@wip

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

rclcpp/CHANGELOG.rst

@@ -2,190 +2,6 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-28.0.0 (2024-03-28)
--------------------
-* fix spin_some_max_duration unit-test for events-executor (`#2465 <https://github.com/ros2/rclcpp/issues/2465>`_)
-* refactor and improve the parameterized spin_some tests for executors (`#2460 <https://github.com/ros2/rclcpp/issues/2460>`_)
-  * refactor and improve the spin_some parameterized tests for executors
-  * disable spin_some_max_duration for the StaticSingleThreadedExecutor and EventsExecutor
-  * fixup and clarify the docstring for Executor::spin_some()
-  * style
-  * review comments
-  ---------
-* enable simulation clock for timer canceling test. (`#2458 <https://github.com/ros2/rclcpp/issues/2458>`_)
-  * enable simulation clock for timer canceling test.
-  * move MainExecutorTypes to test_executors_timer_cancel_behavior.cpp.
-  ---------
-* Revert "relax the test simulation rate for timer canceling tests. (`#2453 <https://github.com/ros2/rclcpp/issues/2453>`_)" (`#2456 <https://github.com/ros2/rclcpp/issues/2456>`_)
-  This reverts commit 1c350d0d7fb9c7158e0a39057112486ddbd38e9a.
-* relax the test simulation rate for timer canceling tests. (`#2453 <https://github.com/ros2/rclcpp/issues/2453>`_)
-* Fix TypeAdapted publishing with large messages. (`#2443 <https://github.com/ros2/rclcpp/issues/2443>`_)
-  Mostly by ensuring we aren't attempting to store
-  large messages on the stack.  Also add in tests.
-  I verified that before these changes, the tests failed,
-  while after them they succeed.
-* Implement generic client (`#2358 <https://github.com/ros2/rclcpp/issues/2358>`_)
-  * Implement generic client
-  * Fix the incorrect parameter declaration
-  * Deleted copy constructor and assignment for FutureAndRequestId
-  * Update codes after rebase
-  * Address review comments
-  * Address review comments from iuhilnehc-ynos
-  * Correct an error in a description
-  * Fix window build errors
-  * Address review comments from William
-  * Add doc strings to create_generic_client
-  ---------
-* Rule of five: implement move operators (`#2425 <https://github.com/ros2/rclcpp/issues/2425>`_)
-* Various cleanups to deal with uncrustify 0.78. (`#2439 <https://github.com/ros2/rclcpp/issues/2439>`_)
-  These should also work with uncrustify 0.72.
-* Remove the set_deprecated signatures in any_subscription_callback. (`#2431 <https://github.com/ros2/rclcpp/issues/2431>`_)
-  These have been deprecated since April 2021, so it is safe
-  to remove them now.
-* fix doxygen syntax for NodeInterfaces (`#2428 <https://github.com/ros2/rclcpp/issues/2428>`_)
-* Set hints to find the python version we actually want. (`#2426 <https://github.com/ros2/rclcpp/issues/2426>`_)
-  The comment in the commit explains the reasoning behind it.
-* Update quality declaration documents (`#2427 <https://github.com/ros2/rclcpp/issues/2427>`_)
-* feat: add/minus for msg::Time and rclcpp::Duration (`#2419 <https://github.com/ros2/rclcpp/issues/2419>`_)
-  * feat: add/minus for msg::Time and rclcpp::Duration
-* Contributors: Alberto Soragna, Barry Xu, Chris Lalancette, Christophe Bedard, HuaTsai, Jonas Otto, Tim Clephas, Tomoya Fujita, William Woodall
-
-27.0.0 (2024-02-07)
--------------------
-* Split test_executors up into smaller chunks. (`#2421 <https://github.com/ros2/rclcpp/issues/2421>`_)
-* [events executor] - Fix Behavior with Timer Cancel (`#2375 <https://github.com/ros2/rclcpp/issues/2375>`_)
-* Removed deprecated header (`#2413 <https://github.com/ros2/rclcpp/issues/2413>`_)
-* Make sure to mark RingBuffer methods as 'override'. (`#2410 <https://github.com/ros2/rclcpp/issues/2410>`_)
-* Contributors: Alejandro Hernández Cordero, Chris Lalancette, Matt Condino
-
-26.0.0 (2024-01-24)
--------------------
-* Increase the cppcheck timeout to 600 seconds. (`#2409 <https://github.com/ros2/rclcpp/issues/2409>`_)
-* Add transient local durability support to publisher and subscriptions when using intra-process communication (`#2303 <https://github.com/ros2/rclcpp/issues/2303>`_)
-* Stop storing the context in the guard condition. (`#2400 <https://github.com/ros2/rclcpp/issues/2400>`_)
-* Contributors: Chris Lalancette, Jeffery Hsu
-
-25.0.0 (2023-12-26)
--------------------
-* Updated GenericSubscription to AnySubscriptionCallback (`#1928 <https://github.com/ros2/rclcpp/issues/1928>`_)
-* make type support helper supported for service (`#2209 <https://github.com/ros2/rclcpp/issues/2209>`_)
-* Adding QoS to subscription options (`#2323 <https://github.com/ros2/rclcpp/issues/2323>`_)
-* Switch to target_link_libraries. (`#2374 <https://github.com/ros2/rclcpp/issues/2374>`_)
-* aligh with rcl that a rosout publisher of a node might not exist (`#2357 <https://github.com/ros2/rclcpp/issues/2357>`_)
-* Fix data race in EventHandlerBase (`#2349 <https://github.com/ros2/rclcpp/issues/2349>`_)
-* Support users holding onto shared pointers in the message memory pool (`#2336 <https://github.com/ros2/rclcpp/issues/2336>`_)
-* Contributors: Chen Lihui, Chris Lalancette, DensoADAS, Lucas Wendland, mauropasse
-
-24.0.0 (2023-11-06)
--------------------
-* fix (signal_handler.hpp): spelling (`#2356 <https://github.com/ros2/rclcpp/issues/2356>`_)
-* Updates to not use std::move in some places. (`#2353 <https://github.com/ros2/rclcpp/issues/2353>`_)
-* rclcpp::Time::max() clock type support. (`#2352 <https://github.com/ros2/rclcpp/issues/2352>`_)
-* Serialized Messages with Topic Statistics (`#2274 <https://github.com/ros2/rclcpp/issues/2274>`_)
-* Add a custom deleter when constructing rcl_service_t (`#2351 <https://github.com/ros2/rclcpp/issues/2351>`_)
-* Disable the loaned messages inside the executor. (`#2335 <https://github.com/ros2/rclcpp/issues/2335>`_)
-* Use message_info in SubscriptionTopicStatistics instead of typed message (`#2337 <https://github.com/ros2/rclcpp/issues/2337>`_)
-* Add missing 'enable_rosout' comments (`#2345 <https://github.com/ros2/rclcpp/issues/2345>`_)
-* Adjust rclcpp usage of type description service (`#2344 <https://github.com/ros2/rclcpp/issues/2344>`_)
-* address rate related flaky tests. (`#2329 <https://github.com/ros2/rclcpp/issues/2329>`_)
-* Fixes pointed out by the clang analyzer. (`#2339 <https://github.com/ros2/rclcpp/issues/2339>`_)
-* Remove useless ROSRate class (`#2326 <https://github.com/ros2/rclcpp/issues/2326>`_)
-* Contributors: Alexey Merzlyakov, Chris Lalancette, Jiaqi Li, Lucas Wendland, Michael Carroll, Michael Orlov, Tomoya Fujita, Zard-C
-
-23.2.0 (2023-10-09)
--------------------
-* add clients & services count (`#2072 <https://github.com/ros2/rclcpp/issues/2072>`_)
-* remove invalid sized allocation test for SerializedMessage. (`#2330 <https://github.com/ros2/rclcpp/issues/2330>`_)
-* Adding API to copy all parameters from one node to another (`#2304 <https://github.com/ros2/rclcpp/issues/2304>`_)
-* Contributors: Minju, Lee, Steve Macenski, Tomoya Fujita
-
-23.1.0 (2023-10-04)
--------------------
-* Add locking to protect the TimeSource::NodeState::node_base\_ (`#2320 <https://github.com/ros2/rclcpp/issues/2320>`_)
-* Update SignalHandler get_global_signal_handler to avoid complex types in static memory (`#2316 <https://github.com/ros2/rclcpp/issues/2316>`_)
-* Removing Old Connext Tests (`#2313 <https://github.com/ros2/rclcpp/issues/2313>`_)
-* Documentation for list_parameters  (`#2315 <https://github.com/ros2/rclcpp/issues/2315>`_)
-* Decouple rosout publisher init from node init. (`#2174 <https://github.com/ros2/rclcpp/issues/2174>`_)
-* fix the depth to relative in list_parameters (`#2300 <https://github.com/ros2/rclcpp/issues/2300>`_)
-* Contributors: Chris Lalancette, Lucas Wendland, Minju, Lee, Tomoya Fujita, Tully Foote
-
-23.0.0 (2023-09-08)
--------------------
-* Fix the return type of Rate::period. (`#2301 <https://github.com/ros2/rclcpp/issues/2301>`_)
-* Update API docs links in package READMEs (`#2302 <https://github.com/ros2/rclcpp/issues/2302>`_)
-* Cleanup flaky timers_manager tests. (`#2299 <https://github.com/ros2/rclcpp/issues/2299>`_)
-* Contributors: Chris Lalancette, Christophe Bedard
-
-22.2.0 (2023-09-07)
--------------------
-* Topic correct typeadapter deduction (`#2294 <https://github.com/ros2/rclcpp/issues/2294>`_)
-* Fix C++20 allocator construct deprecation (`#2292 <https://github.com/ros2/rclcpp/issues/2292>`_)
-* Make Rate to select the clock to work with (`#2123 <https://github.com/ros2/rclcpp/issues/2123>`_)
-* Correct the position of a comment. (`#2290 <https://github.com/ros2/rclcpp/issues/2290>`_)
-* Remove unnecessary lambda captures in the tests. (`#2289 <https://github.com/ros2/rclcpp/issues/2289>`_)
-* Add rcl_logging_interface as an explicit dependency. (`#2284 <https://github.com/ros2/rclcpp/issues/2284>`_)
-* Revamp list_parameters to be more efficient and easier to read. (`#2282 <https://github.com/ros2/rclcpp/issues/2282>`_)
-* Contributors: AiVerisimilitude, Alexey Merzlyakov, Chen Lihui, Chris Lalancette, Jiaqi Li
-
-22.1.0 (2023-08-21)
--------------------
-* Do not crash Executor when send_response fails due to client failure. (`#2276 <https://github.com/ros2/rclcpp/issues/2276>`_)
-* Adding Custom Unknown Type Error (`#2272 <https://github.com/ros2/rclcpp/issues/2272>`_)
-* Add a pimpl inside rclcpp::Node for future distro backports (`#2228 <https://github.com/ros2/rclcpp/issues/2228>`_)
-* Remove an unused variable from the events executor tests. (`#2270 <https://github.com/ros2/rclcpp/issues/2270>`_)
-* Add spin_all shortcut (`#2246 <https://github.com/ros2/rclcpp/issues/2246>`_)
-* Adding Missing Group Exceptions (`#2256 <https://github.com/ros2/rclcpp/issues/2256>`_)
-* Change associated clocks storage to unordered_set (`#2257 <https://github.com/ros2/rclcpp/issues/2257>`_)
-* associated clocks should be protected by mutex. (`#2255 <https://github.com/ros2/rclcpp/issues/2255>`_)
-* Instrument loaned message publication code path (`#2240 <https://github.com/ros2/rclcpp/issues/2240>`_)
-* Contributors: Chris Lalancette, Christophe Bedard, Emerson Knapp, Luca Della Vedova, Lucas Wendland, Tomoya Fujita, Tony Najjar
-
-22.0.0 (2023-07-11)
--------------------
-* Implement get_node_type_descriptions_interface for lifecyclenode and add smoke test for it (`#2237 <https://github.com/ros2/rclcpp/issues/2237>`_)
-* Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service (`#2224 <https://github.com/ros2/rclcpp/issues/2224>`_)
-* Move always_false_v to detail namespace (`#2232 <https://github.com/ros2/rclcpp/issues/2232>`_)
-* Revamp the test_subscription.cpp tests. (`#2227 <https://github.com/ros2/rclcpp/issues/2227>`_)
-* warning: comparison of integer expressions of different signedness (`#2219 <https://github.com/ros2/rclcpp/issues/2219>`_)
-* Modifies timers API to select autostart state (`#2005 <https://github.com/ros2/rclcpp/issues/2005>`_)
-* Enable callback group tests for connextdds (`#2182 <https://github.com/ros2/rclcpp/issues/2182>`_)
-* Contributors: Chris Lalancette, Christopher Wecht, Eloy Briceno, Emerson Knapp, Nathan Wiebe Neufeldt, Tomoya Fujita
-
-21.3.0 (2023-06-12)
--------------------
-* Fix up misspellings of "receive". (`#2208 <https://github.com/ros2/rclcpp/issues/2208>`_)
-* Remove flaky stressAddRemoveNode test (`#2206 <https://github.com/ros2/rclcpp/issues/2206>`_)
-* Use TRACETOOLS\_ prefix for tracepoint-related macros (`#2162 <https://github.com/ros2/rclcpp/issues/2162>`_)
-* Contributors: Chris Lalancette, Christophe Bedard, Michael Carroll
-
-21.2.0 (2023-06-07)
--------------------
-* remove nolint since ament_cpplint updated for the c++17 header (`#2198 <https://github.com/ros2/rclcpp/issues/2198>`_)
-* Feature/available capacity of ipm (`#2173 <https://github.com/ros2/rclcpp/issues/2173>`_)
-* add mutex to protect events_executor current entity collection (`#2187 <https://github.com/ros2/rclcpp/issues/2187>`_)
-* Declare rclcpp callbacks before the rcl entities (`#2024 <https://github.com/ros2/rclcpp/issues/2024>`_)
-* Contributors: Alberto Soragna, Chen Lihui, DensoADAS, mauropasse
-
-21.1.1 (2023-05-11)
--------------------
-* Fix race condition in events-executor (`#2177 <https://github.com/ros2/rclcpp/issues/2177>`_)
-* Add missing stdexcept include (`#2186 <https://github.com/ros2/rclcpp/issues/2186>`_)
-* Fix a format-security warning when building with clang (`#2171 <https://github.com/ros2/rclcpp/issues/2171>`_)
-* Fix delivered message kind (`#2175 <https://github.com/ros2/rclcpp/issues/2175>`_)
-* Contributors: Alberto Soragna, Chris Lalancette, methylDragon, Øystein Sture
-
-21.1.0 (2023-04-27)
--------------------
-
-21.0.0 (2023-04-18)
--------------------
-* Add support for logging service. (`#2122 <https://github.com/ros2/rclcpp/issues/2122>`_)
-* Picking ABI-incompatible executor changes (`#2170 <https://github.com/ros2/rclcpp/issues/2170>`_)
-* add events-executor and timers-manager in rclcpp (`#2155 <https://github.com/ros2/rclcpp/issues/2155>`_)
-* Create common structures for executors to use (`#2143 <https://github.com/ros2/rclcpp/issues/2143>`_)
-* Implement deliver message kind (`#2168 <https://github.com/ros2/rclcpp/issues/2168>`_)
-* Contributors: Alberto Soragna, Lei Liu, Michael Carroll, methylDragon
-
 20.0.0 (2023-04-13)
 -------------------
 * applied tracepoints for ring_buffer (`#2091 <https://github.com/ros2/rclcpp/issues/2091>`_)

rclcpp/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.20)
+cmake_minimum_required(VERSION 3.12)
 
 project(rclcpp)
 
@@ -10,14 +10,11 @@ find_package(builtin_interfaces REQUIRED)
 find_package(libstatistics_collector REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rcl_interfaces REQUIRED)
-find_package(rcl_logging_interface REQUIRED)
 find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
-find_package(rosidl_dynamic_typesupport REQUIRED)
-find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_runtime_cpp REQUIRED)
 find_package(rosidl_typesupport_c REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
@@ -45,9 +42,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/clock.cpp
   src/rclcpp/context.cpp
   src/rclcpp/contexts/default_context.cpp
-  src/rclcpp/create_generic_client.cpp
   src/rclcpp/detail/add_guard_condition_to_rcl_wait_set.cpp
-  src/rclcpp/detail/resolve_intra_process_buffer_type.cpp
   src/rclcpp/detail/resolve_parameter_overrides.cpp
   src/rclcpp/detail/rmw_implementation_specific_payload.cpp
   src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp
@@ -74,7 +69,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/experimental/executors/events_executor/events_executor.cpp
   src/rclcpp/experimental/timers_manager.cpp
   src/rclcpp/future_return_code.cpp
-  src/rclcpp/generic_client.cpp
   src/rclcpp/generic_publisher.cpp
   src/rclcpp/generic_subscription.cpp
   src/rclcpp/graph_listener.cpp
@@ -97,7 +91,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/node_interfaces/node_time_source.cpp
   src/rclcpp/node_interfaces/node_timers.cpp
   src/rclcpp/node_interfaces/node_topics.cpp
-  src/rclcpp/node_interfaces/node_type_descriptions.cpp
   src/rclcpp/node_interfaces/node_waitables.cpp
   src/rclcpp/node_options.cpp
   src/rclcpp/parameter.cpp
@@ -111,7 +104,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/qos.cpp
   src/rclcpp/event_handler.cpp
   src/rclcpp/qos_overriding_options.cpp
-  src/rclcpp/rate.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp
@@ -128,21 +120,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/waitable.cpp
 )
 
-# By default, without the settings below, find_package(Python3) will attempt
-# to find the newest python version it can, and additionally will find the
-# most specific version.  For instance, on a system that has
-# /usr/bin/python3.10, /usr/bin/python3.11, and /usr/bin/python3, it will find
-# /usr/bin/python3.11, even if /usr/bin/python3 points to /usr/bin/python3.10.
-# The behavior we want is to prefer the "system" installed version unless the
-# user specifically tells us othewise through the Python3_EXECUTABLE hint.
-# Setting CMP0094 to NEW means that the search will stop after the first
-# python version is found.  Setting Python3_FIND_UNVERSIONED_NAMES means that
-# the search will prefer /usr/bin/python3 over /usr/bin/python3.11.  And that
-# latter functionality is only available in CMake 3.20 or later, so we need
-# at least that version.
-cmake_policy(SET CMP0094 NEW)
-set(Python3_FIND_UNVERSIONED_NAMES FIRST)
-
 find_package(Python3 REQUIRED COMPONENTS Interpreter)
 
 # "watch" template for changes
@@ -221,28 +198,22 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(${PROJECT_NAME} PUBLIC
-  ${builtin_interfaces_TARGETS}
-  libstatistics_collector::libstatistics_collector
-  rcl::rcl
-  ${rcl_interfaces_TARGETS}
-  rcl_yaml_param_parser::rcl_yaml_param_parser
-  rcpputils::rcpputils
-  rcutils::rcutils
-  rmw::rmw
-  ${rosgraph_msgs_TARGETS}
-  rosidl_dynamic_typesupport::rosidl_dynamic_typesupport
-  rosidl_runtime_c::rosidl_runtime_c
-  rosidl_runtime_cpp::rosidl_runtime_cpp
-  rosidl_typesupport_cpp::rosidl_typesupport_cpp
-  ${statistics_msgs_TARGETS}
-  tracetools::tracetools
-  ${CMAKE_THREAD_LIBS_INIT}
-)
-
-target_link_libraries(${PROJECT_NAME} PRIVATE
-  ament_index_cpp::ament_index_cpp
-  rcl_logging_interface::rcl_logging_interface
+target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
+# specific order: dependents before dependencies
+ament_target_dependencies(${PROJECT_NAME}
+  "ament_index_cpp"
+  "libstatistics_collector"
+  "rcl"
+  "rcl_interfaces"
+  "rcl_yaml_param_parser"
+  "rcpputils"
+  "rcutils"
+  "builtin_interfaces"
+  "rosgraph_msgs"
+  "rosidl_typesupport_cpp"
+  "rosidl_runtime_cpp"
+  "statistics_msgs"
+  "tracetools"
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,
@@ -264,23 +235,20 @@ ament_export_libraries(${PROJECT_NAME})
 # Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})
 
-ament_export_dependencies(
-  builtin_interfaces
-  libstatistics_collector
-  rcl
-  rcl_interfaces
-  rcl_yaml_param_parser
-  rcpputils
-  rcutils
-  rmw
-  rosgraph_msgs
-  rosidl_dynamic_typesupport
-  rosidl_runtime_c
-  rosidl_runtime_cpp
-  rosidl_typesupport_cpp
-  statistics_msgs
-  tracetools
-)
+# specific order: dependents before dependencies
+ament_export_dependencies(ament_index_cpp)
+ament_export_dependencies(libstatistics_collector)
+ament_export_dependencies(rcl)
+ament_export_dependencies(rcpputils)
+ament_export_dependencies(rcutils)
+ament_export_dependencies(builtin_interfaces)
+ament_export_dependencies(rosgraph_msgs)
+ament_export_dependencies(rosidl_typesupport_cpp)
+ament_export_dependencies(rosidl_typesupport_c)
+ament_export_dependencies(rosidl_runtime_cpp)
+ament_export_dependencies(rcl_yaml_param_parser)
+ament_export_dependencies(statistics_msgs)
+ament_export_dependencies(tracetools)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -298,7 +266,7 @@ install(
 
 if(TEST cppcheck)
   # must set the property after ament_package()
-  set_tests_properties(cppcheck PROPERTIES TIMEOUT 1200)
+  set_tests_properties(cppcheck PROPERTIES TIMEOUT 500)
 endif()
 
 if(TEST cpplint)

rclcpp/QUALITY_DECLARATION.md

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

rclcpp/README.md

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

rclcpp/include/rclcpp/any_executable.hpp

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

rclcpp/include/rclcpp/any_service_callback.hpp

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

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -20,7 +20,7 @@
 #include <stdexcept>
 #include <type_traits>
 #include <utility>
-#include <variant>
+#include <variant>  // NOLINT[build/include_order]
 
 #include "rosidl_runtime_cpp/traits.hpp"
 #include "tracetools/tracetools.h"
@@ -30,19 +30,19 @@
 #include "rclcpp/detail/subscription_callback_type_helper.hpp"
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/message_info.hpp"
-#include "rclcpp/serialization.hpp"
 #include "rclcpp/serialized_message.hpp"
 #include "rclcpp/type_adapter.hpp"
 
+
+template<class>
+inline constexpr bool always_false_v = false;
+
 namespace rclcpp
 {
 
 namespace detail
 {
 
-template<class>
-inline constexpr bool always_false_v = false;
-
 template<typename MessageT, typename AllocatorT>
 struct MessageDeleterHelper
 {
@@ -158,14 +158,13 @@ struct AnySubscriptionCallbackPossibleTypes
 template<
   typename MessageT,
   typename AllocatorT,
-  bool is_adapted_type = rclcpp::TypeAdapter<MessageT>::is_specialized::value,
-  bool is_serialized_type = serialization_traits::is_serialized_message_class<MessageT>::value
+  bool is_adapted_type = rclcpp::TypeAdapter<MessageT>::is_specialized::value
 >
 struct AnySubscriptionCallbackHelper;
 
 /// Specialization for when MessageT is not a TypeAdapter.
 template<typename MessageT, typename AllocatorT>
-struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, false, false>
+struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, false>
 {
   using CallbackTypes = AnySubscriptionCallbackPossibleTypes<MessageT, AllocatorT>;
 
@@ -195,7 +194,7 @@ struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, false, false>
 
 /// Specialization for when MessageT is a TypeAdapter.
 template<typename MessageT, typename AllocatorT>
-struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, true, false>
+struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, true>
 {
   using CallbackTypes = AnySubscriptionCallbackPossibleTypes<MessageT, AllocatorT>;
 
@@ -233,26 +232,6 @@ struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, true, false>
   >;
 };
 
-/// Specialization for when MessageT is a SerializedMessage to exclude duplicated declarations.
-template<typename MessageT, typename AllocatorT>
-struct AnySubscriptionCallbackHelper<MessageT, AllocatorT, false, true>
-{
-  using CallbackTypes = AnySubscriptionCallbackPossibleTypes<MessageT, AllocatorT>;
-
-  using variant_type = std::variant<
-    typename CallbackTypes::ConstRefSerializedMessageCallback,
-    typename CallbackTypes::ConstRefSerializedMessageWithInfoCallback,
-    typename CallbackTypes::UniquePtrSerializedMessageCallback,
-    typename CallbackTypes::UniquePtrSerializedMessageWithInfoCallback,
-    typename CallbackTypes::SharedConstPtrSerializedMessageCallback,
-    typename CallbackTypes::SharedConstPtrSerializedMessageWithInfoCallback,
-    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageCallback,
-    typename CallbackTypes::ConstRefSharedConstPtrSerializedMessageWithInfoCallback,
-    typename CallbackTypes::SharedPtrSerializedMessageCallback,
-    typename CallbackTypes::SharedPtrSerializedMessageWithInfoCallback
-  >;
-};
-
 }  // namespace detail
 
 template<
@@ -393,12 +372,58 @@ public:
     // converted to one another, e.g. shared_ptr and unique_ptr.
     using scbth = detail::SubscriptionCallbackTypeHelper<MessageT, CallbackT>;
 
-    callback_variant_ = static_cast<typename scbth::callback_type>(callback);
+    // Determine if the given CallbackT is a deprecated signature or not.
+    constexpr auto is_deprecated =
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<MessageT>)>
+      >::value
+      ||
+      rclcpp::function_traits::same_arguments<
+      typename scbth::callback_type,
+      std::function<void(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>
+      >::value;
+
+    // Use the discovered type to force the type of callback when assigning
+    // into the variant.
+    if constexpr (is_deprecated) {
+      // If deprecated, call sub-routine that is deprecated.
+      set_deprecated(static_cast<typename scbth::callback_type>(callback));
+    } else {
+      // Otherwise just assign it.
+      callback_variant_ = static_cast<typename scbth::callback_type>(callback);
+    }
 
