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  enable_rosout(bool enable_rosout);
-
   /// Return the use_intra_process_comms flag.
   RCLCPP_PUBLIC
   bool
@@ -188,23 +171,6 @@ public:
   NodeOptions &
   use_intra_process_comms(bool use_intra_process_comms);
 
-  /// Return the enable_topic_statistics flag.
-  RCLCPP_PUBLIC
-  bool
-  enable_topic_statistics() const;
-
-  /// Set the enable_topic_statistics flag, return this for parameter idiom.
-  /**
-   * If true, topic statistics collection and publication will be enabled
-   * for all subscriptions.
-   * This can be used to override the global topic statistics setting.
-   *
-   * Defaults to false.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  enable_topic_statistics(bool enable_topic_statistics);
-
   /// Return the start_parameter_services flag.
   RCLCPP_PUBLIC
   bool
@@ -338,7 +304,7 @@ private:
   // documentation in this class.
 
   rclcpp::Context::SharedPtr context_ {
-    rclcpp::contexts::get_global_default_context()};
+    rclcpp::contexts::default_context::get_global_default_context()};
 
   std::vector<std::string> arguments_ {};
 
@@ -346,12 +312,8 @@ private:
 
   bool use_global_arguments_ {true};
 
-  bool enable_rosout_ {true};
-
   bool use_intra_process_comms_ {false};
 
-  bool enable_topic_statistics_ {false};
-
   bool start_parameter_services_ {true};
 
   bool start_parameter_event_publisher_ {true};

rclcpp/include/rclcpp/parameter.hpp

@@ -22,7 +22,6 @@
 #include <vector>
 
 #include "rcl_interfaces/msg/parameter.hpp"
-#include "rclcpp/exceptions.hpp"
 #include "rclcpp/parameter_value.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -222,12 +221,8 @@ template<typename T>
 decltype(auto)
 Parameter::get_value() const
 {
-  try {
-    // use the helper to specialize for the ParameterValue and Parameter cases.
-    return detail::get_value_helper<T>(this);
-  } catch (const ParameterTypeException & ex) {
-    throw exceptions::InvalidParameterTypeException(this->name_, ex.what());
-  }
+  // use the helper to specialize for the ParameterValue and Parameter cases.
+  return detail::get_value_helper<T>(this);
 }
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/parameter_client.hpp

@@ -46,6 +46,15 @@ class AsyncParametersClient
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(AsyncParametersClient)
 
+  /// Create an async parameters client.
+  /**
+   * \param[in] node_base_interface The node base interface of the corresponding node.
+   * \param[in] node_topics_interface Node topic base interface.
+   * \param[in] node_graph_interface The node graph interface of the corresponding node.
+   * \param[in] node_services_interface Node service interface.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   */
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
@@ -53,22 +62,31 @@ 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,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
+  /// Constructor
+  /**
+   * \param[in] node The async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   */
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
+  /// Constructor
+  /**
+   * \param[in] node The  async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   */
   RCLCPP_PUBLIC
   AsyncParametersClient(
     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);
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::Parameter>>
@@ -205,7 +223,7 @@ public:
 
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
+    rclcpp::executor::Executor::SharedPtr executor,
     rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
@@ -218,14 +236,14 @@ public:
 
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
+    rclcpp::executor::Executor::SharedPtr executor,
     rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::Executor::SharedPtr executor,
+    rclcpp::executor::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,
@@ -271,12 +289,7 @@ public:
   {
     return get_parameter_impl(
       parameter_name,
-      std::function<T()>(
-        [&parameter_name]() -> T
-        {
-          throw std::runtime_error("Parameter '" + parameter_name + "' is not set");
-        })
-    );
+      std::function<T()>([]() -> T {throw std::runtime_error("Parameter not set");}));
   }
 
   RCLCPP_PUBLIC
@@ -339,7 +352,7 @@ public:
   }
 
 private:
-  rclcpp::Executor::SharedPtr executor_;
+  rclcpp::executor::Executor::SharedPtr executor_;
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
   AsyncParametersClient::SharedPtr async_parameters_client_;
 };

rclcpp/include/rclcpp/parameter_events_filter.hpp

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

rclcpp/include/rclcpp/publisher.hpp

@@ -28,141 +28,67 @@
 #include "rcl/error_handling.h"
 #include "rcl/publisher.h"
 
+#include "rcl_interfaces/msg/intra_process_message.hpp"
+
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
-#include "rclcpp/detail/resolve_use_intra_process.hpp"
-#include "rclcpp/experimental/intra_process_manager.hpp"
-#include "rclcpp/loaned_message.hpp"
+#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/publisher_base.hpp"
-#include "rclcpp/publisher_options.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
 
-template<typename MessageT, typename AllocatorT>
-class LoanedMessage;
-
 /// A publisher publishes messages of any type to a topic.
-template<typename MessageT, typename AllocatorT = std::allocator<void>>
+template<typename MessageT, typename Alloc = std::allocator<void>>
 class Publisher : public PublisherBase
 {
 public:
-  using MessageAllocatorTraits = allocator::AllocRebind<MessageT, AllocatorT>;
-  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAllocator, MessageT>;
+  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+  using MessageAlloc = typename MessageAllocTraits::allocator_type;
+  using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
   using MessageSharedPtr = std::shared_ptr<const MessageT>;
 
-  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, AllocatorT>)
+  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, Alloc>)
 
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
-    const rclcpp::QoS & qos,
-    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+    const rcl_publisher_options_t & publisher_options,
+    const PublisherEventCallbacks & event_callbacks,
+    const std::shared_ptr<MessageAlloc> & allocator)
   : PublisherBase(
       node_base,
       topic,
       *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
-      options.template to_rcl_publisher_options<MessageT>(qos)),
-    options_(options),
-    message_allocator_(new MessageAllocator(*options.get_allocator().get()))
+      publisher_options),
+    message_allocator_(allocator)
   {
     allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
 
-    if (options_.event_callbacks.deadline_callback) {
-      this->add_event_handler(
-        options_.event_callbacks.deadline_callback,
+    if (event_callbacks.deadline_callback) {
+      this->add_event_handler(event_callbacks.deadline_callback,
         RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
     }
-    if (options_.event_callbacks.liveliness_callback) {
-      this->add_event_handler(
-        options_.event_callbacks.liveliness_callback,
+    if (event_callbacks.liveliness_callback) {
+      this->add_event_handler(event_callbacks.liveliness_callback,
         RCL_PUBLISHER_LIVELINESS_LOST);
     }
-    if (options_.event_callbacks.incompatible_qos_callback) {
-      this->add_event_handler(
-        options_.event_callbacks.incompatible_qos_callback,
-        RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
-    } else if (options_.use_default_callbacks) {
-      // Register default callback when not specified
-      try {
-        this->add_event_handler(
-          [this](QOSOfferedIncompatibleQoSInfo & info) {
-            this->default_incompatible_qos_callback(info);
-          },
-          RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
-      } catch (UnsupportedEventTypeException & /*exc*/) {
-        // pass
-      }
-    }
-    // Setup continues in the post construction method, post_init_setup().
-  }
-
-  /// Called post construction, so that construction may continue after shared_from_this() works.
-  virtual
-  void
-  post_init_setup(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    const std::string & topic,
-    const rclcpp::QoS & qos,
-    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
-  {
-    // Topic is unused for now.
-    (void)topic;
-    (void)options;
-
-    // If needed, setup intra process communication.
-    if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
-      auto context = node_base->get_context();
-      // Get the intra process manager instance for this context.
-      auto ipm = context->get_sub_context<rclcpp::experimental::IntraProcessManager>();
-      // Register the publisher with the intra process manager.
-      if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
-        throw std::invalid_argument(
-                "intraprocess communication is not allowed with keep all history qos policy");
-      }
-      if (qos.get_rmw_qos_profile().depth == 0) {
-        throw std::invalid_argument(
-                "intraprocess communication is not allowed with a zero qos history depth value");
-      }
-      if (qos.get_rmw_qos_profile().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
-        throw std::invalid_argument(
-                "intraprocess communication allowed only with volatile durability");
-      }
-      uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this());
-      this->setup_intra_process(
-        intra_process_publisher_id,
-        ipm);
-    }
   }
 
   virtual ~Publisher()
   {}
 
-  /// Borrow a loaned ROS message from the middleware.
-  /**
-   * If the middleware is capable of loaning memory for a ROS message instance,
-   * the loaned message will be directly allocated in the middleware.
-   * If not, the message allocator of this rclcpp::Publisher instance is being used.
-   *
-   * With a call to \sa `publish` the LoanedMessage instance is being returned to the middleware
-   * or free'd accordingly to the allocator.
-   * If the message is not being published but processed differently, the destructor of this
-   * class will either return the message to the middleware or deallocate it via the internal
-   * allocator.
-   * \sa rclcpp::LoanedMessage for details of the LoanedMessage class.
-   *
-   * \return LoanedMessage containing memory for a ROS message of type MessageT
-   */
-  rclcpp::LoanedMessage<MessageT, AllocatorT>
-  borrow_loaned_message()
+  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  make_mapped_ring_buffer(size_t size) const override
   {
-    return rclcpp::LoanedMessage<MessageT, AllocatorT>(this, this->get_allocator());
+    return mapped_ring_buffer::MappedRingBuffer<
+      MessageT,
+      typename Publisher<MessageT, Alloc>::MessageAlloc
+    >::make_shared(size, this->get_allocator());
   }
 
   /// Send a message to the topic for this publisher.
@@ -174,7 +100,7 @@ public:
   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
   {
     if (!intra_process_is_enabled_) {
-      this->do_inter_process_publish(*msg);
+      this->do_inter_process_publish(msg.get());
       return;
     }
     // If an interprocess subscription exist, then the unique_ptr is promoted
@@ -183,15 +109,34 @@ public:
     // interprocess publish, resulting in lower publish-to-subscribe latency.
     // It's not possible to do that with an unique_ptr,
     // as do_intra_process_publish takes the ownership of the message.
+    uint64_t message_seq;
     bool inter_process_publish_needed =
       get_subscription_count() > get_intra_process_subscription_count();
-
+    MessageSharedPtr shared_msg;
     if (inter_process_publish_needed) {
-      auto shared_msg = this->do_intra_process_publish_and_return_shared(std::move(msg));
-      this->do_inter_process_publish(*shared_msg);
+      shared_msg = std::move(msg);
+      message_seq =
+        store_intra_process_message(intra_process_publisher_id_, shared_msg);
     } else {
-      this->do_intra_process_publish(std::move(msg));
+      message_seq =
+        store_intra_process_message(intra_process_publisher_id_, std::move(msg));
     }
+    this->do_intra_process_publish(message_seq);
+    if (inter_process_publish_needed) {
+      this->do_inter_process_publish(shared_msg.get());
+    }
+  }
+
+// Skip deprecated attribute in windows, as it raise a warning in template specialization.
+#if !defined(_WIN32)
+  [[deprecated(
+    "publishing an unique_ptr is prefered when using intra process communication."
+    " If using a shared_ptr, use publish(*msg).")]]
+#endif
+  virtual void
+  publish(const std::shared_ptr<const MessageT> & msg)
+  {
+    publish(*msg);
   }
 
   virtual void
@@ -200,76 +145,69 @@ public:
     // Avoid allocating when not using intra process.
     if (!intra_process_is_enabled_) {
       // In this case we're not using intra process.
-      return this->do_inter_process_publish(msg);
+      return this->do_inter_process_publish(&msg);
     }
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
     // As the message is not const, a copy should be made.
     // A shared_ptr<const MessageT> could also be constructed here.
-    auto ptr = MessageAllocatorTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocatorTraits::construct(*message_allocator_.get(), ptr, msg);
+    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
+    MessageAllocTraits::construct(*message_allocator_.get(), ptr, msg);
     MessageUniquePtr unique_msg(ptr, message_deleter_);
     this->publish(std::move(unique_msg));
   }
 
+// Skip deprecated attribute in windows, as it raise a warning in template specialization.
+#if !defined(_WIN32)
+  [[deprecated(
+    "Use publish(*msg). Check against nullptr before calling if necessary.")]]
+#endif
+  virtual void
+  publish(const MessageT * msg)
+  {
+    if (!msg) {
+      throw std::runtime_error("msg argument is nullptr");
+    }
+    return this->publish(*msg);
+  }
+
   void
   publish(const rcl_serialized_message_t & serialized_msg)
   {
     return this->do_serialized_publish(&serialized_msg);
   }
 
+// Skip deprecated attribute in windows, as it raise a warning in template specialization.
+#if !defined(_WIN32)
+  [[deprecated(
+    "Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
+#endif
   void
-  publish(const SerializedMessage & serialized_msg)
+  publish(const rcl_serialized_message_t * serialized_msg)
   {
-    return this->do_serialized_publish(&serialized_msg.get_rcl_serialized_message());
+    return this->do_serialized_publish(serialized_msg);
   }
 
-  /// Publish an instance of a LoanedMessage.
-  /**
-   * When publishing a loaned message, the memory for this ROS message will be deallocated
-   * after being published.
-   * The instance of the loaned message is no longer valid after this call.
-   *
-   * \param loaned_msg The LoanedMessage instance to be published.
-   */
+// Skip deprecated attribute in windows, as it raise a warning in template specialization.
+#if !defined(_WIN32)
+  [[deprecated(
+    "Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
+#endif
   void
-  publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
+  publish(std::shared_ptr<const rcl_serialized_message_t> serialized_msg)
   {
-    if (!loaned_msg.is_valid()) {
-      throw std::runtime_error("loaned message is not valid");
-    }
-    if (intra_process_is_enabled_) {
-      // TODO(Karsten1987): support loaned message passed by intraprocess
-      throw std::runtime_error("storing loaned messages in intra process is not supported yet");
-    }
-
-    // verify that publisher supports loaned messages
-    // TODO(Karsten1987): This case separation has to be done in rclcpp
-    // otherwise we have to ensure that every middleware implements
-    // `rmw_publish_loaned_message` explicitly the same way as `rmw_publish`
-    // by taking a copy of the ros message.
-    if (this->can_loan_messages()) {
-      // we release the ownership from the rclpp::LoanedMessage instance
-      // and let the middleware clean up the memory.
-      this->do_loaned_message_publish(loaned_msg.release());
-    } else {
-      // we don't release the ownership, let the middleware copy the ros message
-      // and thus the destructor of rclcpp::LoanedMessage cleans up the memory.
-      this->do_inter_process_publish(loaned_msg.get());
-    }
+    return this->do_serialized_publish(serialized_msg.get());
   }
 
-  std::shared_ptr<MessageAllocator>
-  get_allocator() const
+  std::shared_ptr<MessageAlloc> get_allocator() const
   {
     return message_allocator_;
   }
 
 protected:
   void
-  do_inter_process_publish(const MessageT & msg)
+  do_inter_process_publish(const MessageT * msg)
   {
-    auto status = rcl_publish(&publisher_handle_, &msg, nullptr);
-
+    auto status = rcl_publish(&publisher_handle_, msg, nullptr);
     if (RCL_RET_PUBLISHER_INVALID == status) {
       rcl_reset_error();  // next call will reset error message if not context
       if (rcl_publisher_is_valid_except_context(&publisher_handle_)) {
@@ -299,14 +237,16 @@ protected:
   }
 
   void
-  do_loaned_message_publish(MessageT * msg)
+  do_intra_process_publish(uint64_t message_seq)
   {
-    auto status = rcl_publish_loaned_message(&publisher_handle_, msg, nullptr);
-
+    rcl_interfaces::msg::IntraProcessMessage ipm;
+    ipm.publisher_id = intra_process_publisher_id_;
+    ipm.message_sequence = message_seq;
+    auto status = rcl_publish(&intra_process_publisher_handle_, &ipm, nullptr);
     if (RCL_RET_PUBLISHER_INVALID == status) {
       rcl_reset_error();  // next call will reset error message if not context
-      if (rcl_publisher_is_valid_except_context(&publisher_handle_)) {
-        rcl_context_t * context = rcl_publisher_get_context(&publisher_handle_);
+      if (rcl_publisher_is_valid_except_context(&intra_process_publisher_handle_)) {
+        rcl_context_t * context = rcl_publisher_get_context(&intra_process_publisher_handle_);
         if (nullptr != context && !rcl_context_is_valid(context)) {
           // publisher is invalid due to context being shutdown
           return;
@@ -314,12 +254,14 @@ protected:
       }
     }
     if (RCL_RET_OK != status) {
-      rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish message");
+      rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish intra process message");
     }
   }
 
-  void
-  do_intra_process_publish(std::unique_ptr<MessageT, MessageDeleter> msg)
+  uint64_t
+  store_intra_process_message(
+    uint64_t publisher_id,
+    std::shared_ptr<const MessageT> msg)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -327,17 +269,17 @@ protected:
               "intra process publish called after destruction of intra process manager");
     }
     if (!msg) {
-      throw std::runtime_error("cannot publish msg which is a null pointer");
+      throw std::runtime_error("cannot publisher msg which is a null pointer");
     }
-
-    ipm->template do_intra_process_publish<MessageT, AllocatorT>(
-      intra_process_publisher_id_,
-      std::move(msg),
-      message_allocator_);
+    uint64_t message_seq =
+      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, msg);
+    return message_seq;
   }
 
-  std::shared_ptr<const MessageT>
-  do_intra_process_publish_and_return_shared(std::unique_ptr<MessageT, MessageDeleter> msg)
+  uint64_t
+  store_intra_process_message(
+    uint64_t publisher_id,
+    std::unique_ptr<MessageT, MessageDeleter> msg)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -345,23 +287,14 @@ protected:
               "intra process publish called after destruction of intra process manager");
     }
     if (!msg) {
-      throw std::runtime_error("cannot publish msg which is a null pointer");
+      throw std::runtime_error("cannot publisher msg which is a null pointer");
     }
-
-    return ipm->template do_intra_process_publish_and_return_shared<MessageT, AllocatorT>(
-      intra_process_publisher_id_,
-      std::move(msg),
-      message_allocator_);
+    uint64_t message_seq =
+      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, std::move(msg));
+    return message_seq;
   }
 
-  /// Copy of original options passed during construction.
-  /**
-   * It is important to save a copy of this so that the rmw payload which it
-   * may contain is kept alive for the duration of the publisher.
-   */
-  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> options_;
-
-  std::shared_ptr<MessageAllocator> message_allocator_;
+  std::shared_ptr<MessageAlloc> message_allocator_;
 
   MessageDeleter message_deleter_;
 };

rclcpp/include/rclcpp/publisher_base.hpp

@@ -28,7 +28,7 @@
 #include "rcl/publisher.h"
 
 #include "rclcpp/macros.hpp"
-#include "rclcpp/qos.hpp"
+#include "rclcpp/mapped_ring_buffer.hpp"
 #include "rclcpp/qos_event.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -41,18 +41,18 @@ namespace node_interfaces
 {
 class NodeBaseInterface;
 class NodeTopicsInterface;
-}  // namespace node_interfaces
+}
 
-namespace experimental
+namespace intra_process_manager
 {
 /**
  * IntraProcessManager is forward declared here, avoiding a circular inclusion between
  * `intra_process_manager.hpp` and `publisher_base.hpp`.
  */
 class IntraProcessManager;
-}  // namespace experimental
+}
 
-class PublisherBase : public std::enable_shared_from_this<PublisherBase>
+class PublisherBase
 {
   friend ::rclcpp::node_interfaces::NodeTopicsInterface;
 
@@ -96,6 +96,12 @@ public:
   const rmw_gid_t &
   get_gid() const;
 
+  /// Get the global identifier for this publisher used by intra-process communication.
+  /** \return The intra-process gid. */
+  RCLCPP_PUBLIC
+  const rmw_gid_t &
+  get_intra_process_gid() const;
+
   /// Get the rcl publisher handle.
   /** \return The rcl publisher handle. */
   RCLCPP_PUBLIC
@@ -147,22 +153,12 @@ public:
    * If the underlying setting in use can't be represented in ROS terms,
    * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
    * May throw runtime_error when an unexpected error occurs.
-   *
    * \return The actual qos settings.
    */
   RCLCPP_PUBLIC
-  rclcpp::QoS
+  rmw_qos_profile_t
   get_actual_qos() const;
 
-  /// Check if publisher instance can loan messages.
-  /**
-   * Depending on the middleware and the message type, this will return true if the middleware
-   * can allocate a ROS message instance.
-   */
-  RCLCPP_PUBLIC
-  bool
-  can_loan_messages() const;
-
   /// Compare this publisher to a gid.
   /**
    * Note that this function calls the next function.
@@ -184,14 +180,20 @@ public:
   operator==(const rmw_gid_t * gid) const;
 
   using IntraProcessManagerSharedPtr =
-    std::shared_ptr<rclcpp::experimental::IntraProcessManager>;
+    std::shared_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
+
+  /// Implementation utility function that creates a typed mapped ring buffer.
+  RCLCPP_PUBLIC
+  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
+  virtual make_mapped_ring_buffer(size_t size) const;
 
   /// Implementation utility function used to setup intra process publishing after creation.
   RCLCPP_PUBLIC
   void
   setup_intra_process(
     uint64_t intra_process_publisher_id,
-    IntraProcessManagerSharedPtr ipm);
+    IntraProcessManagerSharedPtr ipm,
+    const rcl_publisher_options_t & intra_process_options);
 
 protected:
   template<typename EventCallbackT>
@@ -208,22 +210,21 @@ protected:
     event_handlers_.emplace_back(handler);
   }
 