     // Return copy of self for easier testing, normally will be compiled out.
     return *this;
   }
 
+  /// Function for shared_ptr to non-const MessageT, which is deprecated.
+  template<typename SetT>
+#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // suppress deprecation warnings in `test_any_subscription_callback.cpp`
+  [[deprecated("use 'void(std::shared_ptr<const MessageT>)' instead")]]
+#endif
+  void
+  set_deprecated(std::function<void(std::shared_ptr<SetT>)> callback)
+  {
+    callback_variant_ = callback;
+  }
+
+  /// Function for shared_ptr to non-const MessageT with MessageInfo, which is deprecated.
+  template<typename SetT>
+#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
+  // suppress deprecation warnings in `test_any_subscription_callback.cpp`
+  [[deprecated(
+          "use 'void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
+  )]]
+#endif
+  void
+  set_deprecated(std::function<void(std::shared_ptr<SetT>, const rclcpp::MessageInfo &)> callback)
+  {
+    callback_variant_ = callback;
+  }
+
   std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>
   create_ros_unique_ptr_from_ros_shared_ptr_message(
     const std::shared_ptr<const ROSMessageType> & message)
@@ -462,14 +487,12 @@ public:
   }
 
   // Dispatch when input is a ros message and the output could be anything.
-  template<typename TMsg = ROSMessageType>
-  typename std::enable_if<!serialization_traits::is_serialized_message_class<TMsg>::value,
-    void>::type
+  void
   dispatch(
     std::shared_ptr<ROSMessageType> message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -557,19 +580,19 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(detail::always_false_v<T>, "unhandled callback type");
+          static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   // Dispatch when input is a serialized message and the output could be anything.
   void
   dispatch(
-    std::shared_ptr<const rclcpp::SerializedMessage> serialized_message,
+    std::shared_ptr<rclcpp::SerializedMessage> serialized_message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), false);
+    TRACEPOINT(callback_start, static_cast<const void *>(this), false);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -637,10 +660,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(detail::always_false_v<T>, "unhandled callback type");
+          static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   void
@@ -648,7 +671,7 @@ public:
     std::shared_ptr<const SubscribedType> message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -767,10 +790,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(detail::always_false_v<T>, "unhandled callback type");
+          static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   void
@@ -778,7 +801,7 @@ public:
     std::unique_ptr<SubscribedType, SubscribedTypeDeleter> message,
     const rclcpp::MessageInfo & message_info)
   {
-    TRACETOOLS_TRACEPOINT(callback_start, static_cast<const void *>(this), true);
+    TRACEPOINT(callback_start, static_cast<const void *>(this), true);
     // Check if the variant is "unset", throw if it is.
     if (callback_variant_.index() == 0) {
       if (std::get<0>(callback_variant_) == nullptr) {
@@ -901,10 +924,10 @@ public:
         }
         // condition to catch unhandled callback types
         else {  // NOLINT[readability/braces]
-          static_assert(detail::always_false_v<T>, "unhandled callback type");
+          static_assert(always_false_v<T>, "unhandled callback type");
         }
       }, callback_variant_);
-    TRACETOOLS_TRACEPOINT(callback_end, static_cast<const void *>(this));
+    TRACEPOINT(callback_end, static_cast<const void *>(this));
   }
 
   constexpr
@@ -942,9 +965,9 @@ public:
 #ifndef TRACETOOLS_DISABLED
     std::visit(
       [this](auto && callback) {
-        if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
+        if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
           char * symbol = tracetools::get_symbol(callback);
-          TRACETOOLS_DO_TRACEPOINT(
+          DO_TRACEPOINT(
             rclcpp_callback_register,
             static_cast<const void *>(this),
             symbol);

rclcpp/include/rclcpp/callback_group.hpp

@@ -129,7 +129,8 @@ public:
    * added to the executor in either case.
    *
    * \param[in] group_type The type of the callback group.
-   * \param[in] context A weak pointer to the context associated with this callback group.
+   * \param[in] get_node_context Lambda to retrieve the node context when
+   *   checking that the creating node is valid and using the guard condition.
    * \param[in] automatically_add_to_executor_with_node A boolean that
    *   determines whether a callback group is automatically added to an executor
    *   with the node with which it is associated.
@@ -137,7 +138,7 @@ public:
   RCLCPP_PUBLIC
   explicit CallbackGroup(
     CallbackGroupType group_type,
-    rclcpp::Context::WeakPtr context,
+    std::function<rclcpp::Context::SharedPtr(void)> get_node_context,
     bool automatically_add_to_executor_with_node = true);
 
   /// Default destructor.
@@ -184,8 +185,7 @@ public:
    * \return the number of entities in the callback group.
    */
   RCLCPP_PUBLIC
-  size_t
-  size() const;
+  size_t size() const;
 
   /// Return a reference to the 'can be taken' atomic boolean.
   /**
@@ -217,8 +217,7 @@ public:
    * \param[in] waitable_fuinc Function to execute for each waitable
    */
   RCLCPP_PUBLIC
-  void
-  collect_all_ptrs(
+  void collect_all_ptrs(
     std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> sub_func,
     std::function<void(const rclcpp::ServiceBase::SharedPtr &)> service_func,
     std::function<void(const rclcpp::ClientBase::SharedPtr &)> client_func,
@@ -250,6 +249,16 @@ public:
   bool
   automatically_add_to_executor_with_node() const;
 
+  /// Retrieve the guard condition used to signal changes to this callback group.
+  /**
+   * \param[in] context_ptr context to use when creating the guard condition
+   * \return guard condition if it is valid, otherwise nullptr.
+   */
+  [[deprecated("Use get_notify_guard_condition() without arguments")]]
+  RCLCPP_PUBLIC
+  rclcpp::GuardCondition::SharedPtr
+  get_notify_guard_condition(const rclcpp::Context::SharedPtr context_ptr);
+
   /// Retrieve the guard condition used to signal changes to this callback group.
   /**
    * \return guard condition if it is valid, otherwise nullptr.
@@ -309,7 +318,7 @@ protected:
   std::shared_ptr<rclcpp::GuardCondition> notify_guard_condition_ = nullptr;
   std::recursive_mutex notify_guard_condition_mutex_;
 
-  rclcpp::Context::WeakPtr context_;
+  std::function<rclcpp::Context::SharedPtr(void)> get_context_;
 
 private:
   template<typename TypeT, typename Function>

rclcpp/include/rclcpp/client.hpp

@@ -20,13 +20,13 @@
 #include <future>
 #include <memory>
 #include <mutex>
-#include <optional>
+#include <optional>  // NOLINT, cpplint doesn't think this is a cpp std header
 #include <sstream>
 #include <string>
 #include <tuple>
 #include <unordered_map>
 #include <utility>
-#include <variant>
+#include <variant>  // NOLINT
 #include <vector>
 
 #include "rcl/client.h"
@@ -115,29 +115,6 @@ struct FutureAndRequestId
   /// Destructor.
   ~FutureAndRequestId() = default;
 };
-
-template<typename PendingRequestsT, typename AllocatorT = std::allocator<int64_t>>
-size_t
-prune_requests_older_than_impl(
-  PendingRequestsT & pending_requests,
-  std::mutex & pending_requests_mutex,
-  std::chrono::time_point<std::chrono::system_clock> time_point,
-  std::vector<int64_t, AllocatorT> * pruned_requests = nullptr)
-{
-  std::lock_guard guard(pending_requests_mutex);
-  auto old_size = pending_requests.size();
-  for (auto it = pending_requests.begin(), last = pending_requests.end(); it != last; ) {
-    if (it->second.first < time_point) {
-      if (pruned_requests) {
-        pruned_requests->push_back(it->first);
-      }
-      it = pending_requests.erase(it);
-    } else {
-      ++it;
-    }
-  }
-  return old_size - pending_requests.size();
-}
 }  // namespace detail
 
 namespace node_interfaces
@@ -386,16 +363,12 @@ protected:
   std::shared_ptr<rclcpp::Context> context_;
   rclcpp::Logger node_logger_;
 
-  std::recursive_mutex callback_mutex_;
-  // It is important to declare on_new_response_callback_ before
-  // client_handle_, so on destruction the client is
-  // destroyed first. Otherwise, the rmw client callback
-  // would point briefly to a destroyed function.
-  std::function<void(size_t)> on_new_response_callback_{nullptr};
-  // Declare client_handle_ after callback
   std::shared_ptr<rcl_client_t> client_handle_;
 
   std::atomic<bool> in_use_by_wait_set_{false};
+
+  std::recursive_mutex callback_mutex_;
+  std::function<void(size_t)> on_new_response_callback_{nullptr};
 };
 
 template<typename ServiceT>
@@ -794,11 +767,19 @@ public:
     std::chrono::time_point<std::chrono::system_clock> time_point,
     std::vector<int64_t, AllocatorT> * pruned_requests = nullptr)
   {
-    return detail::prune_requests_older_than_impl(
-      pending_requests_,
-      pending_requests_mutex_,
-      time_point,
-      pruned_requests);
+    std::lock_guard guard(pending_requests_mutex_);
+    auto old_size = pending_requests_.size();
+    for (auto it = pending_requests_.begin(), last = pending_requests_.end(); it != last; ) {
+      if (it->second.first < time_point) {
+        if (pruned_requests) {
+          pruned_requests->push_back(it->first);
+        }
+        it = pending_requests_.erase(it);
+      } else {
+        ++it;
+      }
+    }
+    return old_size - pending_requests_.size();
   }
 
   /// Configure client introspection.
@@ -864,7 +845,7 @@ protected:
         "Received invalid sequence number. Ignoring...");
       return std::nullopt;
     }
-    std::optional<CallbackInfoVariant> value = std::move(it->second.second);
+    auto value = std::move(it->second.second);
     this->pending_requests_.erase(request_number);
     return value;
   }

rclcpp/include/rclcpp/context.hpp

@@ -26,7 +26,6 @@
 #include <unordered_set>
 #include <utility>
 #include <vector>
-#include <stdexcept>
 
 #include "rcl/context.h"
 #include "rcl/guard_condition.h"

rclcpp/include/rclcpp/copy_all_parameter_values.hpp

@@ -1,82 +0,0 @@
-// Copyright 2023 Open Navigation LLC
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
-#define RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_
-
-#include <string>
-#include <vector>
-
-#include "rcl_interfaces/srv/list_parameters.hpp"
-#include "rcl_interfaces/msg/parameter_descriptor.hpp"
-#include "rcl_interfaces/msg/set_parameters_result.hpp"
-
-#include "rclcpp/parameter.hpp"
-#include "rclcpp/logger.hpp"
-#include "rclcpp/logging.hpp"
-
-namespace rclcpp
-{
-
-/**
- * Copy all parameters from one source node to another destination node.
- * May throw exceptions if parameters from source are uninitialized or undeclared.
- * \param source Node to copy parameters from
- * \param destination Node to copy parameters to
- * \param override_existing_params Default false. Whether to override existing destination params
- * if both the source and destination contain the same parameter.
- */
-template<typename NodeT1, typename NodeT2>
-void
-copy_all_parameter_values(
-  const NodeT1 & source, const NodeT2 & destination, const bool override_existing_params = false)
-{
-  using Parameters = std::vector<rclcpp::Parameter>;
-  using Descriptions = std::vector<rcl_interfaces::msg::ParameterDescriptor>;
-  auto source_params = source->get_node_parameters_interface();
-  auto dest_params = destination->get_node_parameters_interface();
-  rclcpp::Logger logger = destination->get_node_logging_interface()->get_logger();
-
-  std::vector<std::string> param_names = source_params->list_parameters({}, 0).names;
-  Parameters params = source_params->get_parameters(param_names);
-  Descriptions descriptions = source_params->describe_parameters(param_names);
-
-  for (unsigned int idx = 0; idx != params.size(); idx++) {
-    if (!dest_params->has_parameter(params[idx].get_name())) {
-      dest_params->declare_parameter(
-        params[idx].get_name(), params[idx].get_parameter_value(), descriptions[idx]);
-    } else if (override_existing_params) {
-      try {
-        rcl_interfaces::msg::SetParametersResult result =
-          dest_params->set_parameters_atomically({params[idx]});
-        if (!result.successful) {
-          // Parameter update rejected or read-only
-          RCLCPP_WARN(
-            logger,
-            "Unable to set parameter (%s): %s!",
-            params[idx].get_name().c_str(), result.reason.c_str());
-        }
-      } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
-        RCLCPP_WARN(
-          logger,
-          "Unable to set parameter (%s): incompatable parameter type (%s)!",
-          params[idx].get_name().c_str(), e.what());
-      }
-    }
-  }
-}
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_

rclcpp/include/rclcpp/create_generic_client.hpp

@@ -1,90 +0,0 @@
-// Copyright 2023 Sony Group Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__CREATE_GENERIC_CLIENT_HPP_
-#define RCLCPP__CREATE_GENERIC_CLIENT_HPP_
-
-#include <memory>
-#include <string>
-
-#include "rclcpp/generic_client.hpp"
-#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
-#include "rclcpp/node_interfaces/get_node_graph_interface.hpp"
-#include "rclcpp/node_interfaces/get_node_services_interface.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_graph_interface.hpp"
-#include "rclcpp/node_interfaces/node_services_interface.hpp"
-#include "rclcpp/qos.hpp"
-
-namespace rclcpp
-{
-/// Create a generic service client with a name of given type.
-/**
- * \param[in] node_base NodeBaseInterface implementation of the node on which
- *  to create the client.
- * \param[in] node_graph NodeGraphInterface implementation of the node on which
- *  to create the client.
- * \param[in] node_services NodeServicesInterface implementation of the node on
- *  which to create the client.
- * \param[in] service_name The name on which the service is accessible.
- * \param[in] service_type The name of service type, e.g. "test_msgs/srv/BasicTypes"
- * \param[in] qos Quality of service profile for client.
- * \param[in] group Callback group to handle the reply to service calls.
- * \return Shared pointer to the created client.
- */
-RCLCPP_PUBLIC
-rclcpp::GenericClient::SharedPtr
-create_generic_client(
-  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 std::string & service_type,
-  const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-  rclcpp::CallbackGroup::SharedPtr group = nullptr);
-
-/// Create a generic service client with a name of given type.
-/**
- * The NodeT type needs to have NodeBaseInterface implementation, NodeGraphInterface implementation
- * and NodeServicesInterface implementation of the node which to create the client.
- *
- * \param[in] node The node on which to create the client.
- * \param[in] service_name The name on which the service is accessible.
- * \param[in] service_type The name of service type, e.g. "test_msgs/srv/BasicTypes"
- * \param[in] qos Quality of service profile for client.
- * \param[in] group Callback group to handle the reply to service calls.
- * \return Shared pointer to the created client.
- */
-template<typename NodeT>
-rclcpp::GenericClient::SharedPtr
-create_generic_client(
-  NodeT node,
-  const std::string & service_name,
-  const std::string & service_type,
-  const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-  rclcpp::CallbackGroup::SharedPtr group = nullptr)
-{
-  return create_generic_client(
-    rclcpp::node_interfaces::get_node_base_interface(node),
-    rclcpp::node_interfaces::get_node_graph_interface(node),
-    rclcpp::node_interfaces::get_node_services_interface(node),
-    service_name,
-    service_type,
-    qos,
-    group
-  );
-}
-}  // namespace rclcpp
-
-#endif  // RCLCPP__CREATE_GENERIC_CLIENT_HPP_

rclcpp/include/rclcpp/create_generic_subscription.hpp

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

rclcpp/include/rclcpp/create_subscription.hpp

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

rclcpp/include/rclcpp/create_timer.hpp

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

rclcpp/include/rclcpp/detail/resolve_intra_process_buffer_type.hpp

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

rclcpp/include/rclcpp/duration.hpp

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

rclcpp/include/rclcpp/event_handler.hpp

@@ -117,12 +117,12 @@ public:
   /// Add the Waitable to a wait set.
   RCLCPP_PUBLIC
   void
-  add_to_wait_set(rcl_wait_set_t & wait_set) override;
+  add_to_wait_set(rcl_wait_set_t * wait_set) override;
 
   /// Check if the Waitable is ready.
   RCLCPP_PUBLIC
   bool
-  is_ready(const rcl_wait_set_t & wait_set) override;
+  is_ready(rcl_wait_set_t * wait_set) override;
 
   /// Set a callback to be called when each new event instance occurs.
   /**
@@ -260,16 +260,6 @@ public:
     }
   }
 
-  ~EventHandler()
-  {
-    // Since the rmw event listener holds a reference to the
-    // "on ready" callback, we need to clear it on destruction of this class.
-    // This clearing is not needed for other rclcpp entities like pub/subs, since
-    // they do own the underlying rmw entities, which are destroyed
-    // on their rclcpp destructors, thus no risk of dangling pointers.
-    clear_on_ready_callback();
-  }
-
   /// Take data so that the callback cannot be scheduled again
   std::shared_ptr<void>
   take_data() override
@@ -294,7 +284,7 @@ public:
 
   /// Execute any entities of the Waitable that are ready.
   void
-  execute(const std::shared_ptr<void> & data) override
+  execute(std::shared_ptr<void> & data) override
   {
     if (!data) {
       throw std::runtime_error("'data' is empty");

rclcpp/include/rclcpp/exceptions/exceptions.hpp

@@ -206,14 +206,6 @@ public:
   const std::vector<std::string> unknown_ros_args;
 };
 
-/// Thrown when an unknown type is passed
-class UnknownTypeError : public std::runtime_error
-{
-public:
-  explicit UnknownTypeError(const std::string & type)
-  : std::runtime_error("Unknown type: " + type) {}
-};
-
 /// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
 class InvalidEventError : public std::runtime_error
 {
@@ -230,14 +222,6 @@ public:
   : std::runtime_error("event already registered") {}
 };
 
-/// Thrown when a callback group is missing from the node, when it wants to utilize the group.
-class MissingGroupNodeException : public std::runtime_error
-{
-public:
-  explicit MissingGroupNodeException(const std::string & obj_type)
-  : std::runtime_error("cannot create: " + obj_type + " , callback group not in node") {}
-};
-
 /// Thrown if passed parameters are inconsistent or invalid
 class InvalidParametersException : public std::runtime_error
 {

rclcpp/include/rclcpp/executor.hpp

@@ -19,6 +19,7 @@
 #include <cassert>
 #include <chrono>
 #include <cstdlib>
+#include <deque>
 #include <iostream>
 #include <list>
 #include <map>
@@ -82,19 +83,6 @@ public:
   virtual void
   spin() = 0;
 
-  /// Version of spin() that takes an exception handler to be called when a callback throws.
-  /**
-   * \sa rclcpp::Executor:spin() for more details
-   * \throws std::runtime_error when spin() called while already spinning
-   * \param[in] exception_handler will be called for every exception in the processing threads
-   *
-   * The exception_handler can be called from multiple threads at the same time.
-   * The exception_handler shall rethrow the exception it if wants to terminate the program.
-   */
-  RCLCPP_PUBLIC
-  virtual void
-  spin(const std::function<void(const std::exception & e)> & exception_handler) = 0;
-
   /// Add a callback group to an executor.
   /**
    * An executor can have zero or more callback groups which provide work during `spin` functions.
@@ -293,43 +281,21 @@ public:
   void
   spin_node_some(std::shared_ptr<rclcpp::Node> node);
 
-  /// Collect work once and execute all available work, optionally within a max duration.
+  /// Collect work once and execute all available work, optionally within a duration.
   /**
-   * This function can be overridden.
-   * The default implementation is suitable for a single-threaded model of execution.
-   * Adding subscriptions, timers, services, etc. with blocking or long running
-   * callbacks may cause the function exceed the max_duration significantly.
-   *
-   * If there is no work to be done when this called, it will return immediately
-   * because the collecting of available work is non-blocking.
-   * Before each piece of ready work is executed this function checks if the
-   * max_duration has been exceeded, and if it has it returns without starting
-   * the execution of the next piece of work.
-   *
-   * If a max_duration of 0 is given, then all of the collected work will be
-   * executed before the function returns.
+   * This function can be overridden. The default implementation is suitable for a
+   * single-threaded model of execution.
+   * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
+   * to block (which may have unintended consequences).
    *
    * \param[in] max_duration The maximum amount of time to spend executing work, or 0 for no limit.
+   * Note that spin_some() may take longer than this time as it only returns once max_duration has
+   * been exceeded.
    */
   RCLCPP_PUBLIC
   virtual void
   spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0));
 
-  /// Add a node, complete all immediately available work exhaustively, and remove the node.
-  /**
-   * \param[in] node Shared pointer to the node to add.
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_node_all(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
-    std::chrono::nanoseconds max_duration);
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  RCLCPP_PUBLIC
-  void
-  spin_node_all(std::shared_ptr<rclcpp::Node> node, std::chrono::nanoseconds max_duration);
-
   /// Collect and execute work repeatedly within a duration or until no more work is available.
   /**
    * This function can be overridden. The default implementation is suitable for a
@@ -475,7 +441,7 @@ protected:
 
   /// Find the next available executable and do the work associated with it.
   /**
-   * \param[in] any_exec Structure that can hold any executable type (timer, subscription,
+   * \param[in] any_exec Union structure that can hold any executable type (timer, subscription,
    * service, client).
    * \throws std::runtime_error if there is an issue triggering the guard condition
    */
@@ -483,19 +449,6 @@ protected:
   void
   execute_any_executable(AnyExecutable & any_exec);
 
-  /// Find the next available executable and do the work associated with it.
-  /**
-   * \param[in] any_exec Structure that can hold any executable type (timer, subscription,
-   * service, client).
-   * \param[in] exception_handler will be called for every exception in the processing threads
-   * \throws std::runtime_error if there is an issue triggering the guard condition
-   */
-  RCLCPP_PUBLIC
-  void
-  execute_any_executable(
-    AnyExecutable & any_exec,
-    const std::function<void(const std::exception & e)> & exception_handler);
-
   /// Run subscription executable.
   /**
    * Do necessary setup and tear-down as well as executing the subscription.
@@ -513,7 +466,7 @@ protected:
    */
   RCLCPP_PUBLIC
   static void
-  execute_timer(rclcpp::TimerBase::SharedPtr timer, const std::shared_ptr<void> & data_ptr);
+  execute_timer(rclcpp::TimerBase::SharedPtr timer);
 
   /// Run service server executable.
   /**
@@ -576,15 +529,6 @@ protected:
     AnyExecutable & any_executable,
     std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// This function triggers a recollect of all entities that are registered to the executor.
-  /**
-   * Calling this function is thread safe.
-   *
-   * \param[in] notify if true will execute a trigger that will wake up a waiting executor
-   */
-  void
-  trigger_entity_recollect(bool notify);
-
   /// Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.
   std::atomic_bool spinning;
 
@@ -610,7 +554,7 @@ protected:
    * This waitable contains the interrupt and shutdown guard condition, as well
    * as the guard condition associated with each node and callback group.
    * By default, if any change is detected in the monitored entities, the notify
-   * waitable will awake the executor and rebuild the collections.
+   * waitable will awake the executor and rebuild  the collections.
    */
   std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
 
@@ -619,9 +563,8 @@ protected:
   /// Collector used to associate executable entities from nodes and guard conditions
   rclcpp::executors::ExecutorEntitiesCollector collector_;
 
-  /// WaitSet to be waited on.
+  /// Waitset to be waited on.
   rclcpp::WaitSet wait_set_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-  std::optional<rclcpp::WaitResult<rclcpp::WaitSet>> wait_result_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
   /// Hold the current state of the collection being waited on by the waitset
   rclcpp::executors::ExecutorEntitiesCollection current_collection_ RCPPUTILS_TSA_GUARDED_BY(
@@ -631,6 +574,9 @@ protected:
   std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> current_notify_waitable_
   RCPPUTILS_TSA_GUARDED_BY(mutex_);
 
+  /// Hold the list of executables currently available to be executed.
+  std::deque<rclcpp::AnyExecutable> ready_executables_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
+
   /// shutdown callback handle registered to Context
   rclcpp::OnShutdownCallbackHandle shutdown_callback_handle_;
 

rclcpp/include/rclcpp/executors.hpp

@@ -29,18 +29,6 @@
 namespace rclcpp
 {
 
-/// Create a default single-threaded executor and execute all available work exhaustively.
-/** \param[in] node_ptr Shared pointer to the node to spin. */
-RCLCPP_PUBLIC
-void
-spin_all(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  std::chrono::nanoseconds max_duration);
-
-RCLCPP_PUBLIC
-void
-spin_all(rclcpp::Node::SharedPtr node_ptr, std::chrono::nanoseconds max_duration);
-
 /// Create a default single-threaded executor and execute any immediately available work.
 /** \param[in] node_ptr Shared pointer to the node to spin. */
 RCLCPP_PUBLIC
@@ -120,9 +108,7 @@ spin_until_future_complete(
   const FutureT & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
 {
-  rclcpp::ExecutorOptions options;
-  options.context = node_ptr->get_context();
-  rclcpp::executors::SingleThreadedExecutor executor(options);
+  rclcpp::executors::SingleThreadedExecutor executor;
   return executors::spin_node_until_future_complete<FutureT>(executor, node_ptr, future, timeout);
 }
 

rclcpp/include/rclcpp/executors/executor_entities_collection.hpp

@@ -178,12 +178,6 @@ struct ExecutorEntitiesCollection
 
   /// Clear the entities collection
   void clear();
-
-  /// Remove entities that have expired weak ownership
-  /**
-   * \return The total number of removed entities
-   */
-  size_t remove_expired_entities();
 };
 
 /// Build an entities collection from callback groups

rclcpp/include/rclcpp/executors/executor_notify_waitable.hpp

@@ -48,10 +48,11 @@ public:
   ~ExecutorNotifyWaitable() override = default;
 