-  RCLCPP_PUBLIC
-  void default_incompatible_qos_callback(QOSOfferedIncompatibleQoSInfo & info) const;
-
   std::shared_ptr<rcl_node_t> rcl_node_handle_;
 
   rcl_publisher_t publisher_handle_ = rcl_get_zero_initialized_publisher();
+  rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();
 
   std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
 
   using IntraProcessManagerWeakPtr =
-    std::weak_ptr<rclcpp::experimental::IntraProcessManager>;
+    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
   bool intra_process_is_enabled_;
   IntraProcessManagerWeakPtr weak_ipm_;
   uint64_t intra_process_publisher_id_;
 
   rmw_gid_t rmw_gid_;
+  rmw_gid_t intra_process_rmw_gid_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/publisher_factory.hpp

@@ -24,10 +24,8 @@
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
 #include "rclcpp/publisher.hpp"
-#include "rclcpp/publisher_base.hpp"
-#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -43,9 +41,6 @@ namespace rclcpp
  * called from a templated "create_publisher" method on the Node class, and
  * is passed to the non-templated "create_publisher" method on the NodeTopics
  * class where it is used to create and setup the Publisher.
- *
- * It also handles the two step construction of Publishers, first calling
- * the constructor and then the post_init_setup() method.
  */
 struct PublisherFactory
 {
@@ -54,33 +49,39 @@ struct PublisherFactory
     rclcpp::PublisherBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      const rclcpp::QoS & qos
-    )>;
+      const rcl_publisher_options_t & publisher_options)>;
 
-  const PublisherFactoryFunction create_typed_publisher;
+  PublisherFactoryFunction create_typed_publisher;
 };
 
-/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, AllocatorT>.
-template<typename MessageT, typename AllocatorT, typename PublisherT>
+/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, Alloc>.
+template<typename MessageT, typename Alloc, typename PublisherT>
 PublisherFactory
-create_publisher_factory(const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+create_publisher_factory(
+  const PublisherEventCallbacks & event_callbacks,
+  std::shared_ptr<Alloc> allocator)
 {
-  PublisherFactory factory {
-    // factory function that creates a MessageT specific PublisherT
-    [options](
-      rclcpp::node_interfaces::NodeBaseInterface * node_base,
-      const std::string & topic_name,
-      const rclcpp::QoS & qos
+  PublisherFactory factory;
+
+  // factory function that creates a MessageT specific PublisherT
+  factory.create_typed_publisher =
+    [event_callbacks, allocator](
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic_name,
+    const rcl_publisher_options_t & publisher_options
     ) -> std::shared_ptr<PublisherT>
     {
-      auto publisher = std::make_shared<PublisherT>(node_base, topic_name, qos, options);
-      // This is used for setting up things like intra process comms which
-      // require this->shared_from_this() which cannot be called from
-      // the constructor.
-      publisher->post_init_setup(node_base, topic_name, qos, options);
-      return publisher;
-    }
-  };
+      auto options_copy = publisher_options;
+      auto message_alloc = std::make_shared<typename PublisherT::MessageAlloc>(*allocator.get());
+      options_copy.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
+
+      return std::make_shared<PublisherT>(
+        node_base,
+        topic_name,
+        options_copy,
+        event_callbacks,
+        message_alloc);
+    };
 
   // return the factory now that it is populated
   return factory;

rclcpp/include/rclcpp/publisher_options.hpp

@@ -19,19 +19,16 @@
 #include <string>
 #include <vector>
 
-#include "rcl/publisher.h"
-
-#include "rclcpp/allocator/allocator_common.hpp"
-#include "rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp"
+#include "rclcpp/callback_group.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
+#include "rclcpp/visibility_control.hpp"
+#include "rcl/publisher.h"
 
 namespace rclcpp
 {
 
-class CallbackGroup;
-
 /// Non-templated part of PublisherOptionsWithAllocator<Allocator>.
 struct PublisherOptionsBase
 {
@@ -41,15 +38,8 @@ struct PublisherOptionsBase
   /// Callbacks for various events related to publishers.
   PublisherEventCallbacks event_callbacks;
 
-  /// Whether or not to use default callbacks when user doesn't supply any in event_callbacks
-  bool use_default_callbacks = true;
-
   /// Callback group in which the waitable items from the publisher should be placed.
-  std::shared_ptr<rclcpp::CallbackGroup> callback_group;
-
-  /// Optional RMW implementation specific payload to be used during creation of the publisher.
-  std::shared_ptr<rclcpp::detail::RMWImplementationSpecificPublisherPayload>
-  rmw_implementation_payload = nullptr;
+  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
 };
 
 /// Structure containing optional configuration for Publishers.
@@ -74,33 +64,11 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
     rcl_publisher_options_t result;
     using AllocatorTraits = std::allocator_traits<Allocator>;
     using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
-    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
-    result.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc);
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*allocator.get());
+    result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
-
-    // Apply payload to rcl_publisher_options if necessary.
-    if (rmw_implementation_payload && rmw_implementation_payload->has_been_customized()) {
-      rmw_implementation_payload->modify_rmw_publisher_options(result.rmw_publisher_options);
-    }
-
     return result;
   }
-
-
-  /// Get the allocator, creating one if needed.
-  std::shared_ptr<Allocator>
-  get_allocator() const
-  {
-    if (!this->allocator) {
-      // TODO(wjwwood): I would like to use the commented line instead, but
-      //   cppcheck 1.89 fails with:
-      //     Syntax Error: AST broken, binary operator '>' doesn't have two operands.
-      // return std::make_shared<Allocator>();
-      std::shared_ptr<Allocator> tmp(new Allocator());
-      return tmp;
-    }
-    return this->allocator;
-  }
 };
 
 using PublisherOptions = PublisherOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/qos.hpp

@@ -15,19 +15,15 @@
 #ifndef RCLCPP__QOS_HPP_
 #define RCLCPP__QOS_HPP_
 
-#include <string>
+#include <rmw/qos_profiles.h>
+#include <rmw/types.h>
 
 #include "rclcpp/duration.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rmw/incompatible_qos_events_statuses.h"
-#include "rmw/qos_profiles.h"
-#include "rmw/types.h"
 
 namespace rclcpp
 {
 
-std::string qos_policy_name_from_kind(rmw_qos_policy_kind_t policy_kind);
-
 /// QoS initialization values, cannot be created directly, use KeepAll or KeepLast instead.
 struct RCLCPP_PUBLIC QoSInitialization
 {
@@ -155,12 +151,6 @@ private:
   rmw_qos_profile_t rmw_qos_profile_;
 };
 
-/// Check if two QoS profiles are exactly equal in all policy values.
-RCLCPP_PUBLIC
-bool operator==(const QoS & left, const QoS & right);
-RCLCPP_PUBLIC
-bool operator!=(const QoS & left, const QoS & right);
-
 class RCLCPP_PUBLIC SensorDataQoS : public QoS
 {
 public:

rclcpp/include/rclcpp/qos_event.hpp

@@ -16,10 +16,8 @@
 #define RCLCPP__QOS_EVENT_HPP_
 
 #include <functional>
-#include <string>
 
 #include "rcl/error_handling.h"
-#include "rmw/incompatible_qos_events_statuses.h"
 
 #include "rcutils/logging_macros.h"
 
@@ -34,23 +32,17 @@ 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 QOSOfferedIncompatibleQoSInfo = rmw_offered_qos_incompatible_event_status_t;
-using QOSRequestedIncompatibleQoSInfo = rmw_requested_qos_incompatible_event_status_t;
 
 using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequestedInfo &)>;
 using QOSDeadlineOfferedCallbackType = std::function<void (QOSDeadlineOfferedInfo &)>;
 using QOSLivelinessChangedCallbackType = std::function<void (QOSLivelinessChangedInfo &)>;
 using QOSLivelinessLostCallbackType = std::function<void (QOSLivelinessLostInfo &)>;
-using QOSOfferedIncompatibleQoSCallbackType = std::function<void (QOSOfferedIncompatibleQoSInfo &)>;
-using QOSRequestedIncompatibleQoSCallbackType =
-  std::function<void (QOSRequestedIncompatibleQoSInfo &)>;
 
 /// Contains callbacks for various types of events a Publisher can receive from the middleware.
 struct PublisherEventCallbacks
 {
   QOSDeadlineOfferedCallbackType deadline_callback;
   QOSLivelinessLostCallbackType liveliness_callback;
-  QOSOfferedIncompatibleQoSCallbackType incompatible_qos_callback;
 };
 
 /// Contains callbacks for non-message events that a Subscription can receive from the middleware.
@@ -58,22 +50,6 @@ struct SubscriptionEventCallbacks
 {
   QOSDeadlineRequestedCallbackType deadline_callback;
   QOSLivelinessChangedCallbackType liveliness_callback;
-  QOSRequestedIncompatibleQoSCallbackType incompatible_qos_callback;
-};
-
-class UnsupportedEventTypeException : public exceptions::RCLErrorBase, public std::runtime_error
-{
-public:
-  RCLCPP_PUBLIC
-  UnsupportedEventTypeException(
-    rcl_ret_t ret,
-    const rcl_error_state_t * error_state,
-    const std::string & prefix);
-
-  RCLCPP_PUBLIC
-  UnsupportedEventTypeException(
-    const exceptions::RCLErrorBase & base_exc,
-    const std::string & prefix);
 };
 
 class QOSEventHandlerBase : public Waitable
@@ -117,13 +93,7 @@ public:
     event_handle_ = rcl_get_zero_initialized_event();
     rcl_ret_t ret = init_func(&event_handle_, parent_handle, event_type);
     if (ret != RCL_RET_OK) {
-      if (ret == RCL_RET_UNSUPPORTED) {
-        UnsupportedEventTypeException exc(ret, rcl_get_error_state(), "Failed to initialize event");
-        rcl_reset_error();
-        throw exc;
-      } else {
-        rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to initialize event");
-      }
+      rclcpp::exceptions::throw_from_rcl_error(ret, "could not create event");
     }
   }
 

rclcpp/include/rclcpp/rclcpp.hpp

@@ -48,8 +48,7 @@
  *   - rclcpp::Node::get_parameter()
  *   - rclcpp::Node::describe_parameters()
  *   - rclcpp::Node::list_parameters()
- *   - rclcpp::Node::add_on_set_parameters_callback()
- *   - rclcpp::Node::remove_on_set_parameters_callback()
+ *   - rclcpp::Node::register_param_change_callback()
  *   - rclcpp::Parameter
  *   - rclcpp::ParameterValue
  *   - rclcpp::AsyncParametersClient
@@ -81,7 +80,7 @@
  *   - rclcpp/executors/multi_threaded_executor.hpp
  * - CallbackGroups (mechanism for enforcing concurrency rules for callbacks):
  *   - rclcpp::Node::create_callback_group()
- *   - rclcpp::CallbackGroup
+ *   - rclcpp::callback_group::CallbackGroup
  *   - rclcpp/callback_group.hpp
  *
  * Additionally, there are some methods for introspecting the ROS graph:
@@ -143,7 +142,6 @@
 #include <memory>
 
 #include "rclcpp/executors.hpp"
-#include "rclcpp/guard_condition.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"
@@ -153,7 +151,6 @@
 #include "rclcpp/time.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rclcpp/wait_set.hpp"
 #include "rclcpp/waitable.hpp"
 
 #endif  // RCLCPP__RCLCPP_HPP_

rclcpp/include/rclcpp/serialization.hpp

@@ -1,98 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__SERIALIZATION_HPP_
-#define RCLCPP__SERIALIZATION_HPP_
-
-#include <memory>
-#include <stdexcept>
-#include <string>
-
-#include "rclcpp/visibility_control.hpp"
-
-#include "rcl/types.h"
-
-#include "rosidl_runtime_c/message_type_support_struct.h"
-
-#include "rosidl_typesupport_cpp/message_type_support.hpp"
-
-namespace rclcpp
-{
-
-class SerializedMessage;
-
-namespace serialization_traits
-{
-// trait to check if type is the object oriented serialized message
-template<typename T>
-struct is_serialized_message_class : std::false_type
-{};
-
-template<>
-struct is_serialized_message_class<SerializedMessage>: std::true_type
-{};
-}  // namespace serialization_traits
-
-/// Interface to (de)serialize a message
-class RCLCPP_PUBLIC_TYPE SerializationBase
-{
-public:
-  /// Constructor of SerializationBase
-  /**
-   * \param[in] type_support handle for the message type support
-   * to be used for serialization and deserialization.
-   */
-  explicit SerializationBase(const rosidl_message_type_support_t * type_support);
-
-  /// Destructor of SerializationBase
-  virtual ~SerializationBase() = default;
-
-  /// Serialize a ROS2 message to a serialized stream
-  /**
-   * \param[in] message The ROS2 message which is read and serialized by rmw.
-   * \param[out] serialized_message The serialized message.
-   */
-  void serialize_message(
-    const void * ros_message, SerializedMessage * serialized_message) const;
-
-  /// Deserialize a serialized stream to a ROS message
-  /**
-   * \param[in] serialized_message The serialized message to be converted to ROS2 by rmw.
-   * \param[out] message The deserialized ROS2 message.
-   */
-  void deserialize_message(
-    const SerializedMessage * serialized_message, void * ros_message) const;
-
-private:
-  const rosidl_message_type_support_t * type_support_;
-};
-
-/// Default implementation to (de)serialize a message by using rmw_(de)serialize
-template<typename MessageT>
-class Serialization : public SerializationBase
-{
-public:
-  /// Constructor of Serialization
-  Serialization()
-  : SerializationBase(rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>())
-  {
-    static_assert(
-      !serialization_traits::is_serialized_message_class<MessageT>::value,
-      "Serialization of serialized message to serialized message is not possible.");
-  }
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__SERIALIZATION_HPP_

rclcpp/include/rclcpp/serialized_message.hpp

@@ -1,121 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__SERIALIZED_MESSAGE_HPP_
-#define RCLCPP__SERIALIZED_MESSAGE_HPP_
-
-#include "rcl/allocator.h"
-#include "rcl/types.h"
-
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-
-/// Object oriented version of rcl_serialized_message_t with destructor to avoid memory leaks
-class RCLCPP_PUBLIC_TYPE SerializedMessage
-{
-public:
-  /// Default constructor for a SerializedMessage
-  /**
-   * Default constructs a serialized message and initalizes it
-   * with initial capacity of 0.
-   * The allocator defaults to `rcl_get_default_allocator()`.
-   *
-   * \param[in] allocator The allocator to be used for the initialization.
-   */
-  explicit SerializedMessage(
-    const rcl_allocator_t & allocator = rcl_get_default_allocator());
-
-  /// Default constructor for a SerializedMessage
-  /**
-   * Default constructs a serialized message and initalizes it
-   * with the provided capacity.
-   * The allocator defaults to `rcl_get_default_allocator()`.
-   *
-   * \param[in] initial_capacity The amount of memory to be allocated.
-   * \param[in] allocator The allocator to be used for the initialization.
-   */
-  SerializedMessage(
-    size_t initial_capacity,
-    const rcl_allocator_t & allocator = rcl_get_default_allocator());
-
-  /// Copy Constructor for a SerializedMessage
-  SerializedMessage(const SerializedMessage & other);
-
-  /// Constructor for a SerializedMessage from a rcl_serialized_message_t
-  explicit SerializedMessage(const rcl_serialized_message_t & other);
-
-  /// Move Constructor for a SerializedMessage
-  SerializedMessage(SerializedMessage && other);
-
-  /// Constructor for a SerializedMessage from a moved rcl_serialized_message_t
-  explicit SerializedMessage(rcl_serialized_message_t && other);
-
-  /// Copy assignment operator
-  SerializedMessage & operator=(const SerializedMessage & other);
-
-  /// Copy assignment operator from a rcl_serialized_message_t
-  SerializedMessage & operator=(const rcl_serialized_message_t & other);
-
-  /// Move assignment operator
-  SerializedMessage & operator=(SerializedMessage && other);
-
-  /// Move assignment operator from a rcl_serialized_message_t
-  SerializedMessage & operator=(rcl_serialized_message_t && other);
-
-  /// Destructor for a SerializedMessage
-  virtual ~SerializedMessage();
-
-  /// Get the underlying rcl_serialized_t handle
-  rcl_serialized_message_t & get_rcl_serialized_message();
-
-  // Get a const handle to the underlying rcl_serialized_message_t
-  const rcl_serialized_message_t & get_rcl_serialized_message() const;
-
-  /// Get the size of the serialized data buffer
-  /**
-   * Note, this is different from the actual amount of allocated memory.
-   * This can be obtained via a call to `capacity`.
-   */
-  size_t size() const;
-
-  /// Get the size of allocated memory for the data buffer
-  /**
-   * Note, this is different from the amount of content in the buffer.
-   * This can be obtained via a call to `size`.
-   */
-  size_t capacity() const;
-
-  /// Allocate memory in the data buffer
-  /**
-   * The data buffer of the underlying rcl_serialized_message_t will be resized.
-   * This might change the data layout and invalidates all pointers to the data.
-   */
-  void reserve(size_t capacity);
-
-  /// Release the underlying rcl_serialized_message_t
-  /**
-   * The memory (i.e. the data buffer) of the serialized message will no longer
-   * be managed by this instance and the memory won't be deallocated on destruction.
-   */
-  rcl_serialized_message_t release_rcl_serialized_message();
-
-private:
-  rcl_serialized_message_t serialized_message_;
-};
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__SERIALIZED_MESSAGE_HPP_

rclcpp/include/rclcpp/service.hpp

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__SERVICE_HPP_
 #define RCLCPP__SERVICE_HPP_
 
-#include <atomic>
 #include <functional>
 #include <iostream>
 #include <memory>
@@ -34,7 +33,6 @@
 #include "rclcpp/logging.hpp"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
-#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -45,7 +43,8 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase)
 
   RCLCPP_PUBLIC
-  explicit ServiceBase(std::shared_ptr<rcl_node_t> node_handle);
+  explicit ServiceBase(
+    std::shared_ptr<rcl_node_t> node_handle);
 
   RCLCPP_PUBLIC
   virtual ~ServiceBase();
@@ -62,53 +61,12 @@ public:
   std::shared_ptr<const rcl_service_t>
   get_service_handle() const;
 
-  /// Take the next request from the service as a type erased pointer.
-  /**
-   * This type erased version of \sa Service::take_request() is useful when
-   * using the service in a type agnostic way with methods like
-   * ServiceBase::create_request(), ServiceBase::create_request_header(), and
-   * ServiceBase::handle_request().
-   *
-   * \param[out] request_out The type erased pointer to a service request object
-   *   into which the middleware will copy the taken request.
-   * \param[out] request_id_out The output id for the request which can be used
-   *   to associate response with this request in the future.
-   * \returns true if the request was taken, otherwise false.
-   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
-   *   rcl calls fail.
-   */
-  RCLCPP_PUBLIC
-  bool
-  take_type_erased_request(void * request_out, rmw_request_id_t & request_id_out);
-
-  virtual
-  std::shared_ptr<void>
-  create_request() = 0;
-
-  virtual
-  std::shared_ptr<rmw_request_id_t>
-  create_request_header() = 0;
-
-  virtual
-  void
-  handle_request(
+  virtual std::shared_ptr<void> create_request() = 0;
+  virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
+  virtual void handle_request(
     std::shared_ptr<rmw_request_id_t> request_header,
     std::shared_ptr<void> request) = 0;
 
-  /// Exchange the "in use by wait set" state for this service.
-  /**
-   * This is used to ensure this service is not used by multiple
-   * wait sets at the same time.
-   *
-   * \param[in] in_use_state the new state to exchange into the state, true
-   *   indicates it is now in use by a wait set, and false is that it is no
-   *   longer in use by a wait set.
-   * \returns the previous state.
-   */
-  RCLCPP_PUBLIC
-  bool
-  exchange_in_use_by_wait_set_state(bool in_use_state);
-
 protected:
   RCLCPP_DISABLE_COPY(ServiceBase)
 
@@ -124,8 +82,6 @@ protected:
 
   std::shared_ptr<rcl_service_t> service_handle_;
   bool owns_rcl_handle_ = true;
-
-  std::atomic<bool> in_use_by_wait_set_{false};
 };
 
 template<typename ServiceT>
@@ -198,15 +154,18 @@ public:
 
       rclcpp::exceptions::throw_from_rcl_error(ret, "could not create service");
     }
-    TRACEPOINT(
-      rclcpp_service_callback_added,
-      (const void *)get_service_handle().get(),
-      (const void *)&any_callback_);
-#ifndef TRACETOOLS_DISABLED
-    any_callback_.register_callback_for_tracing();
-#endif
   }
 
+  /// Default constructor.
+  /**
+   * The constructor for a Service is almost never called directly.
+   * Instead, services should be instantiated through the function
+   * rclcpp::create_service().
+   *
+   * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
+   * \param[in] service_handle service handle.
+   * \param[in] any_callback User defined callback to call when a client request is received.
+   */
   Service(
     std::shared_ptr<rcl_node_t> node_handle,
     std::shared_ptr<rcl_service_t> service_handle,
@@ -223,15 +182,18 @@ public:
     }
 
     service_handle_ = service_handle;
-    TRACEPOINT(
-      rclcpp_service_callback_added,
-      (const void *)get_service_handle().get(),
-      (const void *)&any_callback_);
-#ifndef TRACETOOLS_DISABLED
-    any_callback_.register_callback_for_tracing();
-#endif
   }
 