   RCLCPP_PUBLIC
-  ExecutorNotifyWaitable(ExecutorNotifyWaitable & other);
+  ExecutorNotifyWaitable(const ExecutorNotifyWaitable & other);
+
 
   RCLCPP_PUBLIC
-  ExecutorNotifyWaitable & operator=(ExecutorNotifyWaitable & other);
+  ExecutorNotifyWaitable & operator=(const ExecutorNotifyWaitable & other);
 
   /// Add conditions to the wait set
   /**
@@ -59,7 +60,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  add_to_wait_set(rcl_wait_set_t & wait_set) override;
+  add_to_wait_set(rcl_wait_set_t * wait_set) override;
 
   /// Check conditions against the wait set
   /**
@@ -68,7 +69,7 @@ public:
    */
   RCLCPP_PUBLIC
   bool
-  is_ready(const rcl_wait_set_t & wait_set) override;
+  is_ready(rcl_wait_set_t * wait_set) override;
 
   /// Perform work associated with the waitable.
   /**
@@ -77,7 +78,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  execute(const std::shared_ptr<void> & data) override;
+  execute(std::shared_ptr<void> & data) override;
 
   /// Retrieve data to be used in the next execute call.
   /**

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -69,18 +69,6 @@ public:
   void
   spin() override;
 
-  /**
-   * \sa rclcpp::Executor:spin() for more details
-   * \throws std::runtime_error when spin() called while already spinning
-   * \param[in] exception_handler will be called for every exception in the processing threads
-   *
-   * The exception_handler can be called from multiple threads at the same time.
-   * The exception_handler shall rethrow the exception it if wants to terminate the program.
-   */
-  RCLCPP_PUBLIC
-  void
-  spin(const std::function<void(const std::exception & e)> & exception_handler) override;
-
   RCLCPP_PUBLIC
   size_t
   get_number_of_threads();
@@ -88,9 +76,7 @@ public:
 protected:
   RCLCPP_PUBLIC
   void
-  run(
-    size_t this_thread_number,
-    const std::function<void(const std::exception & e)> & exception_handler);
+  run(size_t this_thread_number);
 
 private:
   RCLCPP_DISABLE_COPY(MultiThreadedExecutor)

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp

@@ -65,18 +65,6 @@ public:
   void
   spin() override;
 
-  /// Single-threaded implementation of spin.
-  /**
-   * \sa rclcpp::SingleThreadedExecutor:spin() for more details
-   * \throws std::runtime_error when spin() called while already spinning
-   * \param[in] exception_handler will be called for every exception in the processing threads
-   *
-   * The exception_handler shall rethrow the exception it if wants to terminate the program.
-   */
-  RCLCPP_PUBLIC
-  void
-  spin(const std::function<void(const std::exception & e)> & exception_handler) override;
-
 private:
   RCLCPP_DISABLE_COPY(SingleThreadedExecutor)
 };

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -68,16 +68,6 @@ public:
   void
   spin() override;
 
-  /**
-   * \sa rclcpp::SingleThreadedExecutor:spin() for more details
-   * \throws std::runtime_error when spin() called while already spinning
-   * \param[in] exception_handler will be called for every exception in the processing threads
-   *
-   * The exception_handler shall rethrow the exception it if wants to terminate the program.
-   */RCLCPP_PUBLIC
-  virtual void
-  spin(const std::function<void(const std::exception & e)> & exception_handler) override;
-
   /// Static executor implementation of spin some
   /**
    * This non-blocking function will execute entities that
@@ -123,26 +113,21 @@ protected:
    * @param spin_once if true executes only the first ready executable.
    * @return true if any executable was ready.
    */
+  RCLCPP_PUBLIC
   bool
   execute_ready_executables(
     const rclcpp::executors::ExecutorEntitiesCollection & collection,
     rclcpp::WaitResult<rclcpp::WaitSet> & wait_result,
     bool spin_once);
 
+  RCLCPP_PUBLIC
   void
   spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
 
+  RCLCPP_PUBLIC
   void
   spin_once_impl(std::chrono::nanoseconds timeout) override;
 
-  void
-  spin_once_impl(
-    std::chrono::nanoseconds timeout,
-    const std::function<void(const std::exception & e)> & exception_handler);
-
-  std::optional<rclcpp::WaitResult<rclcpp::WaitSet>>
-  collect_and_wait(std::chrono::nanoseconds timeout);
-
 private:
   RCLCPP_DISABLE_COPY(StaticSingleThreadedExecutor)
 };

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

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

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

@@ -19,7 +19,6 @@
 #include <stdexcept>
 #include <type_traits>
 #include <utility>
-#include <vector>
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
@@ -45,7 +44,6 @@ public:
 
   virtual bool has_data() const = 0;
   virtual bool use_take_shared_method() const = 0;
-  virtual size_t available_capacity() const = 0;
 };
 
 template<
@@ -67,9 +65,6 @@ public:
 
   virtual MessageSharedPtr consume_shared() = 0;
   virtual MessageUniquePtr consume_unique() = 0;
-
-  virtual std::vector<MessageSharedPtr> get_all_data_shared() = 0;
-  virtual std::vector<MessageUniquePtr> get_all_data_unique() = 0;
 };
 
 template<
@@ -100,7 +95,7 @@ public:
 
     buffer_ = std::move(buffer_impl);
 
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_buffer_to_ipb,
       static_cast<const void *>(buffer_.get()),
       static_cast<const void *>(this));
@@ -133,16 +128,6 @@ public:
     return consume_unique_impl<BufferT>();
   }
 
-  std::vector<MessageSharedPtr> get_all_data_shared() override
-  {
-    return get_all_data_shared_impl();
-  }
-
-  std::vector<MessageUniquePtr> get_all_data_unique() override
-  {
-    return get_all_data_unique_impl();
-  }
-
   bool has_data() const override
   {
     return buffer_->has_data();
@@ -158,11 +143,6 @@ public:
     return std::is_same<BufferT, MessageSharedPtr>::value;
   }
 
-  size_t available_capacity() const override
-  {
-    return buffer_->available_capacity();
-  }
-
 private:
   std::unique_ptr<BufferImplementationBase<BufferT>> buffer_;
 
@@ -257,71 +237,6 @@ private:
   {
     return buffer_->dequeue();
   }
-
-  // MessageSharedPtr to MessageSharedPtr
-  template<typename T = BufferT>
-  typename std::enable_if<
-    std::is_same<T, MessageSharedPtr>::value,
-    std::vector<MessageSharedPtr>
-  >::type
-  get_all_data_shared_impl()
-  {
-    return buffer_->get_all_data();
-  }
-
-  // MessageUniquePtr to MessageSharedPtr
-  template<typename T = BufferT>
-  typename std::enable_if<
-    std::is_same<T, MessageUniquePtr>::value,
-    std::vector<MessageSharedPtr>
-  >::type
-  get_all_data_shared_impl()
-  {
-    std::vector<MessageSharedPtr> result;
-    auto uni_ptr_vec = buffer_->get_all_data();
-    result.reserve(uni_ptr_vec.size());
-    for (MessageUniquePtr & uni_ptr : uni_ptr_vec) {
-      result.emplace_back(std::move(uni_ptr));
-    }
-    return result;
-  }
-
-  // MessageSharedPtr to MessageUniquePtr
-  template<typename T = BufferT>
-  typename std::enable_if<
-    std::is_same<T, MessageSharedPtr>::value,
-    std::vector<MessageUniquePtr>
-  >::type
-  get_all_data_unique_impl()
-  {
-    std::vector<MessageUniquePtr> result;
-    auto shared_ptr_vec = buffer_->get_all_data();
-    result.reserve(shared_ptr_vec.size());
-    for (MessageSharedPtr shared_msg : shared_ptr_vec) {
-      MessageUniquePtr unique_msg;
-      MessageDeleter * deleter = std::get_deleter<MessageDeleter, const MessageT>(shared_msg);
-      auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-      MessageAllocTraits::construct(*message_allocator_.get(), ptr, *shared_msg);
-      if (deleter) {
-        unique_msg = MessageUniquePtr(ptr, *deleter);
-      } else {
-        unique_msg = MessageUniquePtr(ptr);
-      }
-      result.push_back(std::move(unique_msg));
-    }
-    return result;
-  }
-
-  // MessageUniquePtr to MessageUniquePtr
-  template<typename T = BufferT>
-  typename std::enable_if<
-    std::is_same<T, MessageUniquePtr>::value,
-    std::vector<MessageUniquePtr>
-  >::type
-  get_all_data_unique_impl()
-  {
-    return buffer_->get_all_data();
-  }
 };
 
 }  // namespace buffers

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

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__EXPERIMENTAL__BUFFERS__RING_BUFFER_IMPLEMENTATION_HPP_
 #define RCLCPP__EXPERIMENTAL__BUFFERS__RING_BUFFER_IMPLEMENTATION_HPP_
 
-#include <memory>
 #include <mutex>
 #include <stdexcept>
 #include <utility>
@@ -53,10 +52,7 @@ public:
     if (capacity == 0) {
       throw std::invalid_argument("capacity must be a positive, non-zero value");
     }
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_construct_ring_buffer,
-      static_cast<const void *>(this),
-      capacity_);
+    TRACEPOINT(rclcpp_construct_ring_buffer, static_cast<const void *>(this), capacity_);
   }
 
   virtual ~RingBufferImplementation() {}
@@ -67,13 +63,13 @@ public:
    *
    * \param request the element to be stored in the ring buffer
    */
-  void enqueue(BufferT request) override
+  void enqueue(BufferT request)
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
     write_index_ = next_(write_index_);
     ring_buffer_[write_index_] = std::move(request);
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_ring_buffer_enqueue,
       static_cast<const void *>(this),
       write_index_,
@@ -93,7 +89,7 @@ public:
    *
    * \return the element that is being removed from the ring buffer
    */
-  BufferT dequeue() override
+  BufferT dequeue()
   {
     std::lock_guard<std::mutex> lock(mutex_);
 
@@ -102,7 +98,7 @@ public:
     }
 
     auto request = std::move(ring_buffer_[read_index_]);
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_ring_buffer_dequeue,
       static_cast<const void *>(this),
       read_index_,
@@ -114,17 +110,6 @@ public:
     return request;
   }
 
-  /// Get all the elements from the ring buffer
-  /**
-   * This member function is thread-safe.
-   *
-   * \return a vector containing all the elements from the ring buffer
-   */
-  std::vector<BufferT> get_all_data() override
-  {
-    return get_all_data_impl();
-  }
-
   /// Get the next index value for the ring buffer
   /**
    * This member function is thread-safe.
@@ -144,7 +129,7 @@ public:
    *
    * \return `true` if there is data and `false` otherwise
    */
-  inline bool has_data() const override
+  inline bool has_data() const
   {
     std::lock_guard<std::mutex> lock(mutex_);
     return has_data_();
@@ -163,21 +148,9 @@ public:
     return is_full_();
   }
 
-  /// Get the remaining capacity to store messages
-  /**
-   * This member function is thread-safe.
-   *
-   * \return the number of free capacity for new messages
-   */
-  size_t available_capacity() const override
+  void clear()
   {
-    std::lock_guard<std::mutex> lock(mutex_);
-    return available_capacity_();
-  }
-
-  void clear() override
-  {
-    TRACETOOLS_TRACEPOINT(rclcpp_ring_buffer_clear, static_cast<const void *>(this));
+    TRACEPOINT(rclcpp_ring_buffer_clear, static_cast<const void *>(this));
   }
 
 private:
@@ -216,82 +189,6 @@ private:
     return size_ == capacity_;
   }
 
-  /// Get the remaining capacity to store messages
-  /**
-   * This member function is not thread-safe.
-   *
-   * \return the number of free capacity for new messages
-   */
-  inline size_t available_capacity_() const
-  {
-    return capacity_ - size_;
-  }
-
-  /// Traits for checking if a type is std::unique_ptr
-  template<typename ...>
-  struct is_std_unique_ptr final : std::false_type {};
-  template<class T, typename ... Args>
-  struct is_std_unique_ptr<std::unique_ptr<T, Args...>> final : std::true_type
-  {
-    typedef T Ptr_type;
-  };
-
-  /// Get all the elements from the ring buffer
-  /**
-   * This member function is thread-safe.
-   * Two versions for the implementation of the function.
-   * One for buffer containing unique_ptr and the other for other types
-   *
-   * \return a vector containing all the elements from the ring buffer
-   */
-  template<typename T = BufferT, std::enable_if_t<is_std_unique_ptr<T>::value &&
-    std::is_copy_constructible<
-      typename is_std_unique_ptr<T>::Ptr_type
-    >::value,
-    void> * = nullptr>
-  std::vector<BufferT> get_all_data_impl()
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-    std::vector<BufferT> result_vtr;
-    result_vtr.reserve(size_);
-    for (size_t id = 0; id < size_; ++id) {
-      result_vtr.emplace_back(
-        new typename is_std_unique_ptr<T>::Ptr_type(
-          *(ring_buffer_[(read_index_ + id) % capacity_])));
-    }
-    return result_vtr;
-  }
-
-  template<typename T = BufferT, std::enable_if_t<
-      std::is_copy_constructible<T>::value, void> * = nullptr>
-  std::vector<BufferT> get_all_data_impl()
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-    std::vector<BufferT> result_vtr;
-    result_vtr.reserve(size_);
-    for (size_t id = 0; id < size_; ++id) {
-      result_vtr.emplace_back(ring_buffer_[(read_index_ + id) % capacity_]);
-    }
-    return result_vtr;
-  }
-
-  template<typename T = BufferT, std::enable_if_t<!is_std_unique_ptr<T>::value &&
-    !std::is_copy_constructible<T>::value, void> * = nullptr>
-  std::vector<BufferT> get_all_data_impl()
-  {
-    throw std::logic_error("Underlined type results in invalid get_all_data_impl()");
-    return {};
-  }
-
-  template<typename T = BufferT, std::enable_if_t<is_std_unique_ptr<T>::value &&
-    !std::is_copy_constructible<typename is_std_unique_ptr<T>::Ptr_type>::value,
-    void> * = nullptr>
-  std::vector<BufferT> get_all_data_impl()
-  {
-    throw std::logic_error("Underlined type in unique_ptr results in invalid get_all_data_impl()");
-    return {};
-  }
-
   size_t capacity_;
 
   std::vector<BufferT> ring_buffer_;

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

@@ -92,18 +92,6 @@ public:
   void
   spin() override;
 
-  /**
-   * \sa rclcpp::Executor:spin() for more details
-   * \throws std::runtime_error when spin() called while already spinning
-   * \param exception_handler will be called for every exception in the processing threads
-   *
-   * The exception_handler can be called from multiple threads at the same time.
-   * The exception_handler shall rethrow the exception it if wants to terminate the program.
-   */
-  RCLCPP_PUBLIC
-  void
-  spin(const std::function<void(const std::exception & e)> & exception_handler) override;
-
   /// Events executor implementation of spin some
   /**
    * This non-blocking function will execute the timers and events
@@ -255,11 +243,6 @@ private:
   std::function<void(size_t, int)>
   create_waitable_callback(const rclcpp::Waitable * waitable_id);
 
-  /// Utility to add the notify waitable to an entities collection
-  void
-  add_notify_waitable_to_collection(
-    rclcpp::executors::ExecutorEntitiesCollection::WaitableCollection & collection);
-
   /// Searches for the provided entity_id in the collection and returns the entity if valid
   template<typename CollectionType>
   typename CollectionType::EntitySharedPtr
@@ -286,11 +269,8 @@ private:
   rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue_;
 
   std::shared_ptr<rclcpp::executors::ExecutorEntitiesCollector> entities_collector_;
-  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
-
-  /// Mutex to protect the current_entities_collection_
-  std::recursive_mutex collection_mutex_;
   std::shared_ptr<rclcpp::executors::ExecutorEntitiesCollection> current_entities_collection_;
+  std::shared_ptr<rclcpp::executors::ExecutorNotifyWaitable> notify_waitable_;
 
   /// Flag used to reduce the number of unnecessary waitable events
   std::atomic<bool> notify_waitable_event_pushed_ {false};

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

@@ -15,8 +15,6 @@
 #ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_EVENT_TYPES_HPP_
 #define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_EVENT_TYPES_HPP_
 
-#include <memory>
-
 namespace rclcpp
 {
 namespace experimental
@@ -36,7 +34,6 @@ enum ExecutorEventType
 struct ExecutorEvent
 {
   const void * entity_key;
-  std::shared_ptr<void> data;
   int waitable_data;
   ExecutorEventType type;
   size_t num_events;

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -28,7 +28,6 @@
 #include <typeinfo>
 
 #include "rclcpp/allocator/allocator_deleter.hpp"
-#include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
 #include "rclcpp/experimental/ros_message_intra_process_buffer.hpp"
 #include "rclcpp/experimental/subscription_intra_process.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
@@ -113,40 +112,9 @@ public:
    * \param subscription the SubscriptionIntraProcess to register.
    * \return an unsigned 64-bit integer which is the subscription's unique id.
    */
-  template<
-    typename ROSMessageType,
-    typename Alloc = std::allocator<ROSMessageType>
-  >
+  RCLCPP_PUBLIC
   uint64_t
-  add_subscription(rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription)
-  {
-    std::unique_lock<std::shared_timed_mutex> lock(mutex_);
-
-    uint64_t sub_id = IntraProcessManager::get_next_unique_id();
-
-    subscriptions_[sub_id] = subscription;
-
-    // adds the subscription id to all the matchable publishers
-    for (auto & pair : publishers_) {
-      auto publisher = pair.second.lock();
-      if (!publisher) {
-        continue;
-      }
-      if (can_communicate(publisher, subscription)) {
-        uint64_t pub_id = pair.first;
-        insert_sub_id_for_pub(sub_id, pub_id, subscription->use_take_shared_method());
-        if (publisher->is_durability_transient_local() &&
-          subscription->is_durability_transient_local())
-        {
-          do_transient_local_publish<ROSMessageType, Alloc>(
-            pub_id, sub_id,
-            subscription->use_take_shared_method());
-        }
-      }
-    }
-
-    return sub_id;
-  }
+  add_subscription(rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription);
 
   /// Unregister a subscription using the subscription's unique id.
   /**
@@ -163,21 +131,14 @@ public:
    * This method stores the publisher intra process object, together with
    * the information of its wrapped publisher (i.e. topic name and QoS).
    *
-   * If the publisher's durability is transient local, its buffer pointer should
-   * be passed and the method will store it as well.
-   *
    * In addition this generates a unique intra process id for the publisher.
    *
    * \param publisher publisher to be registered with the manager.
-   * \param buffer publisher's buffer to be stored if its duability is transient local.
    * \return an unsigned 64-bit integer which is the publisher's unique id.
    */
   RCLCPP_PUBLIC
   uint64_t
-  add_publisher(
-    rclcpp::PublisherBase::SharedPtr publisher,
-    rclcpp::experimental::buffers::IntraProcessBufferBase::SharedPtr buffer =
-    rclcpp::experimental::buffers::IntraProcessBufferBase::SharedPtr());
+  add_publisher(rclcpp::PublisherBase::SharedPtr publisher);
 
   /// Unregister a publisher using the publisher's unique id.
   /**
@@ -253,8 +214,7 @@ public:
       // So this case is equivalent to all the buffers requiring ownership
 
       // Merge the two vector of ids into a unique one
-      std::vector<uint64_t> concatenated_vector(
-        sub_ids.take_shared_subscriptions.begin(), sub_ids.take_shared_subscriptions.end());
+      std::vector<uint64_t> concatenated_vector(sub_ids.take_shared_subscriptions);
       concatenated_vector.insert(
         concatenated_vector.end(),
         sub_ids.take_ownership_subscriptions.begin(),
@@ -332,34 +292,6 @@ public:
     }
   }
 
-  template<
-    typename MessageT,
-    typename Alloc,
-    typename Deleter,
-    typename ROSMessageType>
-  void
-  add_shared_msg_to_buffer(
-    std::shared_ptr<const MessageT> message,
-    uint64_t subscription_id)
-  {
-    add_shared_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(message, {subscription_id});
-  }
-
-  template<
-    typename MessageT,
-    typename Alloc,
-    typename Deleter,
-    typename ROSMessageType>
-  void
-  add_owned_msg_to_buffer(
-    std::unique_ptr<MessageT, Deleter> message,
-    uint64_t subscription_id,
-    typename allocator::AllocRebind<MessageT, Alloc>::allocator_type & allocator)
-  {
-    add_owned_msg_to_buffers<MessageT, Alloc, Deleter, ROSMessageType>(
-      std::move(message), {subscription_id}, allocator);
-  }
-
   /// Return true if the given rmw_gid_t matches any stored Publishers.
   RCLCPP_PUBLIC
   bool
@@ -374,11 +306,6 @@ public:
   rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr
   get_subscription_intra_process(uint64_t intra_process_subscription_id);
 
-  /// Return the lowest available capacity for all subscription buffers for a publisher id.
-  RCLCPP_PUBLIC
-  size_t
-  lowest_available_capacity(const uint64_t intra_process_publisher_id) const;
-
 private:
   struct SplittedSubscriptions
   {
@@ -392,9 +319,6 @@ private:
   using PublisherMap =
     std::unordered_map<uint64_t, rclcpp::PublisherBase::WeakPtr>;
 
-  using PublisherBufferMap =
-    std::unordered_map<uint64_t, rclcpp::experimental::buffers::IntraProcessBufferBase::WeakPtr>;
-
   using PublisherToSubscriptionIdsMap =
     std::unordered_map<uint64_t, SplittedSubscriptions>;
 
@@ -413,54 +337,6 @@ private:
     rclcpp::PublisherBase::SharedPtr pub,
     rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr sub) const;
 
-  template<
-    typename ROSMessageType,
-    typename Alloc = std::allocator<ROSMessageType>
-  >
-  void do_transient_local_publish(
-    const uint64_t pub_id, const uint64_t sub_id,
-    const bool use_take_shared_method)
-  {
-    using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, Alloc>;
-    using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
-    using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
-
-    auto publisher_buffer = publisher_buffers_[pub_id].lock();
-    if (!publisher_buffer) {
-      throw std::runtime_error("publisher buffer has unexpectedly gone out of scope");
-    }
-    auto buffer = std::dynamic_pointer_cast<
-      rclcpp::experimental::buffers::IntraProcessBuffer<
-        ROSMessageType,
-        ROSMessageTypeAllocator,
-        ROSMessageTypeDeleter
-      >
-      >(publisher_buffer);
-    if (!buffer) {
-      throw std::runtime_error(
-              "failed to dynamic cast publisher's IntraProcessBufferBase to "
-              "IntraProcessBuffer<ROSMessageType,ROSMessageTypeAllocator,"
-              "ROSMessageTypeDeleter> which can happen when the publisher and "
-              "subscription use different allocator types, which is not supported");
-    }
-    if (use_take_shared_method) {
-      auto data_vec = buffer->get_all_data_shared();
-      for (auto shared_data : data_vec) {
-        this->template add_shared_msg_to_buffer<
-          ROSMessageType, ROSMessageTypeAllocator, ROSMessageTypeDeleter, ROSMessageType>(
-          shared_data, sub_id);
-      }
-    } else {
-      auto data_vec = buffer->get_all_data_unique();
-      for (auto & owned_data : data_vec) {
-        auto allocator = ROSMessageTypeAllocator();
-        this->template add_owned_msg_to_buffer<
-          ROSMessageType, ROSMessageTypeAllocator, ROSMessageTypeDeleter, ROSMessageType>(
-          std::move(owned_data), sub_id, allocator);
-      }
-    }
-  }
-
   template<
     typename MessageT,
     typename Alloc,
@@ -586,7 +462,7 @@ private:
           auto ptr = MessageAllocTraits::allocate(allocator, 1);
           MessageAllocTraits::construct(allocator, ptr, *message);
 
-          subscription->provide_intra_process_data(MessageUniquePtr(ptr, deleter));
+          subscription->provide_intra_process_data(std::move(MessageUniquePtr(ptr, deleter)));
         }
 
         continue;
@@ -605,13 +481,13 @@ private:
                 "subscription use different allocator types, which is not supported");
       }
 
-      if constexpr (rclcpp::TypeAdapter<MessageT, ROSMessageType>::is_specialized::value) {
+      if constexpr (rclcpp::TypeAdapter<MessageT>::is_specialized::value) {
         ROSMessageTypeAllocator ros_message_alloc(allocator);
-        auto ptr = ROSMessageTypeAllocatorTraits::allocate(ros_message_alloc, 1);
-        ROSMessageTypeAllocatorTraits::construct(ros_message_alloc, ptr);
+        auto ptr = ros_message_alloc.allocate(1);
+        ros_message_alloc.construct(ptr);
         ROSMessageTypeDeleter deleter;
         allocator::set_allocator_for_deleter(&deleter, &allocator);
-        rclcpp::TypeAdapter<MessageT, ROSMessageType>::convert_to_ros_message(*message, *ptr);
+        rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*message, *ptr);
         auto ros_msg = std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>(ptr, deleter);
         ros_message_subscription->provide_intra_process_message(std::move(ros_msg));
       } else {
@@ -629,7 +505,7 @@ private:
             MessageAllocTraits::construct(allocator, ptr, *message);
 
             ros_message_subscription->provide_intra_process_message(
-              MessageUniquePtr(ptr, deleter));
+              std::move(MessageUniquePtr(ptr, deleter)));
           }
         }
       }
@@ -639,7 +515,6 @@ private:
   PublisherToSubscriptionIdsMap pub_to_subs_;
   SubscriptionMap subscriptions_;
   PublisherMap publishers_;
-  PublisherBufferMap publisher_buffers_;
 
   mutable std::shared_timed_mutex mutex_;
 };

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -87,7 +87,7 @@ public:
       buffer_type),
     any_callback_(callback)
   {
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_subscription_callback_added,
       static_cast<const void *>(this),
       static_cast<const void *>(&any_callback_));
@@ -101,23 +101,6 @@ public:
 
   virtual ~SubscriptionIntraProcess() = default;
 