+  /// Default constructor.
+  /**
+   * The constructor for a Service is almost never called directly.
+   * Instead, services should be instantiated through the function
+   * rclcpp::create_service().
+   *
+   * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
+   * \param[in] service_handle service handle.
+   * \param[in] any_callback User defined callback to call when a client request is received.
+   */
   Service(
     std::shared_ptr<rcl_node_t> node_handle,
     rcl_service_t * service_handle,
@@ -250,13 +212,6 @@ public:
     // In this case, rcl owns the service handle memory
     service_handle_ = std::shared_ptr<rcl_service_t>(new rcl_service_t);
     service_handle_->impl = service_handle->impl;
-    TRACEPOINT(
-      rclcpp_service_callback_added,
-      (const void *)get_service_handle().get(),
-      (const void *)&any_callback_);
-#ifndef TRACETOOLS_DISABLED
-    any_callback_.register_callback_for_tracing();
-#endif
   }
 
   Service() = delete;
@@ -265,63 +220,36 @@ public:
   {
   }
 
-  /// Take the next request from the service.
-  /**
-   * \sa ServiceBase::take_type_erased_request().
-   *
-   * \param[out] request_out The reference to a service request object
-   *   into which the middleware will copy the taken request.
-   * \param[out] request_id_out The output id for the request which can be used
-   *   to associate response with this request in the future.
-   * \returns true if the request was taken, otherwise false.
-   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
-   *   rcl calls fail.
-   */
-  bool
-  take_request(typename ServiceT::Request & request_out, rmw_request_id_t & request_id_out)
+  std::shared_ptr<void> create_request()
   {
-    return this->take_type_erased_request(&request_out, request_id_out);
+    return std::shared_ptr<void>(new typename ServiceT::Request());
   }
 
-  std::shared_ptr<void>
-  create_request() override
+  std::shared_ptr<rmw_request_id_t> create_request_header()
   {
-    return std::make_shared<typename ServiceT::Request>();
+    // TODO(wjwwood): This should probably use rmw_request_id's allocator.
+    //                (since it is a C type)
+    return std::shared_ptr<rmw_request_id_t>(new rmw_request_id_t);
   }
 
-  std::shared_ptr<rmw_request_id_t>
-  create_request_header() override
-  {
-    return std::make_shared<rmw_request_id_t>();
-  }
-
-  void
-  handle_request(
+  void handle_request(
     std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> request) override
+    std::shared_ptr<void> request)
   {
     auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
-    auto response = std::make_shared<typename ServiceT::Response>();
+    auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response);
     any_callback_.dispatch(request_header, typed_request, response);
-    send_response(*request_header, *response);
+    send_response(request_header, response);
   }
 
-  [[deprecated("use the send_response() which takes references instead of shared pointers")]]
-  void
-  send_response(
+  void send_response(
     std::shared_ptr<rmw_request_id_t> req_id,
     std::shared_ptr<typename ServiceT::Response> response)
   {
-    send_response(*req_id, *response);
-  }
+    rcl_ret_t status = rcl_send_response(get_service_handle().get(), req_id.get(), response.get());
 
-  void
-  send_response(rmw_request_id_t & req_id, typename ServiceT::Response & response)
-  {
-    rcl_ret_t ret = rcl_send_response(get_service_handle().get(), &req_id, &response);
-
-    if (ret != RCL_RET_OK) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
+    if (status != RCL_RET_OK) {
+      rclcpp::exceptions::throw_from_rcl_error(status, "failed to send response");
     }
   }
 

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -61,7 +61,7 @@ public:
     allocator_ = std::make_shared<VoidAlloc>();
   }
 
-  void add_guard_condition(const rcl_guard_condition_t * guard_condition) override
+  void add_guard_condition(const rcl_guard_condition_t * guard_condition)
   {
     for (const auto & existing_guard_condition : guard_conditions_) {
       if (existing_guard_condition == guard_condition) {
@@ -71,7 +71,7 @@ public:
     guard_conditions_.push_back(guard_condition);
   }
 
-  void remove_guard_condition(const rcl_guard_condition_t * guard_condition) override
+  void remove_guard_condition(const rcl_guard_condition_t * guard_condition)
   {
     for (auto it = guard_conditions_.begin(); it != guard_conditions_.end(); ++it) {
       if (*it == guard_condition) {
@@ -81,7 +81,7 @@ public:
     }
   }
 
-  void clear_handles() override
+  void clear_handles()
   {
     subscription_handles_.clear();
     service_handles_.clear();
@@ -90,7 +90,7 @@ public:
     waitable_handles_.clear();
   }
 
-  void remove_null_handles(rcl_wait_set_t * wait_set) override
+  virtual void remove_null_handles(rcl_wait_set_t * wait_set)
   {
     // TODO(jacobperron): Check if wait set sizes are what we expect them to be?
     //                    e.g. wait_set->size_of_clients == client_handles_.size()
@@ -150,7 +150,7 @@ public:
     );
   }
 
-  bool collect_entities(const WeakNodeList & weak_nodes) override
+  bool collect_entities(const WeakNodeList & weak_nodes)
   {
     bool has_invalid_weak_nodes = false;
     for (auto & weak_node : weak_nodes) {
@@ -164,45 +164,46 @@ public:
         if (!group || !group->can_be_taken_from().load()) {
           continue;
         }
-        group->find_subscription_ptrs_if(
-          [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
+        for (auto & weak_subscription : group->get_subscription_ptrs()) {
+          auto subscription = weak_subscription.lock();
+          if (subscription) {
             subscription_handles_.push_back(subscription->get_subscription_handle());
-            return false;
-          });
-        group->find_service_ptrs_if(
-          [this](const rclcpp::ServiceBase::SharedPtr & service) {
+            if (subscription->get_intra_process_subscription_handle()) {
+              subscription_handles_.push_back(
+                subscription->get_intra_process_subscription_handle());
+            }
+          }
+        }
+        for (auto & weak_service : group->get_service_ptrs()) {
+          auto service = weak_service.lock();
+          if (service) {
             service_handles_.push_back(service->get_service_handle());
-            return false;
-          });
-        group->find_client_ptrs_if(
-          [this](const rclcpp::ClientBase::SharedPtr & client) {
+          }
+        }
+        for (auto & weak_client : group->get_client_ptrs()) {
+          auto client = weak_client.lock();
+          if (client) {
             client_handles_.push_back(client->get_client_handle());
-            return false;
-          });
-        group->find_timer_ptrs_if(
-          [this](const rclcpp::TimerBase::SharedPtr & timer) {
+          }
+        }
+        for (auto & weak_timer : group->get_timer_ptrs()) {
+          auto timer = weak_timer.lock();
+          if (timer) {
             timer_handles_.push_back(timer->get_timer_handle());
-            return false;
-          });
-        group->find_waitable_ptrs_if(
-          [this](const rclcpp::Waitable::SharedPtr & waitable) {
+          }
+        }
+        for (auto & weak_waitable : group->get_waitable_ptrs()) {
+          auto waitable = weak_waitable.lock();
+          if (waitable) {
             waitable_handles_.push_back(waitable);
-            return false;
-          });
+          }
+        }
       }
     }
     return has_invalid_weak_nodes;
   }
 
-  void add_waitable_handle(const rclcpp::Waitable::SharedPtr & waitable) override
-  {
-    if (nullptr == waitable) {
-      throw std::runtime_error("waitable object unexpectedly nullptr");
-    }
-    waitable_handles_.push_back(waitable);
-  }
-
-  bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) override
+  bool add_handles_to_wait_set(rcl_wait_set_t * wait_set)
   {
     for (auto subscription : subscription_handles_) {
       if (rcl_wait_set_add_subscription(wait_set, subscription.get(), NULL) != RCL_RET_OK) {
@@ -261,15 +262,20 @@ public:
     return true;
   }
 
-  void
+  virtual void
   get_next_subscription(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakNodeList & weak_nodes) override
+    executor::AnyExecutable & any_exec,
+    const WeakNodeList & weak_nodes)
   {
     auto it = subscription_handles_.begin();
     while (it != subscription_handles_.end()) {
       auto subscription = get_subscription_by_handle(*it, weak_nodes);
       if (subscription) {
+        // Figure out if this is for intra-process or not.
+        bool is_intra_process = false;
+        if (subscription->get_intra_process_subscription_handle()) {
+          is_intra_process = subscription->get_intra_process_subscription_handle() == *it;
+        }
         // Find the group for this handle and see if it can be serviced
         auto group = get_group_by_subscription(subscription, weak_nodes);
         if (!group) {
@@ -285,7 +291,11 @@ public:
           continue;
         }
         // Otherwise it is safe to set and return the any_exec
-        any_exec.subscription = subscription;
+        if (is_intra_process) {
+          any_exec.subscription_intra_process = subscription;
+        } else {
+          any_exec.subscription = subscription;
+        }
         any_exec.callback_group = group;
         any_exec.node_base = get_node_by_group(group, weak_nodes);
         subscription_handles_.erase(it);
@@ -296,10 +306,10 @@ public:
     }
   }
 
-  void
+  virtual void
   get_next_service(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakNodeList & weak_nodes) override
+    executor::AnyExecutable & any_exec,
+    const WeakNodeList & weak_nodes)
   {
     auto it = service_handles_.begin();
     while (it != service_handles_.end()) {
@@ -331,8 +341,8 @@ public:
     }
   }
 
-  void
-  get_next_client(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
+  virtual void
+  get_next_client(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes)
   {
     auto it = client_handles_.begin();
     while (it != client_handles_.end()) {
@@ -364,43 +374,8 @@ public:
     }
   }
 
-  void
-  get_next_timer(
-    rclcpp::AnyExecutable & any_exec,
-    const WeakNodeList & weak_nodes) override
-  {
-    auto it = timer_handles_.begin();
-    while (it != timer_handles_.end()) {
-      auto timer = get_timer_by_handle(*it, weak_nodes);
-      if (timer) {
-        // Find the group for this handle and see if it can be serviced
-        auto group = get_group_by_timer(timer, weak_nodes);
-        if (!group) {
-          // Group was not found, meaning the timer is not valid...
-          // Remove it from the ready list and continue looking
-          it = timer_handles_.erase(it);
-          continue;
-        }
-        if (!group->can_be_taken_from().load()) {
-          // Group is mutually exclusive and is being used, so skip it for now
-          // Leave it to be checked next time, but continue searching
-          ++it;
-          continue;
-        }
-        // Otherwise it is safe to set and return the any_exec
-        any_exec.timer = timer;
-        any_exec.callback_group = group;
-        any_exec.node_base = get_node_by_group(group, weak_nodes);
-        timer_handles_.erase(it);
-        return;
-      }
-      // Else, the service is no longer valid, remove it and continue
-      it = timer_handles_.erase(it);
-    }
-  }
-
-  void
-  get_next_waitable(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
+  virtual void
+  get_next_waitable(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes)
   {
     auto it = waitable_handles_.begin();
     while (it != waitable_handles_.end()) {
@@ -432,12 +407,12 @@ public:
     }
   }
 