-  void
-  add_to_wait_set(rcl_wait_set_t & wait_set) override
-  {
-    // This block is necessary when the guard condition wakes the wait set, but
-    // the intra process waitable was not handled before the wait set is waited
-    // on again.
-    // Basically we're keeping the guard condition triggered so long as there is
-    // data in the buffer.
-    if (this->buffer_->has_data()) {
-      // If there is data still to be processed, indicate to the
-      // executor or waitset by triggering the guard condition.
-      this->trigger_guard_condition();
-    }
-    // Let the parent classes handle the rest of the work:
-    return SubscriptionIntraProcessBufferT::add_to_wait_set(wait_set);
-  }
-
   std::shared_ptr<void>
   take_data() override
   {
@@ -149,7 +132,7 @@ public:
     );
   }
 
-  void execute(const std::shared_ptr<void> & data) override
+  void execute(std::shared_ptr<void> & data) override
   {
     execute_impl<SubscribedType>(data);
   }
@@ -157,16 +140,17 @@ public:
 protected:
   template<typename T>
   typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl(const std::shared_ptr<void> &)
+  execute_impl(std::shared_ptr<void> & data)
   {
+    (void)data;
     throw std::runtime_error("Subscription intra-process can't handle serialized messages");
   }
 
   template<class T>
   typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value, void>::type
-  execute_impl(const std::shared_ptr<void> & data)
+  execute_impl(std::shared_ptr<void> & data)
   {
-    if (nullptr == data) {
+    if (!data) {
       return;
     }
 

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

@@ -60,19 +60,10 @@ public:
 
   RCLCPP_PUBLIC
   void
-  add_to_wait_set(rcl_wait_set_t & wait_set) override;
-
-  RCLCPP_PUBLIC
-  virtual
-  size_t
-  available_capacity() const = 0;
-
-  RCLCPP_PUBLIC
-  bool
-  is_durability_transient_local() const;
+  add_to_wait_set(rcl_wait_set_t * wait_set) override;
 
   bool
-  is_ready(const rcl_wait_set_t & wait_set) override = 0;
+  is_ready(rcl_wait_set_t * wait_set) override = 0;
 
   std::shared_ptr<void>
   take_data() override = 0;
@@ -85,7 +76,7 @@ public:
   }
 
   void
-  execute(const std::shared_ptr<void> & data) override = 0;
+  execute(std::shared_ptr<void> & data) override = 0;
 
   virtual
   bool

rclcpp/include/rclcpp/experimental/subscription_intra_process_buffer.hpp

@@ -30,7 +30,6 @@
 #include "rclcpp/experimental/ros_message_intra_process_buffer.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
-#include "rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp"
 
 #include "tracetools/tracetools.h"
 
@@ -94,23 +93,14 @@ public:
       buffer_type,
       qos_profile,
       std::make_shared<Alloc>(subscribed_type_allocator_));
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_ipb_to_subscription,
       static_cast<const void *>(buffer_.get()),
       static_cast<const void *>(this));
   }
 
-  void
-  add_to_wait_set(rcl_wait_set_t & wait_set) override
-  {
-    if (this->buffer_->has_data()) {
-      this->trigger_guard_condition();
-    }
-    detail::add_guard_condition_to_rcl_wait_set(wait_set, this->gc_);
-  }
-
   bool
-  is_ready(const rcl_wait_set_t & wait_set) override
+  is_ready(rcl_wait_set_t * wait_set) override
   {
     (void) wait_set;
     return buffer_->has_data();
@@ -179,11 +169,6 @@ public:
     return buffer_->use_take_shared_method();
   }
 
-  size_t available_capacity() const override
-  {
-    return buffer_->available_capacity();
-  }
-
 protected:
   void
   trigger_guard_condition() override

rclcpp/include/rclcpp/experimental/timers_manager.hpp

@@ -22,10 +22,10 @@
 #include <functional>
 #include <memory>
 #include <mutex>
-#include <optional>
 #include <thread>
 #include <utility>
 #include <vector>
+
 #include "rclcpp/context.hpp"
 #include "rclcpp/timer.hpp"
 
@@ -86,8 +86,7 @@ public:
   RCLCPP_PUBLIC
   TimersManager(
     std::shared_ptr<rclcpp::Context> context,
-    std::function<void(const rclcpp::TimerBase *,
-    const std::shared_ptr<void> &)> on_ready_callback = nullptr);
+    std::function<void(const rclcpp::TimerBase *)> on_ready_callback = nullptr);
 
   /**
    * @brief Destruct the TimersManager object making sure to stop thread and release memory.
@@ -125,14 +124,9 @@ public:
   /**
    * @brief Starts a thread that takes care of executing the timers stored in this object.
    * Function will throw an error if the timers thread was already running.
-   *
-   * @param exception_handler if valid, the execution of the timer will be done in a try catch block,
-   *                          and any occurring exception will be passed to the given handler
    */
   RCLCPP_PUBLIC
-  void start(
-    const std::function<void(const std::exception & e)> & exception_handler = std::function<void(
-      const std::exception & e)>());
+  void start();
 
   /**
    * @brief Stops the timers thread.
@@ -170,23 +164,21 @@ public:
    * the TimersManager on_ready_callback was passed during construction.
    *
    * @param timer_id the timer ID of the timer to execute
-   * @param data internal data of the timer
    */
   RCLCPP_PUBLIC
-  void execute_ready_timer(const rclcpp::TimerBase * timer_id, const std::shared_ptr<void> & data);
+  void execute_ready_timer(const rclcpp::TimerBase * timer_id);
 
   /**
    * @brief Get the amount of time before the next timer triggers.
    * This function is thread safe.
    *
-   * @return std::optional<std::chrono::nanoseconds> to wait,
+   * @return std::chrono::nanoseconds to wait,
    * the returned value could be negative if the timer is already expired
    * or std::chrono::nanoseconds::max() if there are no timers stored in the object.
-   * If the head timer was cancelled, then this will return a nullopt.
    * @throws std::runtime_error if the timers thread was already running.
    */
   RCLCPP_PUBLIC
-  std::optional<std::chrono::nanoseconds> get_head_timeout();
+  std::chrono::nanoseconds get_head_timeout();
 
 private:
   RCLCPP_DISABLE_COPY(TimersManager)
@@ -516,33 +508,26 @@ private:
    */
   void run_timers();
 
-  /**
-   * @brief calls run_timers with a try catch block.
-   */
-  void run_timers(const std::function<void(const std::exception & e)> & exception_handler);
-
   /**
    * @brief Get the amount of time before the next timer triggers.
    * This function is not thread safe, acquire a mutex before calling it.
    *
-   * @return std::optional<std::chrono::nanoseconds> to wait,
+   * @return std::chrono::nanoseconds to wait,
    * the returned value could be negative if the timer is already expired
    * or std::chrono::nanoseconds::max() if the heap is empty.
-   * If the head timer was cancelled, then this will return a nullopt.
    * This function is not thread safe, acquire the timers_mutex_ before calling it.
    */
-  std::optional<std::chrono::nanoseconds> get_head_timeout_unsafe();
+  std::chrono::nanoseconds get_head_timeout_unsafe();
 
   /**
    * @brief Executes all the timers currently ready when the function is invoked
    * while keeping the heap correctly sorted.
    * This function is not thread safe, acquire the timers_mutex_ before calling it.
    */
-  void execute_ready_timers_unsafe(std::function<void(const std::exception & e)> exception_handler);
+  void execute_ready_timers_unsafe();
 
   // Callback to be called when timer is ready
-  std::function<void(const rclcpp::TimerBase *,
-    const std::shared_ptr<void> &)> on_ready_callback_ = nullptr;
+  std::function<void(const rclcpp::TimerBase *)> on_ready_callback_ = nullptr;
 
   // Thread used to run the timers execution task
   std::thread timers_thread_;

rclcpp/include/rclcpp/generic_client.hpp

@@ -1,207 +0,0 @@
-// Copyright 2023 Sony Group Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__GENERIC_CLIENT_HPP_
-#define RCLCPP__GENERIC_CLIENT_HPP_
-
-#include <map>
-#include <memory>
-#include <future>
-#include <string>
-#include <vector>
-#include <utility>
-
-#include "rcl/client.h"
-
-#include "rclcpp/client.hpp"
-#include "rclcpp/visibility_control.hpp"
-#include "rcpputils/shared_library.hpp"
-
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-
-namespace rclcpp
-{
-class GenericClient : public ClientBase
-{
-public:
-  using Request = void *;   // Serialized data pointer of request message
-  using Response = void *;  // Serialized data pointer of response message
-
-  using SharedResponse = std::shared_ptr<void>;
-
-  using Promise = std::promise<SharedResponse>;
-  using SharedPromise = std::shared_ptr<Promise>;
-
-  using Future = std::future<SharedResponse>;
-  using SharedFuture = std::shared_future<SharedResponse>;
-
-  RCLCPP_SMART_PTR_DEFINITIONS(GenericClient)
-
-  /// A convenient GenericClient::Future and request id pair.
-  /**
-   * Public members:
-   * - future: a std::future<void *>.
-   * - request_id: the request id associated with the future.
-   *
-   * All the other methods are equivalent to the ones std::future provides.
-   */
-  struct FutureAndRequestId
-    : detail::FutureAndRequestId<Future>
-  {
-    using detail::FutureAndRequestId<Future>::FutureAndRequestId;
-
-    /// See std::future::share().
-    SharedFuture share() noexcept {return this->future.share();}
-
-    /// Move constructor.
-    FutureAndRequestId(FutureAndRequestId && other) noexcept = default;
-    /// Deleted copy constructor, each instance is a unique owner of the future.
-    FutureAndRequestId(const FutureAndRequestId & other) = delete;
-    /// Move assignment.
-    FutureAndRequestId & operator=(FutureAndRequestId && other) noexcept = default;
-    /// Deleted copy assignment, each instance is a unique owner of the future.
-    FutureAndRequestId & operator=(const FutureAndRequestId & other) = delete;
-    /// Destructor.
-    ~FutureAndRequestId() = default;
-  };
-
-  GenericClient(
-    rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
-    const std::string & service_name,
-    const std::string & service_type,
-    rcl_client_options_t & client_options);
-
-  RCLCPP_PUBLIC
-  SharedResponse
-  create_response() override;
-
-  RCLCPP_PUBLIC
-  std::shared_ptr<rmw_request_id_t>
-  create_request_header() override;
-
-  RCLCPP_PUBLIC
-  void
-  handle_response(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> response) override;
-
-  /// Send a request to the service server.
-  /**
-   * This method returns a `FutureAndRequestId` instance
-   * that can be passed to Executor::spin_until_future_complete() to
-   * wait until it has been completed.
-   *
-   * If the future never completes,
-   * e.g. the call to Executor::spin_until_future_complete() times out,
-   * GenericClient::remove_pending_request() must be called to clean the client internal state.
-   * Not doing so will make the `Client` instance to use more memory each time a response is not
-   * received from the service server.
-   *
-   * ```cpp
-   * auto future = client->async_send_request(my_request);
-   * if (
-   *   rclcpp::FutureReturnCode::TIMEOUT ==
-   *   executor->spin_until_future_complete(future, timeout))
-   * {
-   *   client->remove_pending_request(future);
-   *   // handle timeout
-   * } else {
-   *   handle_response(future.get());
-   * }
-   * ```
-   *
-   * \param[in] request request to be send.
-   * \return a FutureAndRequestId instance.
-   */
-  RCLCPP_PUBLIC
-  FutureAndRequestId
-  async_send_request(const Request request);
-
-  /// Clean all pending requests older than a time_point.
-  /**
-   * \param[in] time_point Requests that were sent before this point are going to be removed.
-   * \param[inout] pruned_requests Removed requests id will be pushed to the vector
-   *  if a pointer is provided.
-   * \return number of pending requests that were removed.
-   */
-  template<typename AllocatorT = std::allocator<int64_t>>
-  size_t
-  prune_requests_older_than(
-    std::chrono::time_point<std::chrono::system_clock> time_point,
-    std::vector<int64_t, AllocatorT> * pruned_requests = nullptr)
-  {
-    return detail::prune_requests_older_than_impl(
-      pending_requests_,
-      pending_requests_mutex_,
-      time_point,
-      pruned_requests);
-  }
-
-  RCLCPP_PUBLIC
-  size_t
-  prune_pending_requests();
-
-  RCLCPP_PUBLIC
-  bool
-  remove_pending_request(
-    int64_t request_id);
-
-  /// Take the next response for this client.
-  /**
-   * \sa ClientBase::take_type_erased_response().
-   *
-   * \param[out] response_out The reference to a Service Response into
-   *   which the middleware will copy the response being taken.
-   * \param[out] request_header_out The request header to be filled by the
-   *   middleware when taking, and which can be used to associate the response
-   *   to a specific request.
-   * \returns true if the response was taken, otherwise false.
-   * \throws rclcpp::exceptions::RCLError based exceptions if the underlying
-   *   rcl function fail.
-   */
-  RCLCPP_PUBLIC
-  bool
-  take_response(Response response_out, rmw_request_id_t & request_header_out)
-  {
-    return this->take_type_erased_response(response_out, request_header_out);
-  }
-
-protected:
-  using CallbackInfoVariant = std::variant<
-    std::promise<SharedResponse>>;  // Use variant for extension
-
-  int64_t
-  async_send_request_impl(
-    const Request request,
-    CallbackInfoVariant value);
-
-  std::optional<CallbackInfoVariant>
-  get_and_erase_pending_request(
-    int64_t request_number);
-
-  RCLCPP_DISABLE_COPY(GenericClient)
-
-  std::map<int64_t, std::pair<
-      std::chrono::time_point<std::chrono::system_clock>,
-      CallbackInfoVariant>> pending_requests_;
-  std::mutex pending_requests_mutex_;
-
-private:
-  std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
-  const rosidl_typesupport_introspection_cpp::MessageMembers * response_members_;
-};
-}  // namespace rclcpp
-
-#endif  // RCLCPP__GENERIC_CLIENT_HPP_

rclcpp/include/rclcpp/generic_publisher.hpp

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

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -74,32 +74,20 @@ public:
     const std::string & topic_name,
     const std::string & topic_type,
     const rclcpp::QoS & qos,
-    AnySubscriptionCallback<rclcpp::SerializedMessage, AllocatorT> callback,
+    // TODO(nnmm): Add variant for callback with message info. See issue #1604.
+    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
   : SubscriptionBase(
       node_base,
-      *rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
+      *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
       topic_name,
       options.to_rcl_subscription_options(qos),
       options.event_callbacks,
       options.use_default_callbacks,
       DeliveredMessageKind::SERIALIZED_MESSAGE),
-    any_callback_(callback),
+    callback_(callback),
     ts_lib_(ts_lib)
-  {
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_subscription_init,
-      static_cast<const void *>(get_subscription_handle().get()),
-      static_cast<const void *>(this));
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_subscription_callback_added,
-      static_cast<const void *>(this),
-      static_cast<const void *>(&any_callback_));
-
-#ifndef TRACETOOLS_DISABLED
-    any_callback_.register_callback_for_tracing();
-#endif
-  }
+  {}
 
   RCLCPP_PUBLIC
   virtual ~GenericSubscription() = default;
@@ -162,7 +150,8 @@ public:
 
 private:
   RCLCPP_DISABLE_COPY(GenericSubscription)
-  AnySubscriptionCallback<rclcpp::SerializedMessage, std::allocator<void>> any_callback_;
+
+  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback_;
   // The type support library should stay loaded, so it is stored in the GenericSubscription
   std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
 };

rclcpp/include/rclcpp/guard_condition.hpp

@@ -48,7 +48,7 @@ public:
    */
   RCLCPP_PUBLIC
   explicit GuardCondition(
-    const rclcpp::Context::SharedPtr & context =
+    rclcpp::Context::SharedPtr context =
     rclcpp::contexts::get_global_default_context(),
     rcl_guard_condition_options_t guard_condition_options =
     rcl_guard_condition_get_default_options());
@@ -57,6 +57,11 @@ public:
   virtual
   ~GuardCondition();
 
+  /// Return the context used when creating this guard condition.
+  RCLCPP_PUBLIC
+  rclcpp::Context::SharedPtr
+  get_context() const;
+
   /// Return the underlying rcl guard condition structure.
   RCLCPP_PUBLIC
   rcl_guard_condition_t &
@@ -100,7 +105,7 @@ public:
    */
   RCLCPP_PUBLIC
   void
-  add_to_wait_set(rcl_wait_set_t & wait_set);
+  add_to_wait_set(rcl_wait_set_t * wait_set);
 
   /// Set a callback to be called whenever the guard condition is triggered.
   /**
@@ -123,14 +128,13 @@ public:
   set_on_trigger_callback(std::function<void(size_t)> callback);
 
 protected:
+  rclcpp::Context::SharedPtr context_;
   rcl_guard_condition_t rcl_guard_condition_;
   std::atomic<bool> in_use_by_wait_set_{false};
   std::recursive_mutex reentrant_mutex_;
   std::function<void(size_t)> on_trigger_callback_{nullptr};
   size_t unread_count_{0};
-  // the type of wait_set_ is actually rcl_wait_set_t *, but it's never
-  // dereferenced, only compared to, so make it void * to avoid accidental use
-  void * wait_set_{nullptr};
+  rcl_wait_set_t * wait_set_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/logger.hpp

@@ -126,6 +126,9 @@ private:
   std::shared_ptr<std::pair<std::string, std::string>> logger_sublogger_pairname_ = nullptr;
 
 public:
+  RCLCPP_PUBLIC
+  Logger(const Logger &) = default;
+
   /// Get the name of this logger.
   /**
    * \return the full name of the logger including any prefixes, or

rclcpp/include/rclcpp/node.hpp

@@ -42,7 +42,6 @@
 #include "rclcpp/clock.hpp"
 #include "rclcpp/context.hpp"
 #include "rclcpp/event.hpp"
-#include "rclcpp/generic_client.hpp"
 #include "rclcpp/generic_publisher.hpp"
 #include "rclcpp/generic_subscription.hpp"
 #include "rclcpp/logger.hpp"
@@ -57,7 +56,6 @@
 #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
 #include "rclcpp/node_interfaces/node_waitables_interface.hpp"
 #include "rclcpp/node_options.hpp"
 #include "rclcpp/parameter.hpp"
@@ -234,15 +232,13 @@ public:
    * \param[in] period Time interval between triggers of the callback.
    * \param[in] callback User-defined callback function.
    * \param[in] group Callback group to execute this timer's callback in.
-   * \param[in] autostart The state of the clock on initialization.
    */
   template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
   typename rclcpp::WallTimer<CallbackT>::SharedPtr
   create_wall_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::CallbackGroup::SharedPtr group = nullptr,
-    bool autostart = true);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Create a timer that uses the node clock to drive the callback.
   /**
@@ -321,22 +317,6 @@ public:
     const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
     rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
-  /// Create and return a GenericClient.
-  /**
-   * \param[in] service_name The name on which the service is accessible.
-   * \param[in] service_type The name of service type, e.g. "std_srvs/srv/SetBool"
-   * \param[in] qos Quality of service profile for client.
-   * \param[in] group Callback group to handle the reply to service calls.
-   * \return Shared pointer to the created GenericClient.
-   */
-  RCLCPP_PUBLIC
-  rclcpp::GenericClient::SharedPtr
-  create_generic_client(
-    const std::string & service_name,
-    const std::string & service_type,
-    const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-    rclcpp::CallbackGroup::SharedPtr group = nullptr);
-
   /// Create and return a GenericPublisher.
   /**
    * The returned pointer will never be empty, but this function can throw various exceptions, for
@@ -375,14 +355,12 @@ public:
  * `%callback_group`.
    * \return Shared pointer to the created generic subscription.
    */
-  template<
-    typename CallbackT,
-    typename AllocatorT = std::allocator<void>>
+  template<typename AllocatorT = std::allocator<void>>
   std::shared_ptr<rclcpp::GenericSubscription> create_generic_subscription(
     const std::string & topic_name,
     const std::string & topic_type,
     const rclcpp::QoS & qos,
-    CallbackT && callback,
+    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
     )
@@ -991,16 +969,7 @@ public:
 
   /// Return a list of parameters with any of the given prefixes, up to the given depth.
   /**
-   * Parameters are separated into a hierarchy using the "." (dot) character.
-   * The "prefixes" argument is a way to select only particular parts of the hierarchy.
-   *
-   * \param[in] prefixes The list of prefixes that should be searched for within the
-   * current parameters. If this vector of prefixes is empty, then list_parameters
-   * will return all parameters.
-   * \param[in] depth An unsigned integer that represents the recursive depth to search.
-   * If this depth = 0, then all parameters that fit the prefixes will be returned.
-   * \returns A ListParametersResult message which contains both an array of unique prefixes
-   * and an array of names that were matched to the prefixes given.
+   * \todo: properly document and test this method.
    */
   RCLCPP_PUBLIC
   rcl_interfaces::msg::ListParametersResult
@@ -1333,26 +1302,6 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const;
 
-  /// Return the number of clients created for a given service.
-  /**
-   * \param[in] service_name the actual service name used; it will not be automatically remapped.
-   * \return number of clients that have been created for the given service.
-   * \throws std::runtime_error if clients could not be counted
-   */
-  RCLCPP_PUBLIC
-  size_t
-  count_clients(const std::string & service_name) const;
-
-  /// Return the number of services created for a given service.
-  /**
-   * \param[in] service_name the actual service name used; it will not be automatically remapped.
-   * \return number of services that have been created for the given service.
-   * \throws std::runtime_error if services could not be counted
-   */
-  RCLCPP_PUBLIC
-  size_t
-  count_services(const std::string & service_name) const;
-
   /// Return the topic endpoint information about publishers on a given topic.
   /**
    * The returned parameter is a list of topic endpoint information, where each item will contain
@@ -1505,11 +1454,6 @@ public:
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();
 
-  /// Return the Node's internal NodeTypeDescriptionsInterface implementation.
-  RCLCPP_PUBLIC
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
-  get_node_type_descriptions_interface();
-
   /// Return the sub-namespace, if this is a sub-node, otherwise an empty string.
   /**
    * The returned sub-namespace is either the accumulated sub-namespaces which
@@ -1642,18 +1586,11 @@ private:
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr node_type_descriptions_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
   const rclcpp::NodeOptions node_options_;
   const std::string sub_namespace_;
   const std::string effective_namespace_;
-
-  class NodeImpl;
-  // This member is meant to be a place to backport features into stable distributions,
-  // and new features targeting Rolling should not use this.
-  // See the comment in node.cpp for more information.
-  std::shared_ptr<NodeImpl> hidden_impl_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/node_impl.hpp

@@ -110,16 +110,14 @@ typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::CallbackGroup::SharedPtr group,
-  bool autostart)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_wall_timer(
     period,
     std::move(callback),
     group,
     this->node_base_.get(),
-    this->node_timers_.get(),
-    autostart);
+    this->node_timers_.get());
 }
 
 template<typename DurationRepT, typename DurationT, typename CallbackT>
@@ -221,13 +219,13 @@ Node::create_generic_publisher(
   );
 }
 
-template<typename CallbackT, typename AllocatorT>
+template<typename AllocatorT>
 std::shared_ptr<rclcpp::GenericSubscription>
 Node::create_generic_subscription(
   const std::string & topic_name,
   const std::string & topic_type,
   const rclcpp::QoS & qos,
-  CallbackT && callback,
+  std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
 {
   return rclcpp::create_generic_subscription(
@@ -235,7 +233,7 @@ Node::create_generic_subscription(
     extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
     topic_type,
     qos,
-    std::forward<CallbackT>(callback),
+    std::move(callback),
     options
   );
 }

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

@@ -167,7 +167,6 @@ init_tuple(NodeT & n)
  * something like that, then you'll need to create your own specialization of
  * the NodeInterfacesSupports struct without this macro.
  */
-// *INDENT-OFF*
 #define RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(NodeInterfaceType, NodeInterfaceName) \
   namespace rclcpp::node_interfaces::detail { \
   template<typename StorageClassT, typename ... RemainingInterfaceTs> \
@@ -190,7 +189,7 @@ init_tuple(NodeT & n)
     /* Perfect forwarding constructor to get arguments down to StorageClassT (eventually). */ \
     template<typename ... ArgsT> \
     explicit NodeInterfacesSupports(ArgsT && ... args) \
-    : NodeInterfacesSupports<StorageClassT, RemainingInterfaceTs ...>( \
+      : NodeInterfacesSupports<StorageClassT, RemainingInterfaceTs ...>( \
         std::forward<ArgsT>(args) ...) \
     {} \
  \
@@ -201,7 +200,6 @@ init_tuple(NodeT & n)
     } \
   }; \
   }  // namespace rclcpp::node_interfaces::detail
-// *INDENT-ON*
 
 }  // namespace detail
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -113,14 +113,6 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const override;
 
-  RCLCPP_PUBLIC
-  size_t
-  count_clients(const std::string & service_name) const override;
-
-  RCLCPP_PUBLIC
-  size_t
-  count_services(const std::string & service_name) const override;
-
   RCLCPP_PUBLIC
   const rcl_guard_condition_t *
   get_graph_guard_condition() const override;

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -305,24 +305,6 @@ public:
   size_t
   count_subscribers(const std::string & topic_name) const = 0;
 
-  /// Return the number of clients created for a given service.
-  /*
-   * \param[in] service_name the actual service name used; it will not be automatically remapped.
-   */
-  RCLCPP_PUBLIC
-  virtual
-  size_t
-  count_clients(const std::string & service_name) const = 0;
-
-  /// Return the number of services created for a given service.
-  /*
-   * \param[in] service_name the actual service name used; it will not be automatically remapped.
-   */
-  RCLCPP_PUBLIC
-  virtual
-  size_t
-  count_services(const std::string & service_name) const = 0;
-
   /// Return the rcl guard condition which is triggered when the ROS graph changes.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_logging.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_type_descriptions.hpp