-  rcl_allocator_t get_allocator() override
+  virtual rcl_allocator_t get_allocator()
   {
     return rclcpp::allocator::get_rcl_allocator<void *, VoidAlloc>(*allocator_.get());
   }
 
-  size_t number_of_ready_subscriptions() const override
+  size_t number_of_ready_subscriptions() const
   {
     size_t number_of_subscriptions = subscription_handles_.size();
     for (auto waitable : waitable_handles_) {
@@ -446,7 +421,7 @@ public:
     return number_of_subscriptions;
   }
 
-  size_t number_of_ready_services() const override
+  size_t number_of_ready_services() const
   {
     size_t number_of_services = service_handles_.size();
     for (auto waitable : waitable_handles_) {
@@ -455,7 +430,7 @@ public:
     return number_of_services;
   }
 
-  size_t number_of_ready_events() const override
+  size_t number_of_ready_events() const
   {
     size_t number_of_events = 0;
     for (auto waitable : waitable_handles_) {
@@ -464,7 +439,7 @@ public:
     return number_of_events;
   }
 
-  size_t number_of_ready_clients() const override
+  size_t number_of_ready_clients() const
   {
     size_t number_of_clients = client_handles_.size();
     for (auto waitable : waitable_handles_) {
@@ -473,7 +448,7 @@ public:
     return number_of_clients;
   }
 
-  size_t number_of_guard_conditions() const override
+  size_t number_of_guard_conditions() const
   {
     size_t number_of_guard_conditions = guard_conditions_.size();
     for (auto waitable : waitable_handles_) {
@@ -482,7 +457,7 @@ public:
     return number_of_guard_conditions;
   }
 
-  size_t number_of_ready_timers() const override
+  size_t number_of_ready_timers() const
   {
     size_t number_of_timers = timer_handles_.size();
     for (auto waitable : waitable_handles_) {
@@ -491,7 +466,7 @@ public:
     return number_of_timers;
   }
 
-  size_t number_of_waitables() const override
+  size_t number_of_waitables() const
   {
     return waitable_handles_.size();
   }

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

@@ -17,8 +17,6 @@
 
 #include <memory>
 
-#include "rosidl_runtime_cpp/traits.hpp"
-
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"

rclcpp/include/rclcpp/subscription.hpp

@@ -18,7 +18,6 @@
 #include <rmw/error_handling.h>
 #include <rmw/rmw.h>
 
-#include <chrono>
 #include <functional>
 #include <iostream>
 #include <memory>
@@ -26,29 +25,24 @@
 #include <string>
 #include <utility>
 
+
 #include "rcl/error_handling.h"
 #include "rcl/subscription.h"
 
+#include "rcl_interfaces/msg/intra_process_message.hpp"
+
 #include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/detail/resolve_use_intra_process.hpp"
-#include "rclcpp/detail/resolve_intra_process_buffer_type.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
-#include "rclcpp/experimental/intra_process_manager.hpp"
-#include "rclcpp/experimental/subscription_intra_process.hpp"
+#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/message_info.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/subscription_base.hpp"
-#include "rclcpp/subscription_options.hpp"
 #include "rclcpp/subscription_traits.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/waitable.hpp"
-#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
-#include "tracetools/tracetools.h"
 
 namespace rclcpp
 {
@@ -61,187 +55,73 @@ class NodeTopicsInterface;
 /// Subscription implementation, templated on the type of message this subscription receives.
 template<
   typename CallbackMessageT,
-  typename AllocatorT = std::allocator<void>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >>
+  typename Alloc = std::allocator<void>>
 class Subscription : public SubscriptionBase
 {
   friend class rclcpp::node_interfaces::NodeTopicsInterface;
 
 public:
-  using MessageAllocatorTraits = allocator::AllocRebind<CallbackMessageT, AllocatorT>;
-  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAllocator, CallbackMessageT>;
+  using MessageAllocTraits = allocator::AllocRebind<CallbackMessageT, Alloc>;
+  using MessageAlloc = typename MessageAllocTraits::allocator_type;
+  using MessageDeleter = allocator::Deleter<MessageAlloc, CallbackMessageT>;
   using ConstMessageSharedPtr = std::shared_ptr<const CallbackMessageT>;
   using MessageUniquePtr = std::unique_ptr<CallbackMessageT, MessageDeleter>;
-  using SubscriptionTopicStatisticsSharedPtr =
-    std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>;
 
   RCLCPP_SMART_PTR_DEFINITIONS(Subscription)
 
   /// Default constructor.
   /**
-   * The constructor for a subscription is almost never called directly.
-   * Instead, subscriptions should be instantiated through the function
-   * rclcpp::create_subscription().
-   *
-   * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
+   * The constructor for a subscription is almost never called directly. Instead, subscriptions
+   * should be instantiated through Node::create_subscription.
+   * \param[in] node_handle rcl representation of the node that owns this subscription.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
+   * \param[in] subscription_options options for the subscription.
    * \param[in] callback User defined callback to call when a message is received.
-   * \param[in] options options for the subscription.
-   * \param[in] message_memory_strategy The memory strategy to be used for managing message memory.
+   * \param[in] memory_strategy The memory strategy to be used for managing message memory.
    */
   Subscription(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    std::shared_ptr<rcl_node_t> node_handle,
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
-    const rclcpp::QoS & qos,
-    AnySubscriptionCallback<CallbackMessageT, AllocatorT> callback,
-    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-    typename MessageMemoryStrategyT::SharedPtr message_memory_strategy,
-    SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics = nullptr)
+    const rcl_subscription_options_t & subscription_options,
+    AnySubscriptionCallback<CallbackMessageT, Alloc> callback,
+    const SubscriptionEventCallbacks & event_callbacks,
+    typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
+    memory_strategy = message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
+    Alloc>::create_default())
   : SubscriptionBase(
-      node_base,
+      node_handle,
       type_support_handle,
       topic_name,
-      options.template to_rcl_subscription_options<CallbackMessageT>(qos),
+      subscription_options,
       rclcpp::subscription_traits::is_serialized_subscription_argument<CallbackMessageT>::value),
     any_callback_(callback),
-    options_(options),
-    message_memory_strategy_(message_memory_strategy)
+    message_memory_strategy_(memory_strategy)
   {
-    if (options.event_callbacks.deadline_callback) {
-      this->add_event_handler(
-        options.event_callbacks.deadline_callback,
+    if (event_callbacks.deadline_callback) {
+      this->add_event_handler(event_callbacks.deadline_callback,
         RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
     }
-    if (options.event_callbacks.liveliness_callback) {
-      this->add_event_handler(
-        options.event_callbacks.liveliness_callback,
+    if (event_callbacks.liveliness_callback) {
+      this->add_event_handler(event_callbacks.liveliness_callback,
         RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
     }
-    if (options.event_callbacks.incompatible_qos_callback) {
-      this->add_event_handler(
-        options.event_callbacks.incompatible_qos_callback,
-        RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
-    } else if (options_.use_default_callbacks) {
-      // Register default callback when not specified
-      try {
-        this->add_event_handler(
-          [this](QOSRequestedIncompatibleQoSInfo & info) {
-            this->default_incompatible_qos_callback(info);
-          },
-          RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
-      } catch (UnsupportedEventTypeException & /*exc*/) {
-        // pass
-      }
-    }
-
-    // Setup intra process publishing if requested.
-    if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {
-      using rclcpp::detail::resolve_intra_process_buffer_type;
-
-      // Check if the QoS is compatible with intra-process.
-      rmw_qos_profile_t qos_profile = get_actual_qos().get_rmw_qos_profile();
-      if (qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
-        throw std::invalid_argument(
-                "intraprocess communication is not allowed with keep all history qos policy");
-      }
-      if (qos_profile.depth == 0) {
-        throw std::invalid_argument(
-                "intraprocess communication is not allowed with 0 depth qos policy");
-      }
-      if (qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
-        throw std::invalid_argument(
-                "intraprocess communication allowed only with volatile durability");
-      }
-
-      // First create a SubscriptionIntraProcess which will be given to the intra-process manager.
-      auto context = node_base->get_context();
-      using SubscriptionIntraProcessT = rclcpp::experimental::SubscriptionIntraProcess<
-        CallbackMessageT,
-        AllocatorT,
-        typename MessageUniquePtr::deleter_type>;
-      auto subscription_intra_process = std::make_shared<SubscriptionIntraProcessT>(
-        callback,
-        options.get_allocator(),
-        context,
-        this->get_topic_name(),  // important to get like this, as it has the fully-qualified name
-        qos_profile,
-        resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback));
-      TRACEPOINT(
-        rclcpp_subscription_init,
-        (const void *)get_subscription_handle().get(),
-        (const void *)subscription_intra_process.get());
-
-      // Add it to the intra process manager.
-      using rclcpp::experimental::IntraProcessManager;
-      auto ipm = context->get_sub_context<IntraProcessManager>();
-      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription_intra_process);
-      this->setup_intra_process(intra_process_subscription_id, ipm);
-    }
-
-    if (subscription_topic_statistics != nullptr) {
-      this->subscription_topic_statistics_ = std::move(subscription_topic_statistics);
-    }
-
-    TRACEPOINT(
-      rclcpp_subscription_init,
-      (const void *)get_subscription_handle().get(),
-      (const void *)this);
-    TRACEPOINT(
-      rclcpp_subscription_callback_added,
-      (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.
-#ifndef TRACETOOLS_DISABLED
-    any_callback_.register_callback_for_tracing();
-#endif
   }
 
-  /// Called after construction to continue setup that requires shared_from_this().
-  void
-  post_init_setup(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    const rclcpp::QoS & qos,
-    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
-  {
-    (void)node_base;
-    (void)qos;
-    (void)options;
-  }
-
-  /// Take the next message from the inter-process subscription.
+  /// Support dynamically setting the message memory strategy.
   /**
-   * Data may be taken (written) into the message_out and message_info_out even
-   * if false is returned.
-   * Specifically in the case of dropping redundant intra-process data, where
-   * data is received via both intra-process and inter-process (due to the
-   * underlying middleware being unabled to avoid this duplicate delivery) and
-   * so inter-process data from those intra-process publishers is ignored, but
-   * it has to be taken to know if it came from an intra-process publisher or
-   * not, and therefore could be dropped.
-   *
-   * \sa SubscriptionBase::take_type_erased()
-   *
-   * \param[out] message_out The message into which take will copy the data.
-   * \param[out] message_info_out The message info for the taken message.
-   * \returns true if data was taken and is valid, otherwise false
-   * \throws any rcl errors from rcl_take, \sa rclcpp::exceptions::throw_from_rcl_error()
+   * Behavior may be undefined if called while the subscription could be executing.
+   * \param[in] message_memory_strategy Shared pointer to the memory strategy to set.
    */
-  bool
-  take(CallbackMessageT & message_out, rclcpp::MessageInfo & message_info_out)
+  void set_message_memory_strategy(
+    typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
+    Alloc>::SharedPtr message_memory_strategy)
   {
-    return this->take_type_erased(static_cast<void *>(&message_out), message_info_out);
+    message_memory_strategy_ = message_memory_strategy;
   }
 
-  std::shared_ptr<void>
-  create_message() override
+  std::shared_ptr<void> create_message()
   {
     /* The default message memory strategy provides a dynamically allocated message on each call to
      * create_message, though alternative memory strategies that re-use a preallocated message may be
@@ -250,80 +130,151 @@ public:
     return message_memory_strategy_->borrow_message();
   }
 
-  std::shared_ptr<rclcpp::SerializedMessage>
-  create_serialized_message() override
+  std::shared_ptr<rcl_serialized_message_t> create_serialized_message()
   {
     return message_memory_strategy_->borrow_serialized_message();
   }
 
-  void
-  handle_message(
-    std::shared_ptr<void> & message,
-    const rclcpp::MessageInfo & message_info) override
+  void handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info)
   {
-    if (matches_any_intra_process_publishers(&message_info.get_rmw_message_info().publisher_gid)) {
+    if (matches_any_intra_process_publishers(&message_info.publisher_gid)) {
       // In this case, the message will be delivered via intra process and
       // we should ignore this copy of the message.
       return;
     }
     auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
     any_callback_.dispatch(typed_message, message_info);
-
-    if (subscription_topic_statistics_) {
-      const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(
-        std::chrono::system_clock::now());
-      const auto time = rclcpp::Time(nanos.time_since_epoch().count());
-      subscription_topic_statistics_->handle_message(*typed_message, time);
-    }
   }
 
-  void
-  handle_loaned_message(
-    void * loaned_message,
-    const rclcpp::MessageInfo & message_info) override
-  {
-    auto typed_message = static_cast<CallbackMessageT *>(loaned_message);
-    // message is loaned, so we have to make sure that the deleter does not deallocate the message
-    auto sptr = std::shared_ptr<CallbackMessageT>(
-      typed_message, [](CallbackMessageT * msg) {(void) msg;});
-    any_callback_.dispatch(sptr, message_info);
-  }
-
-  /// Return the borrowed message.
+  /// Return the loaned message.
   /** \param message message to be returned */
-  void
-  return_message(std::shared_ptr<void> & message) override
+  void return_message(std::shared_ptr<void> & message)
   {
     auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
     message_memory_strategy_->return_message(typed_message);
   }
 
-  void
-  return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override
+  void return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message)
   {
     message_memory_strategy_->return_serialized_message(message);
   }
 
-  bool
-  use_take_shared_method() const
+  void handle_intra_process_message(
+    rcl_interfaces::msg::IntraProcessMessage & ipm,
+    const rmw_message_info_t & message_info)
   {
-    return any_callback_.use_take_shared_method();
+    if (!use_intra_process_) {
+      // throw std::runtime_error(
+      //   "handle_intra_process_message called before setup_intra_process");
+      // TODO(wjwwood): for now, this could mean that intra process was just not enabled.
+      // However, this can only really happen if this node has it disabled, but the other doesn't.
+      return;
+    }
+
+    if (!matches_any_intra_process_publishers(&message_info.publisher_gid)) {
+      // This intra-process message has not been created by a publisher from this context.
+      // we should ignore this copy of the message.
+      return;
+    }
+
+    if (any_callback_.use_take_shared_method()) {
+      ConstMessageSharedPtr msg;
+      take_intra_process_message(
+        ipm.publisher_id,
+        ipm.message_sequence,
+        intra_process_subscription_id_,
+        msg);
+      if (!msg) {
+        // This can happen when having two nodes in different process both using intraprocess
+        // communication. It could happen too if the publisher no longer exists or the requested
+        // message is not longer being stored.
+        // TODO(ivanpauno): Print a warn message in the last two cases described above,
+        // but not in the first one.
+        return;
+      }
+      any_callback_.dispatch_intra_process(msg, message_info);
+    } else {
+      MessageUniquePtr msg;
+      take_intra_process_message(
+        ipm.publisher_id,
+        ipm.message_sequence,
+        intra_process_subscription_id_,
+        msg);
+      if (!msg) {
+        // This can happen when having two nodes in different process both using intraprocess
+        // communication. It could happen too if the publisher no longer exists or the requested
+        // message is not longer being stored.
+        // TODO(ivanpauno): Print a warn message in the last two cases described above,
+        // but not in the first one.
+        return;
+      }
+      any_callback_.dispatch_intra_process(std::move(msg), message_info);
+    }
+  }
+
+  /// Implemenation detail.
+  const std::shared_ptr<rcl_subscription_t>
+  get_intra_process_subscription_handle() const
+  {
+    if (!use_intra_process_) {
+      return nullptr;
+    }
+    return intra_process_subscription_handle_;
   }
 
 private:
+  void
+  take_intra_process_message(
+    uint64_t publisher_id,
+    uint64_t message_sequence,
+    uint64_t subscription_id,
+    MessageUniquePtr & message)
+  {
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      throw std::runtime_error(
+              "intra process take called after destruction of intra process manager");
+    }
+    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
+      publisher_id, message_sequence, subscription_id, message);
+  }
+
+  void
+  take_intra_process_message(
+    uint64_t publisher_id,
+    uint64_t message_sequence,
+    uint64_t subscription_id,
+    ConstMessageSharedPtr & message)
+  {
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      throw std::runtime_error(
+              "intra process take called after destruction of intra process manager");
+    }
+    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
+      publisher_id, message_sequence, subscription_id, message);
+  }
+
+  bool
+  matches_any_intra_process_publishers(const rmw_gid_t * sender_gid)
+  {
+    if (!use_intra_process_) {
+      return false;
+    }
+    auto ipm = weak_ipm_.lock();
+    if (!ipm) {
+      throw std::runtime_error(
+              "intra process publisher check called "
+              "after destruction of intra process manager");
+    }
+    return ipm->matches_any_publishers(sender_gid);
+  }
+
   RCLCPP_DISABLE_COPY(Subscription)
 
-  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_callback_;
-  /// Copy of original options passed during construction.
-  /**
-   * It is important to save a copy of this so that the rmw payload which it
-   * may contain is kept alive for the duration of the subscription.
-   */
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> options_;
-  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, AllocatorT>::SharedPtr
+  AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
+  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
     message_memory_strategy_;
-  /// Component which computes and publishes topic statistics for this subscriber
-  SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/subscription_base.hpp

@@ -15,25 +15,19 @@
 #ifndef RCLCPP__SUBSCRIPTION_BASE_HPP_
 #define RCLCPP__SUBSCRIPTION_BASE_HPP_
 
-#include <atomic>
 #include <memory>
 #include <string>
-#include <unordered_map>
 #include <vector>
-#include <utility>
 
 #include "rcl/subscription.h"
 
+#include "rcl_interfaces/msg/intra_process_message.hpp"
+
 #include "rmw/rmw.h"
 
 #include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/experimental/intra_process_manager.hpp"
-#include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/message_info.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
-#include "rclcpp/serialized_message.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -42,28 +36,28 @@ namespace rclcpp
 
 namespace node_interfaces
 {
-class NodeBaseInterface;
+class NodeTopicsInterface;
 }  // namespace node_interfaces
 
-namespace experimental
+namespace intra_process_manager
 {
 /**
  * IntraProcessManager is forward declared here, avoiding a circular inclusion between
  * `intra_process_manager.hpp` and `subscription_base.hpp`.
  */
 class IntraProcessManager;
-}  // namespace experimental
+}
 
 /// Virtual base class for subscriptions. This pattern allows us to iterate over different template
 /// specializations of Subscription, among other things.
-class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
+class SubscriptionBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
 
   /// Default constructor.
   /**
-   * \param[in] node_base NodeBaseInterface pointer used in parts of the setup.
+   * \param[in] node_handle The rcl representation of the node that owns this subscription.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] subscription_options options for the subscription.
@@ -71,7 +65,7 @@ public:
    */
   RCLCPP_PUBLIC
   SubscriptionBase(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    std::shared_ptr<rcl_node_t> node_handle,
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
     const rcl_subscription_options_t & subscription_options,
@@ -94,78 +88,24 @@ public:
   const std::shared_ptr<rcl_subscription_t>
   get_subscription_handle() const;
 
+  RCLCPP_PUBLIC
+  virtual const std::shared_ptr<rcl_subscription_t>
+  get_intra_process_subscription_handle() const;
+
   /// Get all the QoS event handlers associated with this subscription.
   /** \return The vector of QoS event handlers. */
   RCLCPP_PUBLIC
   const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
   get_event_handlers() const;
 
-  /// Get the actual QoS settings, after the defaults have been determined.
-  /**
-   * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
-   * can only be resolved after the creation of the publisher, and it
-   * depends on the underlying rmw implementation.
-   * If the underlying setting in use can't be represented in ROS terms,
-   * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
-   * May throw runtime_error when an unexpected error occurs.
-   *
-   * \return The actual qos settings.
-   */
-  RCLCPP_PUBLIC
-  rclcpp::QoS
-  get_actual_qos() const;
-
-  /// Take the next inter-process message from the subscription as a type erased pointer.
-  /**
-   * \sa Subscription::take() for details on how this function works.
-   *
-   * The only difference is that it takes a type erased pointer rather than a
-   * reference to the exact message type.
-   *
-   * This type erased version facilitates using the subscriptions in a type
-   * agnostic way using SubscriptionBase::create_message() and
-   * SubscriptionBase::handle_message().
-   *
-   * \param[out] message_out The type erased message pointer into which take
-   *   will copy the data.
-   * \param[out] message_info_out The message info for the taken message.
-   * \returns true if data was taken and is valid, otherwise false
-   * \throws any rcl errors from rcl_take, \sa rclcpp::exceptions::throw_from_rcl_error()
-   */
-  RCLCPP_PUBLIC
-  bool
-  take_type_erased(void * message_out, rclcpp::MessageInfo & message_info_out);
-
-  /// Take the next inter-process message, in its serialized form, from the subscription.
-  /**
-   * For now, if data is taken (written) into the message_out and
-   * message_info_out then true will be returned.
-   * Unlike Subscription::take(), taking data serialized is not possible via
-   * intra-process for the time being, so it will not need to de-duplicate
-   * data in any case.
-   *
-   * \param[out] message_out The serialized message data structure used to
-   *   store the taken message.
-   * \param[out] message_info_out The message info for the taken message.
-   * \returns true if data was taken and is valid, otherwise false
-   * \throws any rcl errors from rcl_take, \sa rclcpp::exceptions::throw_from_rcl_error()
-   */
-  RCLCPP_PUBLIC
-  bool
-  take_serialized(rclcpp::SerializedMessage & message_out, rclcpp::MessageInfo & message_info_out);
-
   /// Borrow a new message.
   /** \return Shared pointer to the fresh message. */
-  RCLCPP_PUBLIC
-  virtual
-  std::shared_ptr<void>
+  virtual std::shared_ptr<void>
   create_message() = 0;
 