@@ -1,63 +0,0 @@
-// Copyright 2023 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_
-#define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_
-
-#include <memory>
-
-#include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_logging_interface.hpp"
-#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
-#include "rclcpp/node_interfaces/node_services_interface.hpp"
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-
-/// Implementation of the NodeTypeDescriptions part of the Node API.
-class NodeTypeDescriptions : public NodeTypeDescriptionsInterface
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptions)
-
-  RCLCPP_PUBLIC
-  explicit NodeTypeDescriptions(
-    NodeBaseInterface::SharedPtr node_base,
-    NodeLoggingInterface::SharedPtr node_logging,
-    NodeParametersInterface::SharedPtr node_parameters,
-    NodeServicesInterface::SharedPtr node_services);
-
-  RCLCPP_PUBLIC
-  virtual
-  ~NodeTypeDescriptions();
-
-private:
-  RCLCPP_DISABLE_COPY(NodeTypeDescriptions)
-
-  // Pimpl hides helper types and functions used for wrapping a C service, which would be
-  // awkward to expose in this header.
-  class NodeTypeDescriptionsImpl;
-  std::unique_ptr<NodeTypeDescriptionsImpl> impl_;
-};
-
-}  // namespace node_interfaces
-}  // namespace rclcpp
-
-#endif  // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_HPP_

rclcpp/include/rclcpp/node_interfaces/node_type_descriptions_interface.hpp

@@ -1,44 +0,0 @@
-// Copyright 2023 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_
-#define RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_
-
-#include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-
-/// Pure virtual interface class for the NodeTypeDescriptions part of the Node API.
-class NodeTypeDescriptionsInterface
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTypeDescriptionsInterface)
-
-  RCLCPP_PUBLIC
-  virtual
-  ~NodeTypeDescriptionsInterface() = default;
-};
-
-}  // namespace node_interfaces
-}  // namespace rclcpp
-
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(
-  rclcpp::node_interfaces::NodeTypeDescriptionsInterface, type_descriptions)
-
-#endif  // RCLCPP__NODE_INTERFACES__NODE_TYPE_DESCRIPTIONS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_options.hpp

@@ -43,7 +43,6 @@ public:
    *   - arguments = {}
    *   - parameter_overrides = {}
    *   - use_global_arguments = true
-   *   - enable_rosout = true
    *   - use_intra_process_comms = false
    *   - enable_topic_statistics = false
    *   - start_parameter_services = true
@@ -51,7 +50,6 @@ public:
    *   - clock_type = RCL_ROS_TIME
    *   - clock_qos = rclcpp::ClockQoS()
    *   - use_clock_thread = true
-   *   - enable_logger_service = false
    *   - rosout_qos = rclcpp::RosoutQoS()
    *   - parameter_event_qos = rclcpp::ParameterEventQoS
    *     - with history setting and depth from rmw_qos_profile_parameter_events
@@ -234,24 +232,6 @@ public:
   NodeOptions &
   start_parameter_services(bool start_parameter_services);
 
-  /// Return the enable_logger_service flag.
-  RCLCPP_PUBLIC
-  bool
-  enable_logger_service() const;
-
-  /// Set the enable_logger_service flag, return this for logger idiom.
-  /**
-   * If true, ROS services are created to allow external nodes to get
-   * and set logger levels of this node.
-   *
-   * If false, loggers will still be configured and set logger levels locally,
-   * but logger levels cannot be changed remotely .
-   *
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  enable_logger_service(bool enable_log_service);
-
   /// Return the start_parameter_event_publisher flag.
   RCLCPP_PUBLIC
   bool
@@ -441,8 +421,6 @@ private:
 
   bool use_clock_thread_ {true};
 
-  bool enable_logger_service_ {false};
-
   rclcpp::QoS parameter_event_qos_ = rclcpp::ParameterEventsQoS(
     rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_parameter_events)
   );

rclcpp/include/rclcpp/parameter_events_filter.hpp

@@ -48,7 +48,7 @@ public:
    *
    * Example Usage:
    *
-   * If you have received a parameter event and are only interested in parameters foo and
+   * 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

rclcpp/include/rclcpp/parameter_value.hpp

@@ -24,7 +24,6 @@
 
 #include "rcl_interfaces/msg/parameter_type.hpp"
 #include "rcl_interfaces/msg/parameter_value.hpp"
-#include "rclcpp/exceptions/exceptions.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

rclcpp/include/rclcpp/publisher.hpp

@@ -32,9 +32,6 @@
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/detail/resolve_use_intra_process.hpp"
-#include "rclcpp/detail/resolve_intra_process_buffer_type.hpp"
-#include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
-#include "rclcpp/experimental/create_intra_process_buffer.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/get_message_type_support_handle.hpp"
 #include "rclcpp/is_ros_compatible_type.hpp"
@@ -112,12 +109,6 @@ public:
   [[deprecated("use std::shared_ptr<const PublishedType>")]] =
     std::shared_ptr<const PublishedType>;
 
-  using BufferSharedPtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
-    ROSMessageType,
-    ROSMessageTypeAllocator,
-    ROSMessageTypeDeleter
-    >::SharedPtr;
-
   RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, AllocatorT>)
 
   /// Default constructor.
@@ -180,14 +171,11 @@ public:
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with a zero qos history depth value");
       }
-      if (qos.durability() == rclcpp::DurabilityPolicy::TransientLocal) {
-        buffer_ = rclcpp::experimental::create_intra_process_buffer<
-          ROSMessageType, ROSMessageTypeAllocator, ROSMessageTypeDeleter>(
-          rclcpp::detail::resolve_intra_process_buffer_type(options_.intra_process_buffer_type),
-          qos,
-          std::make_shared<ROSMessageTypeAllocator>(ros_message_type_allocator_));
+      if (qos.durability() != rclcpp::DurabilityPolicy::Volatile) {
+        throw std::invalid_argument(
+                "intraprocess communication allowed only with volatile durability");
       }
-      uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this(), buffer_);
+      uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this());
       this->setup_intra_process(
         intra_process_publisher_id,
         ipm);
@@ -254,18 +242,9 @@ public:
     if (inter_process_publish_needed) {
       auto shared_msg =
         this->do_intra_process_ros_message_publish_and_return_shared(std::move(msg));
-      if (buffer_) {
-        buffer_->add_shared(shared_msg);
-      }
       this->do_inter_process_publish(*shared_msg);
     } else {
-      if (buffer_) {
-        auto shared_msg =
-          this->do_intra_process_ros_message_publish_and_return_shared(std::move(msg));
-        buffer_->add_shared(shared_msg);
-      } else {
-        this->do_intra_process_ros_message_publish(std::move(msg));
-      }
+      this->do_intra_process_ros_message_publish(std::move(msg));
     }
   }
 
@@ -290,8 +269,8 @@ public:
   {
     // Avoid allocating when not using intra process.
     if (!intra_process_is_enabled_) {
-      this->do_inter_process_publish(msg);
-      return;
+      // In this case we're not using intra process.
+      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.
@@ -318,31 +297,26 @@ public:
   >
   publish(std::unique_ptr<T, PublishedTypeDeleter> msg)
   {
+    // Avoid allocating when not using intra process.
     if (!intra_process_is_enabled_) {
       // In this case we're not using intra process.
-      auto ros_msg_ptr = std::make_unique<ROSMessageType>();
-      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
-      this->do_inter_process_publish(*ros_msg_ptr);
-      return;
+      ROSMessageType ros_msg;
+      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, ros_msg);
+      return this->do_inter_process_publish(ros_msg);
     }
 
     bool inter_process_publish_needed =
       get_subscription_count() > get_intra_process_subscription_count();
 
     if (inter_process_publish_needed) {
-      auto ros_msg_ptr = std::make_shared<ROSMessageType>();
-      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
+      ROSMessageType ros_msg;
+      // TODO(clalancette): This is unnecessarily doing an additional conversion
+      // that may have already been done in do_intra_process_publish_and_return_shared().
+      // We should just reuse that effort.
+      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, ros_msg);
       this->do_intra_process_publish(std::move(msg));
-      this->do_inter_process_publish(*ros_msg_ptr);
-      if (buffer_) {
-        buffer_->add_shared(ros_msg_ptr);
-      }
+      this->do_inter_process_publish(ros_msg);
     } else {
-      if (buffer_) {
-        auto ros_msg_ptr = std::make_shared<ROSMessageType>();
-        rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
-        buffer_->add_shared(ros_msg_ptr);
-      }
       this->do_intra_process_publish(std::move(msg));
     }
   }
@@ -365,12 +339,13 @@ public:
   >
   publish(const T & msg)
   {
+    // Avoid double allocating when not using intra process.
     if (!intra_process_is_enabled_) {
       // Convert to the ROS message equivalent and publish it.
-      auto ros_msg_ptr = std::make_unique<ROSMessageType>();
-      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(msg, *ros_msg_ptr);
-      this->do_inter_process_publish(*ros_msg_ptr);
-      return;
+      ROSMessageType ros_msg;
+      rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(msg, ros_msg);
+      // In this case we're not using intra process.
+      return this->do_inter_process_publish(ros_msg);
     }
 
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
@@ -415,7 +390,7 @@ public:
     if (this->can_loan_messages()) {
       // we release the ownership from the rclpp::LoanedMessage instance
       // and let the middleware clean up the memory.
-      this->do_loaned_message_publish(loaned_msg.release());
+      this->do_loaned_message_publish(std::move(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.
@@ -446,7 +421,7 @@ protected:
   void
   do_inter_process_publish(const ROSMessageType & msg)
   {
-    TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(&msg));
+    TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(&msg));
     auto status = rcl_publish(publisher_handle_.get(), &msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
@@ -481,7 +456,6 @@ protected:
   do_loaned_message_publish(
     std::unique_ptr<ROSMessageType, std::function<void(ROSMessageType *)>> msg)
   {
-    TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(msg.get()));
     auto status = rcl_publish_loaned_message(publisher_handle_.get(), msg.get(), nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
@@ -510,7 +484,7 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_intra_publish,
       static_cast<const void *>(publisher_handle_.get()),
       msg.get());
@@ -532,7 +506,7 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_intra_publish,
       static_cast<const void *>(publisher_handle_.get()),
       msg.get());
@@ -555,7 +529,7 @@ protected:
     if (!msg) {
       throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_intra_publish,
       static_cast<const void *>(publisher_handle_.get()),
       msg.get());
@@ -606,8 +580,6 @@ protected:
   PublishedTypeDeleter published_type_deleter_;
   ROSMessageTypeAllocator ros_message_type_allocator_;
   ROSMessageTypeDeleter ros_message_type_deleter_;
-
-  BufferSharedPtr buffer_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/publisher_base.hpp

@@ -139,12 +139,6 @@ public:
   size_t
   get_intra_process_subscription_count() const;
 
-  /// Get if durability is transient local
-  /** \return If durability is transient local*/
-  RCLCPP_PUBLIC
-  bool
-  is_durability_transient_local() const;
-
   /// Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC).
   /**
    * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the creator
@@ -221,17 +215,6 @@ public:
   std::vector<rclcpp::NetworkFlowEndpoint>
   get_network_flow_endpoints() const;
 
-  /// Return the lowest available capacity for all subscription buffers.
-  /**
-   * For intraprocess communication return the lowest buffer capacity for all subscriptions.
-   * If intraprocess is disabled or no intraprocess subscriptions present, return maximum of size_t.
-   * On failure return 0.
-   * \return lowest buffer capacity for all subscriptions
-   */
-  RCLCPP_PUBLIC
-  size_t
-  lowest_available_ipm_capacity() const;
-
   /// Wait until all published messages are acknowledged or until the specified timeout elapses.
   /**
    * This method waits until all published messages are acknowledged by all matching

rclcpp/include/rclcpp/publisher_options.hpp

@@ -24,7 +24,6 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp"
-#include "rclcpp/intra_process_buffer_type.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/event_handler.hpp"
@@ -41,9 +40,6 @@ struct PublisherOptionsBase
   /// Setting to explicitly set intraprocess communications.
   IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;
 
-  /// Setting the data-type stored in the intraprocess buffer
-  IntraProcessBufferType intra_process_buffer_type = IntraProcessBufferType::SharedPtr;
-
   /// Callbacks for various events related to publishers.
   PublisherEventCallbacks event_callbacks;
 

rclcpp/include/rclcpp/qos_event.hpp

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

rclcpp/include/rclcpp/rate.hpp

@@ -19,8 +19,6 @@
 #include <memory>
 #include <thread>
 
-#include "rclcpp/clock.hpp"
-#include "rclcpp/duration.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -33,20 +31,9 @@ class RateBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(RateBase)
 
-  RCLCPP_PUBLIC
   virtual ~RateBase() {}
-
-  RCLCPP_PUBLIC
   virtual bool sleep() = 0;
-
-  [[deprecated("use get_type() instead")]]
-  RCLCPP_PUBLIC
   virtual bool is_steady() const = 0;
-
-  RCLCPP_PUBLIC
-  virtual rcl_clock_type_t get_type() const = 0;
-
-  RCLCPP_PUBLIC
   virtual void reset() = 0;
 };
 
@@ -55,13 +42,14 @@ using std::chrono::duration_cast;
 using std::chrono::nanoseconds;
 
 template<class Clock = std::chrono::high_resolution_clock>
-class [[deprecated("use rclcpp::Rate class instead of GenericRate")]] GenericRate : public RateBase
+class GenericRate : public RateBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(GenericRate)
 
   explicit GenericRate(double rate)
-  : period_(duration_cast<nanoseconds>(duration<double>(1.0 / rate))), last_interval_(Clock::now())
+  : GenericRate<Clock>(
+      duration_cast<nanoseconds>(duration<double>(1.0 / rate)))
   {}
   explicit GenericRate(std::chrono::nanoseconds period)
   : period_(period), last_interval_(Clock::now())
@@ -99,18 +87,12 @@ public:
     return true;
   }
 
-  [[deprecated("use get_type() instead")]]
   virtual bool
   is_steady() const
   {
     return Clock::is_steady;
   }
 
-  virtual rcl_clock_type_t get_type() const
-  {
-    return Clock::is_steady ? RCL_STEADY_TIME : RCL_SYSTEM_TIME;
-  }
-
   virtual void
   reset()
   {
@@ -130,59 +112,8 @@ private:
   std::chrono::time_point<Clock, ClockDurationNano> last_interval_;
 };
 
-class Rate : public RateBase
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(Rate)
-
-  RCLCPP_PUBLIC
-  explicit Rate(
-    const double rate,
-    Clock::SharedPtr clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
-
-  RCLCPP_PUBLIC
-  explicit Rate(
-    const Duration & period,
-    Clock::SharedPtr clock = std::make_shared<Clock>(RCL_SYSTEM_TIME));
-
-  RCLCPP_PUBLIC
-  virtual bool
-  sleep();
-
-  [[deprecated("use get_type() instead")]]
-  RCLCPP_PUBLIC
-  virtual bool
-  is_steady() const;
-
-  RCLCPP_PUBLIC
-  virtual rcl_clock_type_t
-  get_type() const;
-
-  RCLCPP_PUBLIC
-  virtual void
-  reset();
-
-  RCLCPP_PUBLIC
-  std::chrono::nanoseconds
-  period() const;
-
-private:
-  RCLCPP_DISABLE_COPY(Rate)
-
-  Clock::SharedPtr clock_;
-  Duration period_;
-  Time last_interval_;
-};
-
-class WallRate : public Rate
-{
-public:
-  RCLCPP_PUBLIC
-  explicit WallRate(const double rate);
-
-  RCLCPP_PUBLIC
-  explicit WallRate(const Duration & period);
-};
+using Rate = GenericRate<std::chrono::system_clock>;
+using WallRate = GenericRate<std::chrono::steady_clock>;
 
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/rclcpp.hpp

@@ -54,7 +54,6 @@
  *   - rclcpp::ParameterValue
  *   - rclcpp::AsyncParametersClient
  *   - rclcpp::SyncParametersClient
- *   - rclcpp::copy_all_parameter_values()
  *   - rclcpp/parameter.hpp
  *   - rclcpp/parameter_value.hpp
  *   - rclcpp/parameter_client.hpp
@@ -96,9 +95,6 @@
  * - Get the number of publishers or subscribers on a topic:
  *   - rclcpp::Node::count_publishers()
  *   - rclcpp::Node::count_subscribers()
- * - Get the number of clients or servers on a service:
- *   - rclcpp::Node::count_clients()
- *   - rclcpp::Node::count_services()
  *
  * And components related to logging:
  *
@@ -168,7 +164,6 @@
 #include <csignal>
 #include <memory>
 
-#include "rclcpp/copy_all_parameter_values.hpp"
 #include "rclcpp/executors.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/logging.hpp"

rclcpp/include/rclcpp/service.hpp

@@ -265,19 +265,15 @@ protected:
 
   std::shared_ptr<rcl_node_t> node_handle_;
 
-  std::recursive_mutex callback_mutex_;
-  // It is important to declare on_new_request_callback_ before
-  // service_handle_, so on destruction the service is
-  // destroyed first. Otherwise, the rmw service callback
-  // would point briefly to a destroyed function.
-  std::function<void(size_t)> on_new_request_callback_{nullptr};
-  // Declare service_handle_ after callback
   std::shared_ptr<rcl_service_t> service_handle_;
   bool owns_rcl_handle_ = true;
 
   rclcpp::Logger node_logger_;
 
   std::atomic<bool> in_use_by_wait_set_{false};
+
+  std::recursive_mutex callback_mutex_;
+  std::function<void(size_t)> on_new_request_callback_{nullptr};
 };
 
 template<typename ServiceT>
@@ -352,7 +348,7 @@ public:
 
       rclcpp::exceptions::throw_from_rcl_error(ret, "could not create service");
     }
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_service_callback_added,
       static_cast<const void *>(get_service_handle().get()),
       static_cast<const void *>(&any_callback_));
@@ -387,7 +383,7 @@ public:
     }
 
     service_handle_ = service_handle;
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_service_callback_added,
       static_cast<const void *>(get_service_handle().get()),
       static_cast<const void *>(&any_callback_));
@@ -424,7 +420,7 @@ public:
     // In this case, rcl owns the service handle memory
     service_handle_ = std::shared_ptr<rcl_service_t>(new rcl_service_t);
     service_handle_->impl = service_handle->impl;
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_service_callback_added,
       static_cast<const void *>(get_service_handle().get()),
       static_cast<const void *>(&any_callback_));
@@ -486,14 +482,6 @@ public:
   {
     rcl_ret_t ret = rcl_send_response(get_service_handle().get(), &req_id, &response);
 
-    if (ret == RCL_RET_TIMEOUT) {
-      RCLCPP_WARN(
-        node_logger_.get_child("rclcpp"),
-        "failed to send response to %s (timeout): %s",
-        this->get_service_name(), rcl_get_error_string().str);
-      rcl_reset_error();
-      return;
-    }
     if (ret != RCL_RET_OK) {
       rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
     }

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -17,6 +17,7 @@
 
 #include <memory>
 #include <vector>
+#include <utility>
 
 #include "rcl/allocator.h"
 
@@ -120,8 +121,8 @@ public:
       }
     }
     for (size_t i = 0; i < waitable_handles_.size(); ++i) {
-      if (!waitable_handles_[i]->is_ready(*wait_set)) {
-        waitable_handles_[i].reset();
+      if (waitable_handles_[i]->is_ready(wait_set)) {
+        waitable_triggered_handles_.emplace_back(std::move(waitable_handles_[i]));
       }
     }
 
@@ -145,10 +146,7 @@ public:
       timer_handles_.end()
     );
 
-    waitable_handles_.erase(
-      std::remove(waitable_handles_.begin(), waitable_handles_.end(), nullptr),
-      waitable_handles_.end()
-    );
+    waitable_handles_.clear();
   }
 
   bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
@@ -237,7 +235,7 @@ public:
     }
 
     for (const std::shared_ptr<Waitable> & waitable : waitable_handles_) {
-      waitable->add_to_wait_set(*wait_set);
+      waitable->add_to_wait_set(wait_set);
     }
     return true;
   }
@@ -370,8 +368,7 @@ public:
           ++it;
           continue;
         }
-        auto data = timer->call();
-        if (!data) {
+        if (!timer->call()) {
           // timer was cancelled, skip it.
           ++it;
           continue;
@@ -380,7 +377,6 @@ public:
         any_exec.timer = timer;
         any_exec.callback_group = group;
         any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
-        any_exec.data = data;
         timer_handles_.erase(it);
         return;
       }
@@ -394,8 +390,9 @@ public:
     rclcpp::AnyExecutable & any_exec,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
   {
-    auto it = waitable_handles_.begin();
-    while (it != waitable_handles_.end()) {
+    auto & waitable_handles = waitable_triggered_handles_;
+    auto it = waitable_handles.begin();
+    while (it != waitable_handles.end()) {
       std::shared_ptr<Waitable> & waitable = *it;
       if (waitable) {
         // Find the group for this handle and see if it can be serviced
@@ -403,7 +400,7 @@ public:
         if (!group) {
           // Group was not found, meaning the waitable is not valid...
           // Remove it from the ready list and continue looking
-          it = waitable_handles_.erase(it);
+          it = waitable_handles.erase(it);
           continue;
         }
         if (!group->can_be_taken_from().load()) {
@@ -416,11 +413,11 @@ public:
         any_exec.waitable = waitable;
         any_exec.callback_group = group;
         any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
-        waitable_handles_.erase(it);
+        waitable_handles.erase(it);
         return;
       }
       // Else, the waitable is no longer valid, remove it and continue
-      it = waitable_handles_.erase(it);
+      it = waitable_handles.erase(it);
     }
   }
 
@@ -501,6 +498,8 @@ private:
   VectorRebind<std::shared_ptr<const rcl_timer_t>> timer_handles_;
   VectorRebind<std::shared_ptr<Waitable>> waitable_handles_;
 
+  VectorRebind<std::shared_ptr<Waitable>> waitable_triggered_handles_;
+
   std::shared_ptr<VoidAlloc> allocator_;
 };
 

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

@@ -15,17 +15,10 @@
 #ifndef RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 #define RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 
-#include <array>
-#include <cstring>
 #include <memory>
-#include <mutex>
-#include <stdexcept>
-#include <type_traits>
 
 #include "rosidl_runtime_cpp/traits.hpp"
 
-#include "rclcpp/logger.hpp"
-#include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -57,24 +50,13 @@ class MessagePoolMemoryStrategy
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(MessagePoolMemoryStrategy)
 
+  /// Default constructor
   MessagePoolMemoryStrategy()
+  : next_array_index_(0)
   {
-    pool_mutex_ = std::make_shared<std::mutex>();
-
-    pool_ = std::shared_ptr<std::array<MessageT *, Size>>(
-      new std::array<MessageT *, Size>,
-      [](std::array<MessageT *, Size> * arr) {
-        for (size_t i = 0; i < Size; ++i) {
-          free((*arr)[i]);
-        }
-        delete arr;
-      });
-
-    free_list_ = std::make_shared<CircularArray<Size>>();
-
     for (size_t i = 0; i < Size; ++i) {
-      (*pool_)[i] = static_cast<MessageT *>(malloc(sizeof(MessageT)));
-      free_list_->push_back(i);
+      pool_[i].msg_ptr_ = std::make_shared<MessageT>();
+      pool_[i].used = false;
     }
   }
 
@@ -86,85 +68,43 @@ public:
    */
   std::shared_ptr<MessageT> borrow_message()
   {
-    std::lock_guard<std::mutex> lock(*pool_mutex_);
-    if (free_list_->size() == 0) {
-      throw std::runtime_error("No more free slots in the pool");
+    size_t current_index = next_array_index_;
+    next_array_index_ = (next_array_index_ + 1) % Size;
+    if (pool_[current_index].used) {
+      throw std::runtime_error("Tried to access message that was still in use! Abort.");
     }
+    pool_[current_index].msg_ptr_->~MessageT();
+    new (pool_[current_index].msg_ptr_.get())MessageT;
 
-    size_t current_index = free_list_->pop_front();
-
-    return std::shared_ptr<MessageT>(
-      new((*pool_)[current_index]) MessageT(),
-      [pool = this->pool_, pool_mutex = this->pool_mutex_,
-      free_list = this->free_list_](MessageT * p) {
-        std::lock_guard<std::mutex> lock(*pool_mutex);
-        for (size_t i = 0; i < Size; ++i) {
-          if ((*pool)[i] == p) {
-            p->~MessageT();
-            free_list->push_back(i);
-            break;
-          }
-        }
-      });
+    pool_[current_index].used = true;
+    return pool_[current_index].msg_ptr_;
   }
 
   /// Return a message to the message pool.
   /**
-   * This does nothing since the message isn't returned to the pool until the user has dropped
-   * all references.
+   * Manage metadata in the message pool ring buffer to release the message.
    * \param[in] msg Shared pointer to the message to return.
    */
   void return_message(std::shared_ptr<MessageT> & msg)
   {
-    (void)msg;
+    for (size_t i = 0; i < Size; ++i) {
+      if (pool_[i].msg_ptr_ == msg) {
+        pool_[i].used = false;
+        return;
+      }
+    }
+    throw std::runtime_error("Unrecognized message ptr in return_message.");
   }
 
 protected:
-  template<size_t N>
-  class CircularArray
+  struct PoolMember
   {
-public:
-    void push_back(const size_t v)
-    {
-      if (size_ + 1 > N) {
-        throw std::runtime_error("Tried to push too many items into the array");
-      }
-      array_[(front_ + size_) % N] = v;
-      ++size_;
-    }
-
-    size_t pop_front()
-    {
-      if (size_ < 1) {
-        throw std::runtime_error("Tried to pop item from empty array");
-      }
-
-      size_t val = array_[front_];
-
-      front_ = (front_ + 1) % N;
-      --size_;
-
-      return val;
-    }
-
-    size_t size() const
-    {
-      return size_;
-    }
-
-private:
-    size_t front_ = 0;
-    size_t size_ = 0;
-    std::array<size_t, N> array_;
+    std::shared_ptr<MessageT> msg_ptr_;
+    bool used;
   };
 
-  // It's very important that these are shared_ptrs, since users of this class might hold a
-  // reference to a pool item longer than the lifetime of the class.  In that scenario, the
-  // shared_ptr ensures that the lifetime of these variables outlives this class, and hence ensures
-  // the custom destructor for each pool item can successfully run.
-  std::shared_ptr<std::mutex> pool_mutex_;
-  std::shared_ptr<std::array<MessageT *, Size>> pool_;
-  std::shared_ptr<CircularArray<Size>> free_list_;
+  std::array<PoolMember, Size> pool_;
+  size_t next_array_index_;
 };
 
 }  // namespace message_pool_memory_strategy

rclcpp/include/rclcpp/subscription.hpp

@@ -104,7 +104,7 @@ public:
 
 private:
   using SubscriptionTopicStatisticsSharedPtr =
-    std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>;
+    std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>;
 
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(Subscription)
@@ -127,7 +127,6 @@ public:
    *   of the following conditions are true: qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL,
    *   qos_profile.depth == 0 or qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE).
    */
-  // *INDENT-OFF*
   Subscription(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const rosidl_message_type_support_t & type_support_handle,
@@ -149,7 +148,6 @@ public:
     any_callback_(callback),
     options_(options),
     message_memory_strategy_(message_memory_strategy)
-  // *INDENT-ON*
   {
     // Setup intra process publishing if requested.
     if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
@@ -165,6 +163,10 @@ public:
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with 0 depth qos policy");
       }
+      if (qos_profile.durability() != rclcpp::DurabilityPolicy::Volatile) {
+        throw std::invalid_argument(
+                "intraprocess communication allowed only with volatile durability");
+      }
 
       using SubscriptionIntraProcessT = rclcpp::experimental::SubscriptionIntraProcess<
         MessageT,
@@ -183,7 +185,7 @@ public:
         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));
-      TRACETOOLS_TRACEPOINT(
+      TRACEPOINT(
         rclcpp_subscription_init,
         static_cast<const void *>(get_subscription_handle().get()),
         static_cast<const void *>(subscription_intra_process_.get()));
@@ -191,8 +193,7 @@ public:
       // 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->template add_subscription<
-        ROSMessageType, ROSMessageTypeAllocator>(subscription_intra_process_);
+      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription_intra_process_);
       this->setup_intra_process(intra_process_subscription_id, ipm);
     }
 
@@ -200,11 +201,11 @@ public:
       this->subscription_topic_statistics_ = std::move(subscription_topic_statistics);
     }
 
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_subscription_init,
       static_cast<const void *>(get_subscription_handle().get()),
       static_cast<const void *>(this));
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_subscription_callback_added,
       static_cast<const void *>(this),
       static_cast<const void *>(&any_callback_));
@@ -315,7 +316,7 @@ public:
     if (subscription_topic_statistics_) {
       const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
       const auto time = rclcpp::Time(nanos.time_since_epoch().count());
-      subscription_topic_statistics_->handle_message(message_info.get_rmw_message_info(), time);
+      subscription_topic_statistics_->handle_message(*typed_message, time);
     }
   }
 
@@ -324,20 +325,8 @@ public:
     const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
     const rclcpp::MessageInfo & message_info) override
   {
-    std::chrono::time_point<std::chrono::system_clock> now;
-    if (subscription_topic_statistics_) {
-      // get current time before executing callback to
-      // exclude callback duration from topic statistics result.
-      now = std::chrono::system_clock::now();
-    }
-
+    // TODO(wjwwood): enable topic statistics for serialized messages
     any_callback_.dispatch(serialized_message, message_info);
-
-    if (subscription_topic_statistics_) {
-      const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
-      const auto time = rclcpp::Time(nanos.time_since_epoch().count());
-      subscription_topic_statistics_->handle_message(message_info.get_rmw_message_info(), time);
-    }
   }
 
   void
@@ -368,7 +357,7 @@ public:
     if (subscription_topic_statistics_) {
       const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>(now);
       const auto time = rclcpp::Time(nanos.time_since_epoch().count());
-      subscription_topic_statistics_->handle_message(message_info.get_rmw_message_info(), time);
+      subscription_topic_statistics_->handle_message(*typed_message, time);
     }
   }
 

rclcpp/include/rclcpp/subscription_base.hpp

@@ -260,13 +260,13 @@ public:
   bool
   is_serialized() const;
 
-  /// Return the delivered message kind.
+  /// Return the type of the subscription.
   /**
    * \return `DeliveredMessageKind`, which adjusts how messages are received and delivered.
    */
   RCLCPP_PUBLIC
   DeliveredMessageKind
-  get_delivered_message_kind() const;
+  get_subscription_type() const;
 
   /// Get matching publisher count.
   /** \return The number of publishers on this topic. */
@@ -645,14 +645,6 @@ protected:
   rclcpp::node_interfaces::NodeBaseInterface * const node_base_;
 
   std::shared_ptr<rcl_node_t> node_handle_;
-
-  std::recursive_mutex callback_mutex_;
-  // It is important to declare on_new_message_callback_ before
-  // subscription_handle_, so on destruction the subscription is
-  // destroyed first. Otherwise, the rmw subscription callback
-  // would point briefly to a destroyed function.
-  std::function<void(size_t)> on_new_message_callback_{nullptr};
-  // Declare subscription_handle_ after callback
   std::shared_ptr<rcl_subscription_t> subscription_handle_;
   std::shared_ptr<rcl_subscription_t> intra_process_subscription_handle_;
   rclcpp::Logger node_logger_;
@@ -671,12 +663,15 @@ private:
   RCLCPP_DISABLE_COPY(SubscriptionBase)
 
   rosidl_message_type_support_t type_support_;
-  DeliveredMessageKind delivered_message_kind_;
+  DeliveredMessageKind delivered_message_type_;
 
   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::EventHandlerBase *,
     std::atomic<bool>> qos_events_in_use_by_wait_set_;
+
+  std::recursive_mutex callback_mutex_;
+  std::function<void(size_t)> on_new_message_callback_{nullptr};
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -75,14 +75,15 @@ template<
   typename CallbackT,
   typename AllocatorT,
   typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType
+  typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType,
+  typename ROSMessageType = typename SubscriptionT::ROSMessageType
 >
 SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
   typename MessageMemoryStrategyT::SharedPtr msg_mem_strat,
-  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>
+  std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType>>
   subscription_topic_stats = nullptr
 )
 {

rclcpp/include/rclcpp/subscription_options.hpp

@@ -77,10 +77,6 @@ struct SubscriptionOptionsBase
     // Topic statistics publication period in ms. Defaults to one second.
     // Only values greater than zero are allowed.
     std::chrono::milliseconds publish_period{std::chrono::seconds(1)};
-
-    // An optional QoS which can provide topic_statistics with a stable QoS separate from
-    // the subscription's current QoS settings which could be unstable.
-    rclcpp::QoS qos = SystemDefaultsQoS();
   };
 
   TopicStatisticsOptions topic_stats_options;

rclcpp/include/rclcpp/time.hpp

@@ -57,10 +57,6 @@ public:
   RCLCPP_PUBLIC
   Time(const Time & rhs);
 
-  /// Move constructor
-  RCLCPP_PUBLIC
-  Time(Time && rhs) noexcept;
-
   /// Time constructor
   /**
    * \param time_msg builtin_interfaces time message to copy
@@ -88,7 +84,6 @@ public:
   operator builtin_interfaces::msg::Time() const;
 
   /**
-   * Copy assignment operator
    * \throws std::runtime_error if seconds are negative
    */
   RCLCPP_PUBLIC
@@ -105,13 +100,6 @@ public:
   Time &
   operator=(const builtin_interfaces::msg::Time & time_msg);
 
-  /**
-   * Move assignment operator
-   */
-  RCLCPP_PUBLIC
-  Time &
-  operator=(Time && rhs) noexcept;
-
   /**
    * \throws std::runtime_error if the time sources are different
    */
@@ -201,7 +189,7 @@ public:
    */
   RCLCPP_PUBLIC
   static Time
-  max(rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);  // NOLINT
+  max();
 
   /// Get the seconds since epoch
   /**
@@ -234,15 +222,6 @@ RCLCPP_PUBLIC
 Time
 operator+(const rclcpp::Duration & lhs, const rclcpp::Time & rhs);
 
-/// Convert rcl_time_point_value_t to builtin_interfaces::msg::Time
-/**
- * \param[in] time_point is a rcl_time_point_value_t
- * \return the builtin_interfaces::msg::Time from the time_point
- */
-RCLCPP_PUBLIC
-builtin_interfaces::msg::Time
-convert_rcl_time_to_sec_nanos(const rcl_time_point_value_t & time_point);
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__TIME_HPP_

rclcpp/include/rclcpp/timer.hpp

@@ -18,7 +18,6 @@
 #include <atomic>
 #include <chrono>
 #include <functional>
-#include <optional>
 #include <memory>
 #include <sstream>
 #include <thread>
@@ -44,12 +43,6 @@
 namespace rclcpp
 {
 
-struct TimerInfo
-{
-  Time expected_call_time;
-  Time actual_call_time;
-};
-
 class TimerBase
 {
 public:
@@ -60,17 +53,12 @@ public:
    * \param clock A clock to use for time and sleeping
    * \param period The interval at which the timer fires
    * \param context node context
-   * \param autostart timer state on initialization
-   *
-   * In order to activate a timer that is not started on initialization,
-   * user should call the reset() method.
    */
   RCLCPP_PUBLIC
   explicit TimerBase(
     Clock::SharedPtr clock,
     std::chrono::nanoseconds period,
-    rclcpp::Context::SharedPtr context,
-    bool autostart = true);
+    rclcpp::Context::SharedPtr context);
 
   /// TimerBase destructor
   RCLCPP_PUBLIC
@@ -108,20 +96,16 @@ public:
    * The multithreaded executor takes advantage of this to avoid scheduling
    * the callback multiple times.
    *
-   * \return a valid shared_ptr if the callback should be executed,
-   *         an invalid shared_ptr (nullptr) if the timer was canceled.
+   * \return `true` if the callback should be executed, `false` if the timer was canceled.
    */
   RCLCPP_PUBLIC
-  virtual std::shared_ptr<void>
+  virtual bool
   call() = 0;
 
   /// Call the callback function when the timer signal is emitted.
-  /**
-   * \param[in] data the pointer returned by the call function
-   */
   RCLCPP_PUBLIC
   virtual void
-  execute_callback(const std::shared_ptr<void> & data) = 0;
+  execute_callback() = 0;
 
   RCLCPP_PUBLIC
   std::shared_ptr<const rcl_timer_t>
@@ -209,17 +193,16 @@ protected:
   set_on_reset_callback(rcl_event_callback_t callback, const void * user_data);
 };
 
+
 using VoidCallbackType = std::function<void ()>;
 using TimerCallbackType = std::function<void (TimerBase &)>;
-using TimerInfoCallbackType = std::function<void (const TimerInfo &)>;
 
 /// Generic timer. Periodically executes a user-specified callback.
 template<
   typename FunctorT,
   typename std::enable_if<
     rclcpp::function_traits::same_arguments<FunctorT, VoidCallbackType>::value ||
-    rclcpp::function_traits::same_arguments<FunctorT, TimerCallbackType>::value ||
-    rclcpp::function_traits::same_arguments<FunctorT, TimerInfoCallbackType>::value
+    rclcpp::function_traits::same_arguments<FunctorT, TimerCallbackType>::value
   >::type * = nullptr
 >
 class GenericTimer : public TimerBase
@@ -233,22 +216,21 @@ public:
    * \param[in] period The interval at which the timer fires.
    * \param[in] callback User-specified callback function.
    * \param[in] context custom context to be used.
-   * \param autostart timer state on initialization
    */
   explicit GenericTimer(
     Clock::SharedPtr clock, std::chrono::nanoseconds period, FunctorT && callback,
-    rclcpp::Context::SharedPtr context, bool autostart = true
+    rclcpp::Context::SharedPtr context
   )
-  : TimerBase(clock, period, context, autostart), callback_(std::forward<FunctorT>(callback))
+  : TimerBase(clock, period, context), callback_(std::forward<FunctorT>(callback))
   {
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_timer_callback_added,
       static_cast<const void *>(get_timer_handle().get()),
       reinterpret_cast<const void *>(&callback_));
 #ifndef TRACETOOLS_DISABLED
-    if (TRACETOOLS_TRACEPOINT_ENABLED(rclcpp_callback_register)) {
+    if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
       char * symbol = tracetools::get_symbol(callback_);
-      TRACETOOLS_DO_TRACEPOINT(
+      DO_TRACEPOINT(
         rclcpp_callback_register,
         reinterpret_cast<const void *>(&callback_),
         symbol);
@@ -268,29 +250,28 @@ public:
    * \sa rclcpp::TimerBase::call
    * \throws std::runtime_error if it failed to notify timer that callback will occurr
    */
-  std::shared_ptr<void>
+  bool
   call() override
   {
-    auto timer_call_info_ = std::make_shared<rcl_timer_call_info_t>();
-    rcl_ret_t ret = rcl_timer_call_with_info(timer_handle_.get(), timer_call_info_.get());
+    rcl_ret_t ret = rcl_timer_call(timer_handle_.get());
     if (ret == RCL_RET_TIMER_CANCELED) {
-      return nullptr;
+      return false;
     }
     if (ret != RCL_RET_OK) {
       throw std::runtime_error("Failed to notify timer that callback occurred");
     }
-    return timer_call_info_;
+    return true;
   }
 
   /**
    * \sa rclcpp::TimerBase::execute_callback
    */
   void
-  execute_callback(const std::shared_ptr<void> & data) override
+  execute_callback() override
   {
-    TRACETOOLS_TRACEPOINT(callback_start, reinterpret_cast<const void *>(&callback_), false);
-    execute_callback_delegate<>(*static_cast<rcl_timer_call_info_t *>(data.get()));
-    TRACETOOLS_TRACEPOINT(callback_end, reinterpret_cast<const void *>(&callback_));
+    TRACEPOINT(callback_start, reinterpret_cast<const void *>(&callback_), false);
+    execute_callback_delegate<>();
+    TRACEPOINT(callback_end, reinterpret_cast<const void *>(&callback_));
   }
 
   // void specialization
@@ -301,7 +282,7 @@ public:
     >::type * = nullptr
   >
   void
-  execute_callback_delegate(const rcl_timer_call_info_t &)
+  execute_callback_delegate()
   {
     callback_();
   }
@@ -313,26 +294,11 @@ public:
     >::type * = nullptr
   >
   void
-  execute_callback_delegate(const rcl_timer_call_info_t &)
+  execute_callback_delegate()
   {
     callback_(*this);
   }
 
-
-  template<
-    typename CallbackT = FunctorT,
-    typename std::enable_if<
-      rclcpp::function_traits::same_arguments<CallbackT, TimerInfoCallbackType>::value
-    >::type * = nullptr
-  >
-  void
-  execute_callback_delegate(const rcl_timer_call_info_t & timer_call_info)
-  {
-    const TimerInfo info{Time{timer_call_info.expected_call_time, clock_->get_clock_type()},
-      Time{timer_call_info.actual_call_time, clock_->get_clock_type()}};
-    callback_(info);
-  }
-
   /// Is the clock steady (i.e. is the time between ticks constant?)
   /** \return True if the clock used by this timer is steady. */
   bool
@@ -351,8 +317,7 @@ template<
   typename FunctorT,
   typename std::enable_if<
     rclcpp::function_traits::same_arguments<FunctorT, VoidCallbackType>::value ||
-    rclcpp::function_traits::same_arguments<FunctorT, TimerCallbackType>::value ||
-    rclcpp::function_traits::same_arguments<FunctorT, TimerInfoCallbackType>::value
+    rclcpp::function_traits::same_arguments<FunctorT, TimerCallbackType>::value
   >::type * = nullptr
 >
 class WallTimer : public GenericTimer<FunctorT>
@@ -365,15 +330,13 @@ public:
    * \param period The interval at which the timer fires
    * \param callback The callback function to execute every interval
    * \param context node context
-   * \param autostart timer state on initialization
    */
   WallTimer(
     std::chrono::nanoseconds period,
     FunctorT && callback,
-    rclcpp::Context::SharedPtr context,
-    bool autostart = true)
+    rclcpp::Context::SharedPtr context)
   : GenericTimer<FunctorT>(
-      std::make_shared<Clock>(RCL_STEADY_TIME), period, std::move(callback), context, autostart)
+      std::make_shared<Clock>(RCL_STEADY_TIME), period, std::move(callback), context)
   {}
 
 protected:

rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp

@@ -48,12 +48,21 @@ using libstatistics_collector::moving_average_statistics::StatisticData;
 /**
  * Class used to collect, measure, and publish topic statistics data. Current statistics
  * supported for subscribers are received message age and received message period.
-  */
+ *
+ * \tparam CallbackMessageT the subscribed message type
+ */
+template<typename CallbackMessageT>
 class SubscriptionTopicStatistics
 {
-  using TopicStatsCollector = libstatistics_collector::TopicStatisticsCollector;
-  using ReceivedMessageAge = libstatistics_collector::ReceivedMessageAgeCollector;
-  using ReceivedMessagePeriod = libstatistics_collector::ReceivedMessagePeriodCollector;
+  using TopicStatsCollector =
+    libstatistics_collector::topic_statistics_collector::TopicStatisticsCollector<
+    CallbackMessageT>;
+  using ReceivedMessageAge =
+    libstatistics_collector::topic_statistics_collector::ReceivedMessageAgeCollector<
+    CallbackMessageT>;
+  using ReceivedMessagePeriod =
+    libstatistics_collector::topic_statistics_collector::ReceivedMessagePeriodCollector<
+    CallbackMessageT>;
 
 public:
   /// Construct a SubscriptionTopicStatistics object.
@@ -92,16 +101,16 @@ public:
   /**
    * This method acquires a lock to prevent race conditions to collectors list.
    *
-   * \param message_info the message info corresponding to the received message
+   * \param received_message the message received by the subscription
    * \param now_nanoseconds current time in nanoseconds
    */
   virtual void handle_message(
-    const rmw_message_info_t & message_info,
+    const CallbackMessageT & received_message,
     const rclcpp::Time now_nanoseconds) const
   {
     std::lock_guard<std::mutex> lock(mutex_);
     for (const auto & collector : subscriber_statistics_collectors_) {
-      collector->OnMessageReceived(message_info, now_nanoseconds.nanoseconds());
+      collector->OnMessageReceived(received_message, now_nanoseconds.nanoseconds());
     }
   }
 

rclcpp/include/rclcpp/typesupport_helpers.hpp

@@ -22,7 +22,6 @@
 
 #include "rcpputils/shared_library.hpp"
 #include "rosidl_runtime_cpp/message_type_support_decl.hpp"
-#include "rosidl_runtime_cpp/service_type_support_decl.hpp"
 
 #include "rclcpp/visibility_control.hpp"
 
@@ -41,15 +40,11 @@ get_typesupport_library(const std::string & type, const std::string & typesuppor
 /// Extract the type support handle from the library.
 /**
  * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- *
- * \deprecated Use get_message_typesupport_handle() instead
- *
  * \param[in] type The topic type, e.g. "std_msgs/msg/String"
  * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
  * \param[in] library The shared type support library
  * \return A type support handle
  */
-[[deprecated("Use `get_message_typesupport_handle` instead")]]
 RCLCPP_PUBLIC
 const rosidl_message_type_support_t *
 get_typesupport_handle(
@@ -57,40 +52,6 @@ get_typesupport_handle(
   const std::string & typesupport_identifier,
   rcpputils::SharedLibrary & library);
 
-/// Extract the message type support handle from the library.
-/**
- * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- *
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \throws std::runtime_error if the symbol of type not found in the library.
- * \return A message type support handle
- */
-RCLCPP_PUBLIC
-const rosidl_message_type_support_t *
-get_message_typesupport_handle(
-  const std::string & type,
-  const std::string & typesupport_identifier,
-  rcpputils::SharedLibrary & library);
-
-/// Extract the service type support handle from the library.
-/**
- * The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.
- *
- * \param[in] type The service type, e.g. "std_srvs/srv/Empty"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \param[in] library The shared type support library
- * \throws std::runtime_error if the symbol of type not found in the library.
- * \return A service type support handle
- */
-RCLCPP_PUBLIC
-const rosidl_service_type_support_t *
-get_service_typesupport_handle(
-  const std::string & type,
-  const std::string & typesupport_identifier,
-  rcpputils::SharedLibrary & library);
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__TYPESUPPORT_HELPERS_HPP_

rclcpp/include/rclcpp/wait_result.hpp

@@ -17,21 +17,13 @@
 
 #include <cassert>
 #include <functional>
-#include <iostream>
-#include <memory>
 #include <stdexcept>
-#include <utility>
 
 #include "rcl/wait.h"
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/wait_result_kind.hpp"
 
-#include "rclcpp/client.hpp"
-#include "rclcpp/service.hpp"
-#include "rclcpp/subscription_base.hpp"
-#include "rclcpp/timer.hpp"
-
 namespace rclcpp
 {
 
@@ -142,151 +134,6 @@ public:
     }
   }
 
-  /// Get the next ready timer and its index in the wait result, but do not clear it.
-  /**
-   * The returned timer is not cleared automatically, as it the case with the
-   * other next_ready_*()-like functions.
-   * Instead, this function returns the timer and the index that identifies it
-   * in the wait result, so that it can be cleared (marked as taken or used)
-   * in a separate step with clear_timer_with_index().
-   * This is necessary in some multi-threaded executor implementations.
-   *
-   * If the timer is not cleared using the index, subsequent calls to this
-   * function will return the same timer.
-   *
-   * If there is no ready timer, then nullptr will be returned and the index
-   * will be invalid and should not be used.
-   *
-   * \param[in] start_index index at which to start searching for the next ready
-   *   timer in the wait result. If the start_index is out of bounds for the
-   *   list of timers in the wait result, then {nullptr, start_index} will be
-   *   returned. Defaults to 0.
-   * \return next ready timer pointer and its index in the wait result, or
-   *   {nullptr, start_index} if none was found.
-   */
-  std::pair<std::shared_ptr<rclcpp::TimerBase>, size_t>
-  peek_next_ready_timer(size_t start_index = 0)
-  {
-    check_wait_result_dirty();
-    auto ret = std::shared_ptr<rclcpp::TimerBase>{nullptr};
-    size_t ii = start_index;
-    if (this->kind() == WaitResultKind::Ready) {
-      auto & wait_set = this->get_wait_set();
-      auto & rcl_wait_set = wait_set.storage_get_rcl_wait_set();
-      for (; ii < wait_set.size_of_timers(); ++ii) {
-        if (rcl_wait_set.timers[ii] != nullptr) {
-          ret = wait_set.timers(ii);
-          break;
-        }
-      }
-    }
-    return {ret, ii};
-  }
-
-  /// Clear the timer at the given index.
-  /**
-   * Clearing a timer from the wait result prevents it from being returned by
-   * the peek_next_ready_timer() on subsequent calls.
-   *
-   * The index should come from the peek_next_ready_timer() function, and
-   * should only be used with this function if the timer pointer was valid.
-   *
-   * \throws std::out_of_range if the given index is out of range
-   */
-  void
-  clear_timer_with_index(size_t index)
-  {
-    auto & wait_set = this->get_wait_set();
-    auto & rcl_wait_set = wait_set.storage_get_rcl_wait_set();
-    if (index >= wait_set.size_of_timers()) {
-      throw std::out_of_range("given timer index is out of range");
-    }
-    rcl_wait_set.timers[index] = nullptr;
-  }
-
-  /// Get the next ready subscription, clearing it from the wait result.
-  std::shared_ptr<rclcpp::SubscriptionBase>
-  next_ready_subscription()
-  {
-    check_wait_result_dirty();
-    auto ret = std::shared_ptr<rclcpp::SubscriptionBase>{nullptr};
-    if (this->kind() == WaitResultKind::Ready) {
-      auto & wait_set = this->get_wait_set();
-      auto & rcl_wait_set = wait_set.storage_get_rcl_wait_set();
-      for (size_t ii = 0; ii < wait_set.size_of_subscriptions(); ++ii) {
-        if (rcl_wait_set.subscriptions[ii] != nullptr) {
-          ret = wait_set.subscriptions(ii);
-          rcl_wait_set.subscriptions[ii] = nullptr;
-          break;
-        }
-      }
-    }
-    return ret;
-  }
-
-  /// Get the next ready service, clearing it from the wait result.
-  std::shared_ptr<rclcpp::ServiceBase>
-  next_ready_service()
-  {
-    check_wait_result_dirty();
-    auto ret = std::shared_ptr<rclcpp::ServiceBase>{nullptr};
-    if (this->kind() == WaitResultKind::Ready) {
-      auto & wait_set = this->get_wait_set();
-      auto & rcl_wait_set = wait_set.storage_get_rcl_wait_set();
-      for (size_t ii = 0; ii < wait_set.size_of_services(); ++ii) {
-        if (rcl_wait_set.services[ii] != nullptr) {
-          ret = wait_set.services(ii);
-          rcl_wait_set.services[ii] = nullptr;
-          break;
-        }
-      }
-    }
-    return ret;
-  }
-
-  /// Get the next ready client, clearing it from the wait result.
-  std::shared_ptr<rclcpp::ClientBase>
-  next_ready_client()
-  {
-    check_wait_result_dirty();
-    auto ret = std::shared_ptr<rclcpp::ClientBase>{nullptr};
-    if (this->kind() == WaitResultKind::Ready) {
-      auto & wait_set = this->get_wait_set();
-      auto & rcl_wait_set = wait_set.storage_get_rcl_wait_set();
-      for (size_t ii = 0; ii < wait_set.size_of_clients(); ++ii) {
-        if (rcl_wait_set.clients[ii] != nullptr) {
-          ret = wait_set.clients(ii);
-          rcl_wait_set.clients[ii] = nullptr;
-          break;
-        }
-      }
-    }
-    return ret;
-  }
-
-  /// Get the next ready waitable, clearing it from the wait result.
-  std::shared_ptr<rclcpp::Waitable>
-  next_ready_waitable()
-  {
-    check_wait_result_dirty();
-    auto waitable = std::shared_ptr<rclcpp::Waitable>{nullptr};
-    auto data = std::shared_ptr<void>{nullptr};
-
-    if (this->kind() == WaitResultKind::Ready) {
-      auto & wait_set = this->get_wait_set();
-      auto & rcl_wait_set = wait_set.get_rcl_wait_set();
-      while (next_waitable_index_ < wait_set.size_of_waitables()) {
-        auto cur_waitable = wait_set.waitables(next_waitable_index_++);
-        if (cur_waitable != nullptr && cur_waitable->is_ready(rcl_wait_set)) {
-          waitable = cur_waitable;
-          break;
-        }
-      }
-    }
-
-    return waitable;
-  }
-
 private:
   RCLCPP_DISABLE_COPY(WaitResult)
 