   /// Borrow a new serialized message
   /** \return Shared pointer to a rcl_message_serialized_t. */
-  RCLCPP_PUBLIC
-  virtual
-  std::shared_ptr<rclcpp::SerializedMessage>
+  virtual std::shared_ptr<rcl_serialized_message_t>
   create_serialized_message() = 0;
 
   /// Check if we need to handle the message, and execute the callback if we do.
@@ -173,35 +113,27 @@ public:
    * \param[in] message Shared pointer to the message to handle.
    * \param[in] message_info Metadata associated with this message.
    */
-  RCLCPP_PUBLIC
-  virtual
-  void
-  handle_message(std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) = 0;
-
-  RCLCPP_PUBLIC
-  virtual
-  void
-  handle_loaned_message(void * loaned_message, const rclcpp::MessageInfo & message_info) = 0;
+  virtual void
+  handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info) = 0;
 
   /// Return the message borrowed in create_message.
   /** \param[in] message Shared pointer to the returned message. */
-  RCLCPP_PUBLIC
-  virtual
-  void
+  virtual void
   return_message(std::shared_ptr<void> & message) = 0;
 
   /// Return the message borrowed in create_serialized_message.
   /** \param[in] message Shared pointer to the returned message. */
-  RCLCPP_PUBLIC
-  virtual
-  void
-  return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) = 0;
+  virtual void
+  return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) = 0;
+
+  virtual void
+  handle_intra_process_message(
+    rcl_interfaces::msg::IntraProcessMessage & ipm,
+    const rmw_message_info_t & message_info) = 0;
 
-  RCLCPP_PUBLIC
   const rosidl_message_type_support_t &
   get_message_type_support_handle() const;
 
-  RCLCPP_PUBLIC
   bool
   is_serialized() const;
 
@@ -211,48 +143,14 @@ public:
   size_t
   get_publisher_count() const;
 
-  /// Check if subscription instance can loan messages.
-  /**
-   * Depending on the middleware and the message type, this will return true if the middleware
-   * can allocate a ROS message instance.
-   *
-   * \return boolean flag indicating if middleware can loan messages.
-   */
-  RCLCPP_PUBLIC
-  bool
-  can_loan_messages() const;
-
   using IntraProcessManagerWeakPtr =
-    std::weak_ptr<rclcpp::experimental::IntraProcessManager>;
+    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
 
   /// Implemenation detail.
-  RCLCPP_PUBLIC
-  void
-  setup_intra_process(
+  void setup_intra_process(
     uint64_t intra_process_subscription_id,
-    IntraProcessManagerWeakPtr weak_ipm);
-
-  /// Return the waitable for intra-process, or nullptr if intra-process is not setup.
-  RCLCPP_PUBLIC
-  rclcpp::Waitable::SharedPtr
-  get_intra_process_waitable() const;
-
-  /// Exchange state of whether or not a part of the subscription is used by a wait set.
-  /**
-   * Used to ensure parts of the subscription are not used with multiple wait
-   * sets simultaneously.
-   *
-   * \param[in] pointer_to_subscription_part address of a subscription part
-   * \param[in] in_use_state the new state to exchange, true means "now in use",
-   *   and false means "no longer in use".
-   * \returns the current "in use" state.
-   * \throws std::invalid_argument If pointer_to_subscription_part is nullptr.
-   * \throws std::runtime_error If the pointer given is not a pointer to one of
-   *   the parts of the subscription which can be used with a wait set.
-   */
-  RCLCPP_PUBLIC
-  bool
-  exchange_in_use_by_wait_set_state(void * pointer_to_subscription_part, bool in_use_state);
+    IntraProcessManagerWeakPtr weak_ipm,
+    const rcl_subscription_options_t & intra_process_options);
 
 protected:
   template<typename EventCallbackT>
@@ -266,19 +164,9 @@ protected:
       rcl_subscription_event_init,
       get_subscription_handle().get(),
       event_type);
-    qos_events_in_use_by_wait_set_.insert(std::make_pair(handler.get(), false));
     event_handlers_.emplace_back(handler);
   }
 
-  RCLCPP_PUBLIC
-  void default_incompatible_qos_callback(QOSRequestedIncompatibleQoSInfo & info) const;
-
-  RCLCPP_PUBLIC
-  bool
-  matches_any_intra_process_publishers(const rmw_gid_t * sender_gid) const;
-
-  rclcpp::node_interfaces::NodeBaseInterface * const node_base_;
-
   std::shared_ptr<rcl_node_t> node_handle_;
   std::shared_ptr<rcl_subscription_t> subscription_handle_;
   std::shared_ptr<rcl_subscription_t> intra_process_subscription_handle_;
@@ -294,11 +182,6 @@ private:
 
   rosidl_message_type_support_t type_support_;
   bool is_serialized_;
-
-  std::atomic<bool> subscription_in_use_by_wait_set_{false};
-  std::atomic<bool> intra_process_subscription_waitable_in_use_by_wait_set_{false};
-  std::unordered_map<rclcpp::QOSEventHandlerBase *,
-    std::atomic<bool>> qos_events_in_use_by_wait_set_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -24,32 +24,25 @@
 
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
-#include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/intra_process_buffer_type.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/subscription.hpp"
-#include "rclcpp/subscription_options.hpp"
 #include "rclcpp/subscription_traits.hpp"
+#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rclcpp/topic_statistics/subscription_topic_statistics.hpp"
 
 namespace rclcpp
 {
 
-/// Factory containing a function used to create a Subscription<MessageT>.
+/// Factory with functions used to create a Subscription<MessageT>.
 /**
- * This factory class is used to encapsulate the template generated function
- * which is used during the creation of a Message type specific subscription
+ * This factory class is used to encapsulate the template generated functions
+ * which are used during the creation of a Message type specific subscription
  * within a non-templated class.
  *
  * It is created using the create_subscription_factory function, which is
  * usually called from a templated "create_subscription" method of the Node
  * class, and is passed to the non-templated "create_subscription" method of
  * the NodeTopics class where it is used to create and setup the Subscription.
- *
- * It also handles the two step construction of Subscriptions, first calling
- * the constructor and then the post_init_setup() method.
  */
 struct SubscriptionFactory
 {
@@ -58,66 +51,76 @@ struct SubscriptionFactory
     rclcpp::SubscriptionBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      const rclcpp::QoS & qos)>;
+      const rcl_subscription_options_t & subscription_options)>;
 
-  const SubscriptionFactoryFunction create_typed_subscription;
+  SubscriptionFactoryFunction create_typed_subscription;
+
+  // Function that takes a MessageT from the intra process manager
+  using SetupIntraProcessFunction = std::function<
+    void (
+      rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
+      rclcpp::SubscriptionBase::SharedPtr subscription,
+      const rcl_subscription_options_t & subscription_options)>;
+
+  SetupIntraProcessFunction setup_intra_process;
 };
 
 /// Return a SubscriptionFactory setup to create a SubscriptionT<MessageT, AllocatorT>.
+/**
+ * \param[in] callback The user-defined callback function to receive a message
+ * \param[in] options Additional options for the creation of the Subscription.
+ * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
+ */
 template<
   typename MessageT,
   typename CallbackT,
-  typename AllocatorT,
-  typename CallbackMessageT =
-  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
-  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >>
+  typename Alloc,
+  typename CallbackMessageT,
+  typename SubscriptionT>
 SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat,
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
-  subscription_topic_stats = nullptr
-)
+  const SubscriptionEventCallbacks & event_callbacks,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT, Alloc>::SharedPtr
+  msg_mem_strat,
+  std::shared_ptr<Alloc> allocator)
 {
-  auto allocator = options.get_allocator();
+  SubscriptionFactory factory;
 
   using rclcpp::AnySubscriptionCallback;
-  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_subscription_callback(allocator);
+  AnySubscriptionCallback<CallbackMessageT, Alloc> any_subscription_callback(allocator);
   any_subscription_callback.set(std::forward<CallbackT>(callback));
 
-  SubscriptionFactory factory {
-    // factory function that creates a MessageT specific SubscriptionT
-    [options, msg_mem_strat, any_subscription_callback, subscription_topic_stats](
-      rclcpp::node_interfaces::NodeBaseInterface * node_base,
-      const std::string & topic_name,
-      const rclcpp::QoS & qos
+  auto message_alloc =
+    std::make_shared<typename Subscription<CallbackMessageT, Alloc>::MessageAlloc>();
+
+  // factory function that creates a MessageT specific SubscriptionT
+  factory.create_typed_subscription =
+    [allocator, msg_mem_strat, any_subscription_callback, event_callbacks, message_alloc](
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic_name,
+    const rcl_subscription_options_t & subscription_options
     ) -> rclcpp::SubscriptionBase::SharedPtr
     {
+      auto options_copy = subscription_options;
+      options_copy.allocator =
+        rclcpp::allocator::get_rcl_allocator<CallbackMessageT>(*message_alloc.get());
+
       using rclcpp::Subscription;
       using rclcpp::SubscriptionBase;
 
-      auto sub = Subscription<CallbackMessageT, AllocatorT>::make_shared(
-        node_base,
+      auto sub = Subscription<CallbackMessageT, Alloc>::make_shared(
+        node_base->get_shared_rcl_node_handle(),
         *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
         topic_name,
-        qos,
+        options_copy,
         any_subscription_callback,
-        options,
-        msg_mem_strat,
-        subscription_topic_stats);
-      // This is used for setting up things like intra process comms which
-      // require this->shared_from_this() which cannot be called from
-      // the constructor.
-      sub->post_init_setup(node_base, qos, options);
+        event_callbacks,
+        msg_mem_strat);
       auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
       return sub_base_ptr;
-    }
-  };
+    };
 
   // return the factory now that it is populated
   return factory;