@@ -304,25 +151,12 @@ private:
     // Should be enforced by the static factory methods on this class.
     assert(WaitResultKind::Ready == wait_result_kind);
     // Secure thread-safety (if provided) and shared ownership (if needed).
-    this->get_wait_set().wait_result_acquire();
+    wait_set_pointer_->wait_result_acquire();
   }
 
-  /// Check if the wait result is invalid because the wait set was modified.
-  void
-  check_wait_result_dirty()
-  {
-    // In the case that the wait set was modified while the result was out,
-    // we must mark the wait result as no longer valid
-    if (wait_set_pointer_ && this->get_wait_set().wait_result_dirty_) {
-      this->wait_result_kind_ = WaitResultKind::Invalid;
-    }
-  }
-
-  WaitResultKind wait_result_kind_;
+  const WaitResultKind wait_result_kind_;
 
   WaitSetT * wait_set_pointer_ = nullptr;
-
-  size_t next_waitable_index_ = 0;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/wait_result_kind.hpp

@@ -26,7 +26,6 @@ enum RCLCPP_PUBLIC WaitResultKind
   Ready,  //<! Kind used when something in the wait set was ready.
   Timeout,  //<! Kind used when the wait resulted in a timeout.
   Empty,  //<! Kind used when trying to wait on an empty wait set.
-  Invalid,  //<! Kind used when wait result has been invalidated.
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/wait_set_policies/detail/storage_policy_common.hpp

@@ -203,13 +203,13 @@ protected:
           needs_pruning_ = true;
           continue;
         }
-        auto & waitable = *waitable_entry.waitable;
-        subscriptions_from_waitables += waitable.get_number_of_ready_subscriptions();
-        guard_conditions_from_waitables += waitable.get_number_of_ready_guard_conditions();
-        timers_from_waitables += waitable.get_number_of_ready_timers();
-        clients_from_waitables += waitable.get_number_of_ready_clients();
-        services_from_waitables += waitable.get_number_of_ready_services();
-        events_from_waitables += waitable.get_number_of_ready_events();
+        const auto & waitable = waitable_entry.waitable;
+        subscriptions_from_waitables += waitable->get_number_of_ready_subscriptions();
+        guard_conditions_from_waitables += waitable->get_number_of_ready_guard_conditions();
+        timers_from_waitables += waitable->get_number_of_ready_timers();
+        clients_from_waitables += waitable->get_number_of_ready_clients();
+        services_from_waitables += waitable->get_number_of_ready_services();
+        events_from_waitables += waitable->get_number_of_ready_events();
       }
       rcl_ret_t ret = rcl_wait_set_resize(
         &rcl_wait_set_,
@@ -340,6 +340,7 @@ protected:
       }
     }
 
+
     // Add services.
     for (const auto & service : services) {
       if (!service) {
@@ -375,7 +376,7 @@ protected:
         needs_pruning_ = true;
         continue;
       }
-      waitable_entry.waitable->add_to_wait_set(rcl_wait_set_);
+      waitable_entry.waitable->add_to_wait_set(&rcl_wait_set_);
     }
   }
 
@@ -397,32 +398,6 @@ protected:
     needs_resize_ = true;
   }
 
-  size_t size_of_subscriptions() const {return 0;}
-  size_t size_of_timers() const {return 0;}
-  size_t size_of_clients() const {return 0;}
-  size_t size_of_services() const {return 0;}
-  size_t size_of_waitables() const {return 0;}
-
-  template<class SubscriptionsIterable>
-  typename SubscriptionsIterable::value_type
-  subscriptions(size_t) const {return nullptr;}
-
-  template<class TimersIterable>
-  typename TimersIterable::value_type
-  timers(size_t) const {return nullptr;}
-
-  template<class ClientsIterable>
-  typename ClientsIterable::value_type
-  clients(size_t) const {return nullptr;}
-
-  template<class ServicesIterable>
-  typename ServicesIterable::value_type
-  services(size_t) const {return nullptr;}
-
-  template<class WaitablesIterable>
-  typename WaitablesIterable::value_type
-  waitables(size_t) const {return nullptr;}
-
   rcl_wait_set_t rcl_wait_set_;
   rclcpp::Context::SharedPtr context_;
 

rclcpp/include/rclcpp/wait_set_policies/dynamic_storage.hpp

@@ -386,8 +386,6 @@ public:
         return weak_ptr.expired();
       };
     // remove guard conditions which have been deleted
-    subscriptions_.erase(
-      std::remove_if(subscriptions_.begin(), subscriptions_.end(), p), subscriptions_.end());
     guard_conditions_.erase(
       std::remove_if(guard_conditions_.begin(), guard_conditions_.end(), p),
       guard_conditions_.end());
@@ -453,61 +451,6 @@ public:
     reset_all(shared_waitables_);
   }
 
-  size_t size_of_subscriptions() const
-  {
-    return shared_subscriptions_.size();
-  }
-
-  size_t size_of_timers() const
-  {
-    return shared_timers_.size();
-  }
-
-  size_t size_of_clients() const
-  {
-    return shared_clients_.size();
-  }
-
-  size_t size_of_services() const
-  {
-    return shared_services_.size();
-  }
-
-  size_t size_of_waitables() const
-  {
-    return shared_waitables_.size();
-  }
-
-  std::shared_ptr<rclcpp::SubscriptionBase>
-  subscriptions(size_t ii) const
-  {
-    return shared_subscriptions_[ii].subscription;
-  }
-
-  std::shared_ptr<rclcpp::TimerBase>
-  timers(size_t ii) const
-  {
-    return shared_timers_[ii];
-  }
-
-  std::shared_ptr<rclcpp::ClientBase>
-  clients(size_t ii) const
-  {
-    return shared_clients_[ii];
-  }
-
-  std::shared_ptr<rclcpp::ServiceBase>
-  services(size_t ii) const
-  {
-    return shared_services_[ii];
-  }
-
-  std::shared_ptr<rclcpp::Waitable>
-  waitables(size_t ii) const
-  {
-    return shared_waitables_[ii].waitable;
-  }
-
   size_t ownership_reference_counter_ = 0;
 
   SequenceOfWeakSubscriptions subscriptions_;

rclcpp/include/rclcpp/wait_set_policies/static_storage.hpp

@@ -188,61 +188,6 @@ public:
     // Explicitly do nothing.
   }
 
-  size_t size_of_subscriptions() const
-  {
-    return subscriptions_.size();
-  }
-
-  size_t size_of_timers() const
-  {
-    return timers_.size();
-  }
-
-  size_t size_of_clients() const
-  {
-    return clients_.size();
-  }
-
-  size_t size_of_services() const
-  {
-    return services_.size();
-  }
-
-  size_t size_of_waitables() const
-  {
-    return waitables_.size();
-  }
-
-  typename ArrayOfSubscriptions::value_type
-  subscriptions(size_t ii) const
-  {
-    return subscriptions_[ii];
-  }
-
-  typename ArrayOfTimers::value_type
-  timers(size_t ii) const
-  {
-    return timers_[ii];
-  }
-
-  typename ArrayOfClients::value_type
-  clients(size_t ii) const
-  {
-    return clients_[ii];
-  }
-
-  typename ArrayOfServices::value_type
-  services(size_t ii) const
-  {
-    return services_[ii];
-  }
-
-  typename ArrayOfWaitables::value_type
-  waitables(size_t ii) const
-  {
-    return waitables_[ii];
-  }
-
   const ArrayOfSubscriptions subscriptions_;
   const ArrayOfGuardConditions guard_conditions_;
   const ArrayOfTimers timers_;

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -153,7 +153,6 @@ public:
             throw std::runtime_error("subscription already associated with a wait set");
           }
           this->storage_add_subscription(std::move(local_subscription));
-          if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
         }
         if (mask.include_events) {
           for (auto key_event_pair : inner_subscription->get_event_handlers()) {
@@ -165,7 +164,6 @@ public:
               throw std::runtime_error("subscription event already associated with a wait set");
             }
             this->storage_add_waitable(std::move(event), std::move(local_subscription));
-            if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
           }
         }
         if (mask.include_intra_process_waitable) {
@@ -182,7 +180,6 @@ public:
             this->storage_add_waitable(
               std::move(inner_subscription->get_intra_process_waitable()),
               std::move(local_subscription));
-            if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
           }
         }
       });
@@ -227,7 +224,6 @@ public:
           auto local_subscription = inner_subscription;
           local_subscription->exchange_in_use_by_wait_set_state(local_subscription.get(), false);
           this->storage_remove_subscription(std::move(local_subscription));
-          if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
         }
         if (mask.include_events) {
           for (auto key_event_pair : inner_subscription->get_event_handlers()) {
@@ -235,7 +231,6 @@ public:
             auto local_subscription = inner_subscription;
             local_subscription->exchange_in_use_by_wait_set_state(event.get(), false);
             this->storage_remove_waitable(std::move(event));
-            if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
           }
         }
         if (mask.include_intra_process_waitable) {
@@ -244,7 +239,6 @@ public:
             // This is the case when intra process is enabled for the subscription.
             inner_subscription->exchange_in_use_by_wait_set_state(local_waitable.get(), false);
             this->storage_remove_waitable(std::move(local_waitable));
-            if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
           }
         }
       });
@@ -295,7 +289,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the guard condition has already been added.
         this->storage_add_guard_condition(std::move(inner_guard_condition));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -333,7 +326,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the guard condition is not in the wait set.
         this->storage_remove_guard_condition(std::move(inner_guard_condition));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -365,7 +357,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the timer has already been added.
         this->storage_add_timer(std::move(inner_timer));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -393,7 +384,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the timer is not in the wait set.
         this->storage_remove_timer(std::move(inner_timer));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -425,7 +415,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the client has already been added.
         this->storage_add_client(std::move(inner_client));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -453,7 +442,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the client is not in the wait set.
         this->storage_remove_client(std::move(inner_client));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -485,7 +473,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the service has already been added.
         this->storage_add_service(std::move(inner_service));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -513,7 +500,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the service is not in the wait set.
         this->storage_remove_service(std::move(inner_service));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -565,7 +551,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the waitable has already been added.
         this->storage_add_waitable(std::move(inner_waitable), std::move(associated_entity));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -593,7 +578,6 @@ public:
         // fixed sized storage policies.
         // It will throw if the waitable is not in the wait set.
         this->storage_remove_waitable(std::move(inner_waitable));
-        if (this->wait_result_holding_) {this->wait_result_dirty_ = true;}
       });
   }
 
@@ -731,7 +715,6 @@ private:
       throw std::runtime_error("wait_result_acquire() called while already holding");
     }
     wait_result_holding_ = true;
-    wait_result_dirty_ = false;
     // this method comes from the SynchronizationPolicy
     this->sync_wait_result_acquire();
     // this method comes from the StoragePolicy
@@ -751,7 +734,6 @@ private:
       throw std::runtime_error("wait_result_release() called while not holding");
     }
     wait_result_holding_ = false;
-    wait_result_dirty_ = false;
     // this method comes from the StoragePolicy
     this->storage_release_ownerships();
     // this method comes from the SynchronizationPolicy
@@ -759,7 +741,6 @@ private:
   }
 
   bool wait_result_holding_ = false;
-  bool wait_result_dirty_ = false;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/waitable.hpp

@@ -101,23 +101,6 @@ public:
   size_t
   get_number_of_ready_guard_conditions();
 
-#ifdef __GNUC__
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Woverloaded-virtual"
-#endif
-  /// Deprecated.
-  /**
-   * \sa add_to_wait_set(rcl_wait_set_t &)
-   */
-  [[deprecated("Use add_to_wait_set(rcl_wait_set_t & wait_set) signature")]]
-  RCLCPP_PUBLIC
-  virtual
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set);
-#ifdef __GNUC__
-#pragma GCC diagnostic pop
-#endif
-
   /// Add the Waitable to a wait set.
   /**
    * \param[in] wait_set A handle to the wait set to add the Waitable to.
@@ -126,24 +109,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   void
-  add_to_wait_set(rcl_wait_set_t & wait_set);
-
-#ifdef __GNUC__
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Woverloaded-virtual"
-#endif
-  /// Deprecated.
-  /**
-   * \sa is_ready(const rcl_wait_set_t &)
-   */
-  [[deprecated("Use is_ready(const rcl_wait_set_t & wait_set) signature")]]
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  is_ready(rcl_wait_set_t * wait_set);
-#ifdef __GNUC__
-#pragma GCC diagnostic pop
-#endif
+  add_to_wait_set(rcl_wait_set_t * wait_set) = 0;
 
   /// Check if the Waitable is ready.
   /**
@@ -158,7 +124,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   bool
-  is_ready(const rcl_wait_set_t & wait_set);
+  is_ready(rcl_wait_set_t * wait_set) = 0;
 
   /// Take the data so that it can be consumed with `execute`.
   /**
@@ -212,23 +178,6 @@ public:
   std::shared_ptr<void>
   take_data_by_entity_id(size_t id);
 
-#ifdef __GNUC__
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Woverloaded-virtual"
-#endif
-  /// Deprecated.
-  /**
-   * \sa execute(const std::shared_ptr<void> &)
-   */
-  [[deprecated("Use execute(const std::shared_ptr<void> & data) signature")]]
-  RCLCPP_PUBLIC
-  virtual
-  void
-  execute(std::shared_ptr<void> & data);
-#ifdef __GNUC__
-#pragma GCC diagnostic pop
-#endif
-
   /// Execute data that is passed in.
   /**
    * Before calling this method, the Waitable should be added to a wait set,
@@ -254,7 +203,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   void
-  execute(const std::shared_ptr<void> & data);
+  execute(std::shared_ptr<void> & data) = 0;
 
   /// Exchange the "in use by wait set" state for this timer.
   /**

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>28.0.0</version>
+  <version>20.0.0</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
@@ -22,7 +22,6 @@
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rcl_interfaces</build_depend>
   <build_depend>rosgraph_msgs</build_depend>
-  <build_depend>rosidl_runtime_c</build_depend>
   <build_depend>rosidl_runtime_cpp</build_depend>
   <build_depend>rosidl_typesupport_c</build_depend>
   <build_depend>rosidl_typesupport_cpp</build_depend>
@@ -30,14 +29,12 @@
   <build_export_depend>builtin_interfaces</build_export_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rosgraph_msgs</build_export_depend>
-  <build_export_depend>rosidl_runtime_c</build_export_depend>
   <build_export_depend>rosidl_runtime_cpp</build_export_depend>
   <build_export_depend>rosidl_typesupport_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_cpp</build_export_depend>
 
   <depend>libstatistics_collector</depend>
   <depend>rcl</depend>
-  <depend>rcl_logging_interface</depend>
   <depend>rcl_yaml_param_parser</depend>
   <depend>rcpputils</depend>
   <depend>rcutils</depend>

rclcpp/src/rclcpp/any_executable.cpp

@@ -16,6 +16,7 @@
 
 using rclcpp::AnyExecutable;
 
+RCLCPP_PUBLIC
 AnyExecutable::AnyExecutable()
 : subscription(nullptr),
   timer(nullptr),
@@ -23,7 +24,8 @@ AnyExecutable::AnyExecutable()
   client(nullptr),
   waitable(nullptr),
   callback_group(nullptr),
-  node_base(nullptr)
+  node_base(nullptr),
+  data(nullptr)
 {}
 
 AnyExecutable::~AnyExecutable()

rclcpp/src/rclcpp/callback_group.cpp

@@ -31,12 +31,12 @@ using rclcpp::CallbackGroupType;
 
 CallbackGroup::CallbackGroup(
   CallbackGroupType group_type,
-  rclcpp::Context::WeakPtr context,
+  std::function<rclcpp::Context::SharedPtr(void)> get_context,
   bool automatically_add_to_executor_with_node)
 : type_(group_type), associated_with_executor_(false),
   can_be_taken_from_(true),
   automatically_add_to_executor_with_node_(automatically_add_to_executor_with_node),
-  context_(context)
+  get_context_(get_context)
 {}
 
 CallbackGroup::~CallbackGroup()
@@ -124,12 +124,40 @@ CallbackGroup::automatically_add_to_executor_with_node() const
   return automatically_add_to_executor_with_node_;
 }
 
+// \TODO(mjcarroll) Deprecated, remove on tock
+rclcpp::GuardCondition::SharedPtr
+CallbackGroup::get_notify_guard_condition(const rclcpp::Context::SharedPtr context_ptr)
+{
+  std::lock_guard<std::recursive_mutex> lock(notify_guard_condition_mutex_);
+  if (notify_guard_condition_ && context_ptr != notify_guard_condition_->get_context()) {
+    if (associated_with_executor_) {
+      trigger_notify_guard_condition();
+    }
+    notify_guard_condition_ = nullptr;
+  }
+
+  if (!notify_guard_condition_) {
+    notify_guard_condition_ = std::make_shared<rclcpp::GuardCondition>(context_ptr);
+  }
+
+  return notify_guard_condition_;
+}
+
 rclcpp::GuardCondition::SharedPtr
 CallbackGroup::get_notify_guard_condition()
 {
   std::lock_guard<std::recursive_mutex> lock(notify_guard_condition_mutex_);
-  rclcpp::Context::SharedPtr context_ptr = context_.lock();
+  if (!this->get_context_) {
+    throw std::runtime_error("Callback group was created without context and not passed context");
+  }
+  auto context_ptr = this->get_context_();
   if (context_ptr && context_ptr->is_valid()) {
+    if (notify_guard_condition_ && context_ptr != notify_guard_condition_->get_context()) {
+      if (associated_with_executor_) {
+        trigger_notify_guard_condition();
+      }
+      notify_guard_condition_ = nullptr;
+    }
     if (!notify_guard_condition_) {
       notify_guard_condition_ = std::make_shared<rclcpp::GuardCondition>(context_ptr);
     }

rclcpp/src/rclcpp/client.cpp

@@ -125,6 +125,7 @@ bool
 ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
 {
   auto start = std::chrono::steady_clock::now();
+  // make an event to reuse, rather than create a new one each time
   auto node_ptr = node_graph_.lock();
   if (!node_ptr) {
     throw InvalidNodeError();
@@ -137,7 +138,6 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
     // check was non-blocking, return immediately
     return false;
   }
-  // make an event to reuse, rather than create a new one each time
   auto event = node_ptr->get_graph_event();
   // update the time even on the first loop to account for time spent in the first call
   // to this->server_is_ready()

rclcpp/src/rclcpp/context.cpp

@@ -462,7 +462,7 @@ template<Context::ShutdownType shutdown_type>
 std::vector<rclcpp::Context::ShutdownCallback>
 Context::get_shutdown_callback() const
 {
-  const auto get_callback_vector = [](auto & mutex, auto & callback_set) {
+  const auto get_callback_vector = [this](auto & mutex, auto & callback_set) {
       const std::lock_guard<std::mutex> lock(mutex);
       std::vector<rclcpp::Context::ShutdownCallback> callbacks;
       for (auto & callback : callback_set) {
@@ -496,7 +496,7 @@ Context::sleep_for(const std::chrono::nanoseconds & nanoseconds)
       std::unique_lock<std::mutex> lock(interrupt_mutex_);
       auto start = std::chrono::steady_clock::now();
       // this will release the lock while waiting
-      interrupt_condition_variable_.wait_for(lock, time_left);
+      interrupt_condition_variable_.wait_for(lock, nanoseconds);
       time_left -= std::chrono::steady_clock::now() - start;
     }
   } while (time_left > std::chrono::nanoseconds::zero() && this->is_valid());

rclcpp/src/rclcpp/create_generic_client.cpp

@@ -1,44 +0,0 @@
-// Copyright 2023 Sony Group Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "rclcpp/create_generic_client.hpp"
-#include "rclcpp/generic_client.hpp"
-
-namespace rclcpp
-{
-rclcpp::GenericClient::SharedPtr
-create_generic_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 std::string & service_type,
-  const rclcpp::QoS & qos,
-  rclcpp::CallbackGroup::SharedPtr group)
-{
-  rcl_client_options_t options = rcl_client_get_default_options();
-  options.qos = qos.get_rmw_qos_profile();
-
-  auto cli = rclcpp::GenericClient::make_shared(
-    node_base.get(),
-    node_graph,
-    service_name,
-    service_type,
-    options);
-
-  auto cli_base_ptr = std::dynamic_pointer_cast<rclcpp::ClientBase>(cli);
-  node_services->add_client(cli_base_ptr, group);
-  return cli;
-}
-}  // namespace rclcpp

rclcpp/src/rclcpp/detail/resolve_intra_process_buffer_type.cpp

@@ -1,37 +0,0 @@
-// Copyright 2023 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <rclcpp/detail/resolve_intra_process_buffer_type.hpp>
-
-namespace rclcpp
-{
-
-namespace detail
-{
-rclcpp::IntraProcessBufferType
-resolve_intra_process_buffer_type(
-  const rclcpp::IntraProcessBufferType buffer_type)
-{
-  if (buffer_type == IntraProcessBufferType::CallbackDefault) {
-    throw std::invalid_argument(
-            "IntraProcessBufferType::CallbackDefault is not allowed "
-            "when there is no callback function");
-  }
-
-  return buffer_type;
-}
-
-}  // namespace detail
-
-}  // namespace rclcpp

rclcpp/src/rclcpp/duration.cpp

@@ -28,8 +28,6 @@
 
 #include "rcutils/logging_macros.h"
 
-#include "rclcpp/utilities.hpp"
-
 namespace rclcpp
 {
 
@@ -318,50 +316,4 @@ Duration::from_nanoseconds(rcl_duration_value_t nanoseconds)
   return ret;
 }
 
-builtin_interfaces::msg::Time
-operator+(const builtin_interfaces::msg::Time & lhs, const rclcpp::Duration & rhs)
-{
-  if (lhs.sec < 0) {
-    throw std::runtime_error("message time is negative");
-  }
-
-  rcl_time_point_value_t rcl_time;
-  rcl_time = RCL_S_TO_NS(static_cast<int64_t>(lhs.sec));
-  rcl_time += lhs.nanosec;
-
-  if (rclcpp::add_will_overflow(rcl_time, rhs.nanoseconds())) {
-    throw std::overflow_error("addition leads to int64_t overflow");
-  }
-  if (rclcpp::add_will_underflow(rcl_time, rhs.nanoseconds())) {
-    throw std::underflow_error("addition leads to int64_t underflow");
-  }
-
-  rcl_time += rhs.nanoseconds();
-
-  return convert_rcl_time_to_sec_nanos(rcl_time);
-}
-
-builtin_interfaces::msg::Time
-operator-(const builtin_interfaces::msg::Time & lhs, const rclcpp::Duration & rhs)
-{
-  if (lhs.sec < 0) {
-    throw std::runtime_error("message time is negative");
-  }
-
-  rcl_time_point_value_t rcl_time;
-  rcl_time = RCL_S_TO_NS(static_cast<int64_t>(lhs.sec));
-  rcl_time += lhs.nanosec;
-
-  if (rclcpp::sub_will_overflow(rcl_time, rhs.nanoseconds())) {
-    throw std::overflow_error("addition leads to int64_t overflow");
-  }
-  if (rclcpp::sub_will_underflow(rcl_time, rhs.nanoseconds())) {
-    throw std::underflow_error("addition leads to int64_t underflow");
-  }
-
-  rcl_time -= rhs.nanoseconds();
-
-  return convert_rcl_time_to_sec_nanos(rcl_time);
-}
-
 }  // namespace rclcpp

rclcpp/src/rclcpp/event_handler.cpp

@@ -15,7 +15,6 @@
 #include <stdexcept>
 #include <string>
 
-#include "rcl/error_handling.h"
 #include "rcl/event.h"
 
 #include "rclcpp/event_handler.hpp"
@@ -40,6 +39,13 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(
 
 EventHandlerBase::~EventHandlerBase()
 {
+  // Since the rmw event listener holds a reference to
+  // this callback, we need to clear it on destruction of this class.
+  // This clearing is not needed for other rclcpp entities like pub/subs, since
+  // they do own the underlying rmw entities, which are destroyed
+  // on their rclcpp destructors, thus no risk of dangling pointers.
+  clear_on_ready_callback();
+
   if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
@@ -57,9 +63,9 @@ EventHandlerBase::get_number_of_ready_events()
 
 /// Add the Waitable to a wait set.
 void
-EventHandlerBase::add_to_wait_set(rcl_wait_set_t & wait_set)
+EventHandlerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
-  rcl_ret_t ret = rcl_wait_set_add_event(&wait_set, &event_handle_, &wait_set_event_index_);
+  rcl_ret_t ret = rcl_wait_set_add_event(wait_set, &event_handle_, &wait_set_event_index_);
   if (RCL_RET_OK != ret) {
     exceptions::throw_from_rcl_error(ret, "Couldn't add event to wait set");
   }
@@ -67,9 +73,9 @@ EventHandlerBase::add_to_wait_set(rcl_wait_set_t & wait_set)
 
 /// Check if the Waitable is ready.
 bool
-EventHandlerBase::is_ready(const rcl_wait_set_t & wait_set)
+EventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
 {
-  return wait_set.events[wait_set_event_index_] == &event_handle_;
+  return wait_set->events[wait_set_event_index_] == &event_handle_;
 }
 
 void

rclcpp/src/rclcpp/executor.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <algorithm>
-#include <cassert>
 #include <chrono>
 #include <iterator>
 #include <memory>
@@ -43,28 +42,28 @@
 using namespace std::chrono_literals;
 
 using rclcpp::Executor;
+class rclcpp::ExecutorImplementation {};
 
 /// Mask to indicate to the waitset to only add the subscription.
 /// The events and intraprocess waitable are already added via the callback group.
 static constexpr rclcpp::SubscriptionWaitSetMask kDefaultSubscriptionMask = {true, false, false};
 
-class rclcpp::ExecutorImplementation {};
-
 Executor::Executor(const rclcpp::ExecutorOptions & options)
 : spinning(false),
   interrupt_guard_condition_(std::make_shared<rclcpp::GuardCondition>(options.context)),
   shutdown_guard_condition_(std::make_shared<rclcpp::GuardCondition>(options.context)),
-  context_(options.context),
   notify_waitable_(std::make_shared<rclcpp::executors::ExecutorNotifyWaitable>(
       [this]() {
         this->entities_need_rebuild_.store(true);
       })),
-  entities_need_rebuild_(true),
   collector_(notify_waitable_),
   wait_set_({}, {}, {}, {}, {}, {}, options.context),
   current_notify_waitable_(notify_waitable_),
   impl_(std::make_unique<rclcpp::ExecutorImplementation>())
 {
+  // Store the context for later use.
+  context_ = options.context;
+
   shutdown_callback_handle_ = context_->add_on_shutdown_callback(
     [weak_gc = std::weak_ptr<rclcpp::GuardCondition>{shutdown_guard_condition_}]() {
       auto strong_gc = weak_gc.lock();
@@ -75,8 +74,6 @@ Executor::Executor(const rclcpp::ExecutorOptions & options)
 
   notify_waitable_->add_guard_condition(interrupt_guard_condition_);
   notify_waitable_->add_guard_condition(shutdown_guard_condition_);
-
-  wait_set_.add_waitable(notify_waitable_);
 }
 
 Executor::~Executor()
@@ -85,31 +82,46 @@ Executor::~Executor()
 
   notify_waitable_->remove_guard_condition(interrupt_guard_condition_);
   notify_waitable_->remove_guard_condition(shutdown_guard_condition_);
+
+  std::cout << "Executor::~Executor" << std::endl;
+
   current_collection_.timers.update(
     {}, {},
-    [this](auto timer) {wait_set_.remove_timer(timer);});
+    [this](auto timer) {
+      std::cout << "remove_timer(" << timer.get() << ")" << std::endl;
+      wait_set_.remove_timer(timer);
+    });
 
   current_collection_.subscriptions.update(
     {}, {},
     [this](auto subscription) {
+      std::cout << "remove_subscription(" << subscription.get() << ")" << std::endl;
       wait_set_.remove_subscription(subscription, kDefaultSubscriptionMask);
     });
 
   current_collection_.clients.update(
     {}, {},
-    [this](auto client) {wait_set_.remove_client(client);});
+    [this](auto client) {
+      std::cout << "remove_client(" << client.get() << ")" << std::endl;
+      wait_set_.remove_client(client);});
 
   current_collection_.services.update(
     {}, {},
-    [this](auto service) {wait_set_.remove_service(service);});
+    [this](auto service) {
+      std::cout << "remove_service(" << service.get() << ")" << std::endl;
+      wait_set_.remove_service(service);});
 
   current_collection_.guard_conditions.update(
     {}, {},
-    [this](auto guard_condition) {wait_set_.remove_guard_condition(guard_condition);});
+    [this](auto guard_condition) {
+      std::cout << "remove_guard_condition(" << guard_condition.get() << ")" << std::endl;
+        wait_set_.remove_guard_condition(guard_condition);});
 
   current_collection_.waitables.update(
     {}, {},
-    [this](auto waitable) {wait_set_.remove_waitable(waitable);});
+    [this](auto waitable) {
+      std::cout << "remove_waitable(" << waitable.get() << ")" << std::endl;
+      wait_set_.remove_waitable(waitable);});
 
   // Remove shutdown callback handle registered to Context
   if (!context_->remove_on_shutdown_callback(shutdown_callback_handle_)) {
@@ -120,20 +132,6 @@ Executor::~Executor()
   }
 }
 
-void Executor::trigger_entity_recollect(bool notify)
-{
-  this->entities_need_rebuild_.store(true);
-
-  if (!spinning.load() && entities_need_rebuild_.exchange(false)) {
-    std::lock_guard<std::mutex> guard(mutex_);
-    this->collect_entities();
-  }
-
-  if (notify) {
-    interrupt_guard_condition_->trigger();
-  }
-}
-
 std::vector<rclcpp::CallbackGroup::WeakPtr>
 Executor::get_all_callback_groups()
 {
@@ -164,12 +162,19 @@ Executor::add_callback_group(
   (void) node_ptr;
   this->collector_.add_callback_group(group_ptr);
 
-  try {
-    this->trigger_entity_recollect(notify);
-  } catch (const rclcpp::exceptions::RCLError & ex) {
-    throw std::runtime_error(
-            std::string(
-              "Failed to trigger guard condition on callback group add: ") + ex.what());
+  if (!spinning.load()) {
+    std::lock_guard<std::mutex> guard(mutex_);
+    this->collect_entities();
+  }
+
+  if (notify) {
+    try {
+      interrupt_guard_condition_->trigger();
+    } catch (const rclcpp::exceptions::RCLError & ex) {
+      throw std::runtime_error(
+              std::string(
+                "Failed to trigger guard condition on callback group add: ") + ex.what());
+    }
   }
 }
 
@@ -178,12 +183,19 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
 {
   this->collector_.add_node(node_ptr);
 
-  try {
-    this->trigger_entity_recollect(notify);
-  } catch (const rclcpp::exceptions::RCLError & ex) {
-    throw std::runtime_error(
-            std::string(
-              "Failed to trigger guard condition on node add: ") + ex.what());
+  if (!spinning.load()) {
+    std::lock_guard<std::mutex> guard(mutex_);
+    this->collect_entities();
+  }
+
+  if (notify) {
+    try {
+      interrupt_guard_condition_->trigger();
+    } catch (const rclcpp::exceptions::RCLError & ex) {
+      throw std::runtime_error(
+              std::string(
+                "Failed to trigger guard condition on node add: ") + ex.what());
+    }
   }
 }
 
@@ -194,12 +206,18 @@ Executor::remove_callback_group(
 {
   this->collector_.remove_callback_group(group_ptr);
 
-  try {
-    this->trigger_entity_recollect(notify);
-  } catch (const rclcpp::exceptions::RCLError & ex) {
-    throw std::runtime_error(
-            std::string(
-              "Failed to trigger guard condition on callback group remove: ") + ex.what());
+  if (!spinning.load()) {
+    std::lock_guard<std::mutex> guard(mutex_);
+    this->collect_entities();
+  }
+  if (notify) {
+    try {
+      interrupt_guard_condition_->trigger();
+    } catch (const rclcpp::exceptions::RCLError & ex) {
+      throw std::runtime_error(
+              std::string(
+                "Failed to trigger guard condition on callback group remove: ") + ex.what());
+    }
   }
 }
 
@@ -214,12 +232,19 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
 {
   this->collector_.remove_node(node_ptr);
 
-  try {
-    this->trigger_entity_recollect(notify);
-  } catch (const rclcpp::exceptions::RCLError & ex) {
-    throw std::runtime_error(
-            std::string(
-              "Failed to trigger guard condition on node remove: ") + ex.what());
+  if (!spinning.load()) {
+    std::lock_guard<std::mutex> guard(mutex_);
+    this->collect_entities();
+  }
+
+  if (notify) {
+    try {
+      interrupt_guard_condition_->trigger();
+    } catch (const rclcpp::exceptions::RCLError & ex) {
+      throw std::runtime_error(
+              std::string(
+                "Failed to trigger guard condition on node remove: ") + ex.what());
+    }
   }
 }
 
@@ -259,22 +284,6 @@ void Executor::spin_some(std::chrono::nanoseconds max_duration)
   return this->spin_some_impl(max_duration, false);
 }
 
-void
-Executor::spin_node_all(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
-  std::chrono::nanoseconds max_duration)
-{
-  this->add_node(node, false);
-  spin_all(max_duration);
-  this->remove_node(node, false);
-}
-
-void
-Executor::spin_node_all(std::shared_ptr<rclcpp::Node> node, std::chrono::nanoseconds max_duration)
-{
-  this->spin_node_all(node->get_node_base_interface(), max_duration);
-}
-
 void Executor::spin_all(std::chrono::nanoseconds max_duration)
 {
   if (max_duration < 0ns) {
@@ -304,25 +313,43 @@ Executor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
   }
   RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
 
+  size_t work_in_queue = 0;
+  bool has_waited = false;
+
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    work_in_queue = ready_executables_.size();
+  }
+  // The logic below is to guarantee that we:
+  // a) run all of the work in the queue before we spin the first time
+  // b) spin at least once
+  // c) run all of the work in the queue after we spin
+
   while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
-    if (!wait_result_.has_value()) {
-      wait_for_work(std::chrono::milliseconds(0));
-    }
-
     AnyExecutable any_exec;
-    if (get_next_ready_executable(any_exec)) {
-      execute_any_executable(any_exec);
-    } else {
-      // If nothing is ready, reset the result to signal we are
-      // ready to wait again
-      wait_result_.reset();
-    }
-
-    if (!wait_result_.has_value() && !exhaustive) {
-      // In the case of spin some, then we can exit
-      // In the case of spin all, then we will allow ourselves to wait again.
-      break;
+    if (work_in_queue > 0) {
+      // If there is work in the queue, then execute it
+      // This covers the case that there are things left in the queue from a
+      // previous spin.
+      if (get_next_ready_executable(any_exec)) {
+        execute_any_executable(any_exec);
+      }
+    } else if (!has_waited && !work_in_queue) {
+      // Once the ready queue is empty, then we need to wait at least once.
+      wait_for_work(std::chrono::milliseconds(0));
+      has_waited = true;
+    } else if (has_waited && !work_in_queue) {
+      // Once we have emptied the ready queue, but have already waited:
+      if (!exhaustive) {
+        // In the case of spin some, then we can exit
+        break;
+      } else {
+        // In the case of spin all, then we will allow ourselves to wait again.
+        has_waited = false;
+      }
     }
+    std::lock_guard<std::mutex> lock(mutex_);
+    work_in_queue = ready_executables_.size();
   }
 }
 
@@ -364,18 +391,14 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
     return;
   }
 
-  assert(
-    (void("cannot execute an AnyExecutable without a valid callback group"),
-    any_exec.callback_group));
-
   if (any_exec.timer) {
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_executor_execute,
       static_cast<const void *>(any_exec.timer->get_timer_handle().get()));
-    execute_timer(any_exec.timer, any_exec.data);
+    execute_timer(any_exec.timer);
   }
   if (any_exec.subscription) {
-    TRACETOOLS_TRACEPOINT(
+    TRACEPOINT(
       rclcpp_executor_execute,
       static_cast<const void *>(any_exec.subscription->get_subscription_handle().get()));
     execute_subscription(any_exec.subscription);
@@ -387,77 +410,15 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
     execute_client(any_exec.client);
   }
   if (any_exec.waitable) {
-    const std::shared_ptr<void> & const_data = any_exec.data;
-    any_exec.waitable->execute(const_data);
+    any_exec.waitable->execute(any_exec.data);
   }
 
   // Reset the callback_group, regardless of type
-  any_exec.callback_group->can_be_taken_from().store(true);
-}
-
-template<typename Function>
-void
-execute_guarded(
-  const Function & function,
-  const std::function<void(const std::exception & e)> & exception_handler)
-{
-  try {
-    function();
-  } catch (const std::exception & e) {
-    RCLCPP_ERROR_STREAM(
-      rclcpp::get_logger("rclcpp"),
-      "Exception while spinning: " << e.what());
-
-    exception_handler(e);
+  if (any_exec.callback_group) {
+    any_exec.callback_group->can_be_taken_from().store(true);
   }
 }
 
-void
-Executor::execute_any_executable(
-  AnyExecutable & any_exec,
-  const std::function<void(const std::exception & e)> & exception_handler)
-{
-  if (!spinning.load()) {
-    return;
-  }
-
-  assert(
-    (void("cannot execute an AnyExecutable without a valid callback group"),
-    any_exec.callback_group));
-
-  if (any_exec.timer) {
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_executor_execute,
-      static_cast<const void *>(any_exec.timer->get_timer_handle().get()));
-    execute_guarded([&any_exec]() {
-        execute_timer(any_exec.timer, any_exec.data);
-      }, exception_handler);
-  }
-  if (any_exec.subscription) {
-    TRACETOOLS_TRACEPOINT(
-      rclcpp_executor_execute,
-      static_cast<const void *>(any_exec.subscription->get_subscription_handle().get()));
-    execute_guarded(
-      [&any_exec]() {
-        execute_subscription(any_exec.subscription);
-      }, exception_handler);
-  }
-  if (any_exec.service) {
-    execute_guarded([&any_exec]() {execute_service(any_exec.service);}, exception_handler);
-  }
-  if (any_exec.client) {
-    execute_guarded([&any_exec]() {execute_client(any_exec.client);}, exception_handler);
-  }
-  if (any_exec.waitable) {
-    execute_guarded([&any_exec]() {
-        const std::shared_ptr<void> & const_data = any_exec.data;
-        any_exec.waitable->execute(const_data);
-    }, exception_handler);
-  }
-  // Reset the callback_group, regardless of type
-  any_exec.callback_group->can_be_taken_from().store(true);
-}
-
 template<typename Taker, typename Handler>
 static
 void
@@ -503,7 +464,7 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
   rclcpp::MessageInfo message_info;
   message_info.get_rmw_message_info().from_intra_process = false;
 
-  switch (subscription->get_delivered_message_kind()) {
+  switch (subscription->get_subscription_type()) {
     // Deliver ROS message
     case rclcpp::DeliveredMessageKind::ROS_MESSAGE:
       {
@@ -553,11 +514,6 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
             subscription->get_topic_name(),
             [&]() {return subscription->take_type_erased(message.get(), message_info);},
             [&]() {subscription->handle_message(message, message_info);});
-          // TODO(clalancette): In the case that the user is using the MessageMemoryPool,
-          // and they take a shared_ptr reference to the message in the callback, this can
-          // inadvertently return the message to the pool when the user is still using it.
-          // This is a bug that needs to be fixed in the pool, and we should probably have
-          // a custom deleter for the message that actually does the return_message().
           subscription->return_message(message);
         }
         break;
@@ -594,12 +550,13 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
         throw std::runtime_error("Delivered message kind is not supported");
       }
   }
+  return;
 }
 
 void
-Executor::execute_timer(rclcpp::TimerBase::SharedPtr timer, const std::shared_ptr<void> & data_ptr)
+Executor::execute_timer(rclcpp::TimerBase::SharedPtr timer)
 {
-  timer->execute_callback(data_ptr);
+  timer->execute_callback();
 }
 
 void
@@ -615,7 +572,8 @@ Executor::execute_service(rclcpp::ServiceBase::SharedPtr service)
 }
 
 void
-Executor::execute_client(rclcpp::ClientBase::SharedPtr client)
+Executor::execute_client(
+  rclcpp::ClientBase::SharedPtr client)
 {
   auto request_header = client->create_request_header();
   std::shared_ptr<void> response = client->create_response();
@@ -629,9 +587,6 @@ Executor::execute_client(rclcpp::ClientBase::SharedPtr client)
 void
 Executor::collect_entities()
 {
-  // Updating the entity collection and waitset expires any active result
-  this->wait_result_.reset();
-
   // Get the current list of available waitables from the collector.
   rclcpp::executors::ExecutorEntitiesCollection collection;
   this->collector_.update_collections();
@@ -649,23 +604,29 @@ Executor::collect_entities()
     collection.waitables.insert({notify_waitable.get(), {notify_waitable, {}}});
   }
 
-  // We must remove expired entities here, so that we don't continue to use older entities.
-  // See https://github.com/ros2/rclcpp/issues/2180 for more information.
-  current_collection_.remove_expired_entities();
-
+  std::cout << "current_collection.timers: " << current_collection_.timers.size() << std::endl;
+  std::cout << "next_collection.timers: " << collection.timers.size() << std::endl;
   // Update each of the groups of entities in the current collection, adding or removing
   // from the wait set as necessary.
   current_collection_.timers.update(
     collection.timers,
-    [this](auto timer) {wait_set_.add_timer(timer);},
-    [this](auto timer) {wait_set_.remove_timer(timer);});
+    [this](auto timer) {
+        std::cout << "add_timer(" << timer << ")" << std::endl;
+        wait_set_.add_timer(timer);},
+    [this](auto timer) {
+        std::cout << "remove_timer(" << timer << ")" << std::endl;
+        wait_set_.remove_timer(timer);});
 
+  std::cout << "current_collection.subscriptions: " << current_collection_.subscriptions.size() << std::endl;
+  std::cout << "next_collection.subscriptions: " << collection.subscriptions.size() << std::endl;
   current_collection_.subscriptions.update(
     collection.subscriptions,
     [this](auto subscription) {
+      std::cout << "add_subscription(" << subscription << ")" << std::endl;
       wait_set_.add_subscription(subscription, kDefaultSubscriptionMask);
     },
     [this](auto subscription) {
+      std::cout << "remove_subscription(" << subscription << ")" << std::endl;
       wait_set_.remove_subscription(subscription, kDefaultSubscriptionMask);
     });
 
@@ -686,164 +647,54 @@ Executor::collect_entities()
 
   current_collection_.waitables.update(
     collection.waitables,
-    [this](auto waitable) {wait_set_.add_waitable(waitable);},
+    [this](auto waitable) {
+      wait_set_.add_waitable(waitable);
+    },
     [this](auto waitable) {wait_set_.remove_waitable(waitable);});
 
-  // In the case that an entity already has an expired weak pointer
-  // before being removed from the waitset, additionally prune the waitset.
-  this->wait_set_.prune_deleted_entities();
+  this->entities_need_rebuild_.store(false);
 }
 
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
-  TRACETOOLS_TRACEPOINT(rclcpp_executor_wait_for_work, timeout.count());
+  TRACEPOINT(rclcpp_executor_wait_for_work, timeout.count());
 
-  // Clear any previous wait result
-  this->wait_result_.reset();
-
-  {
-    std::lock_guard<std::mutex> guard(mutex_);
-    if (this->entities_need_rebuild_.exchange(false) || current_collection_.empty()) {
-      this->collect_entities();
-    }
+  std::lock_guard<std::mutex> guard(mutex_);
+  if (current_collection_.empty() || this->entities_need_rebuild_.load()) {
+    this->collect_entities();
   }
-  this->wait_result_.emplace(wait_set_.wait(timeout));
-  if (!this->wait_result_ || this->wait_result_->kind() == WaitResultKind::Empty) {
+
+  auto wait_result = wait_set_.wait(timeout);
+  if (wait_result.kind() == WaitResultKind::Empty) {
     RCUTILS_LOG_WARN_NAMED(
       "rclcpp",
       "empty wait set received in wait(). This should never happen.");
-  } else {
-    if (this->wait_result_->kind() == WaitResultKind::Ready && current_notify_waitable_) {
-      auto & rcl_wait_set = this->wait_result_->get_wait_set().get_rcl_wait_set();
-      if (current_notify_waitable_->is_ready(rcl_wait_set)) {
-        current_notify_waitable_->execute(current_notify_waitable_->take_data());
-      }
-    }
   }
+  rclcpp::executors::ready_executables(current_collection_, wait_result, ready_executables_);
 }
 
 bool
 Executor::get_next_ready_executable(AnyExecutable & any_executable)
 {
-  TRACETOOLS_TRACEPOINT(rclcpp_executor_get_next_ready);
+  TRACEPOINT(rclcpp_executor_get_next_ready);
 
-  bool valid_executable = false;
-
-  if (!wait_result_.has_value() || wait_result_->kind() != rclcpp::WaitResultKind::Ready) {
+  std::lock_guard<std::mutex> guard(mutex_);
+  if (ready_executables_.size() == 0) {
     return false;
   }
 
-  if (!valid_executable) {
-    size_t current_timer_index = 0;
-    while (true) {
-      auto [timer, timer_index] = wait_result_->peek_next_ready_timer(current_timer_index);
-      if (nullptr == timer) {
-        break;
-      }
-      current_timer_index = timer_index;
-      auto entity_iter = current_collection_.timers.find(timer->get_timer_handle().get());
-      if (entity_iter != current_collection_.timers.end()) {
-        auto callback_group = entity_iter->second.callback_group.lock();
-        if (!callback_group || !callback_group->can_be_taken_from()) {
-          current_timer_index++;
-          continue;
-        }
-        // At this point the timer is either ready for execution or was perhaps
-        // it was canceled, based on the result of call(), but either way it
-        // should not be checked again from peek_next_ready_timer(), so clear
-        // it from the wait result.
-        wait_result_->clear_timer_with_index(current_timer_index);
-        // Check that the timer should be called still, i.e. it wasn't canceled.
-        any_executable.data = timer->call();
-        if (!any_executable.data) {
-          current_timer_index++;
-          continue;
-        }
-        any_executable.timer = timer;
-        any_executable.callback_group = callback_group;
-        valid_executable = true;
-        break;
-      }
-      current_timer_index++;
-    }
+  any_executable = ready_executables_.front();
+  ready_executables_.pop_front();
+
+  if (any_executable.callback_group &&
+    any_executable.callback_group->type() == CallbackGroupType::MutuallyExclusive)
+  {
+    assert(any_executable.callback_group->can_be_taken_from().load());
+    any_executable.callback_group->can_be_taken_from().store(false);
   }
 
-  if (!valid_executable) {
-    while (auto subscription = wait_result_->next_ready_subscription()) {
-      auto entity_iter = current_collection_.subscriptions.find(
-        subscription->get_subscription_handle().get());
-      if (entity_iter != current_collection_.subscriptions.end()) {
-        auto callback_group = entity_iter->second.callback_group.lock();
-        if (!callback_group || !callback_group->can_be_taken_from()) {
-          continue;
-        }
-        any_executable.subscription = subscription;
-        any_executable.callback_group = callback_group;
-        valid_executable = true;
-        break;
-      }
-    }
-  }
-
-  if (!valid_executable) {
-    while (auto service = wait_result_->next_ready_service()) {
-      auto entity_iter = current_collection_.services.find(service->get_service_handle().get());
-      if (entity_iter != current_collection_.services.end()) {
-        auto callback_group = entity_iter->second.callback_group.lock();
-        if (!callback_group || !callback_group->can_be_taken_from()) {
-          continue;
-        }
-        any_executable.service = service;
-        any_executable.callback_group = callback_group;
-        valid_executable = true;
-        break;
-      }
-    }
-  }
-
-  if (!valid_executable) {
-    while (auto client = wait_result_->next_ready_client()) {
-      auto entity_iter = current_collection_.clients.find(client->get_client_handle().get());
-      if (entity_iter != current_collection_.clients.end()) {
-        auto callback_group = entity_iter->second.callback_group.lock();
-        if (!callback_group || !callback_group->can_be_taken_from()) {
-          continue;
-        }
-        any_executable.client = client;
-        any_executable.callback_group = callback_group;
-        valid_executable = true;
-        break;
-      }
-    }
-  }
-
-  if (!valid_executable) {
-    while (auto waitable = wait_result_->next_ready_waitable()) {
-      auto entity_iter = current_collection_.waitables.find(waitable.get());
-      if (entity_iter != current_collection_.waitables.end()) {
-        auto callback_group = entity_iter->second.callback_group.lock();
-        if (!callback_group || !callback_group->can_be_taken_from()) {
-          continue;
-        }
-        any_executable.waitable = waitable;
-        any_executable.callback_group = callback_group;
-        any_executable.data = waitable->take_data();
-        valid_executable = true;
-        break;
-      }
-    }
-  }
-
-  if (any_executable.callback_group) {
-    if (any_executable.callback_group->type() == CallbackGroupType::MutuallyExclusive) {
-      assert(any_executable.callback_group->can_be_taken_from().load());
-      any_executable.callback_group->can_be_taken_from().store(false);
-    }
-  }
-
-
-  return valid_executable;
+  return true;
 }
 
 bool

rclcpp/src/rclcpp/executors.cpp

@@ -14,29 +14,10 @@
 
 #include "rclcpp/executors.hpp"
 
-void
-rclcpp::spin_all(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  std::chrono::nanoseconds max_duration)
-{
-  rclcpp::ExecutorOptions options;
-  options.context = node_ptr->get_context();
-  rclcpp::executors::SingleThreadedExecutor exec(options);
-  exec.spin_node_all(node_ptr, max_duration);
-}
-
-void
-rclcpp::spin_all(rclcpp::Node::SharedPtr node_ptr, std::chrono::nanoseconds max_duration)
-{
-  rclcpp::spin_all(node_ptr->get_node_base_interface(), max_duration);
-}
-
 void
 rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  rclcpp::ExecutorOptions options;
-  options.context = node_ptr->get_context();
-  rclcpp::executors::SingleThreadedExecutor exec(options);
+  rclcpp::executors::SingleThreadedExecutor exec;
   exec.spin_node_some(node_ptr);
 }
 
@@ -49,9 +30,7 @@ rclcpp::spin_some(rclcpp::Node::SharedPtr node_ptr)
 void
 rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 {
-  rclcpp::ExecutorOptions options;
-  options.context = node_ptr->get_context();
-  rclcpp::executors::SingleThreadedExecutor exec(options);
+  rclcpp::executors::SingleThreadedExecutor exec;
   exec.add_node(node_ptr);
   exec.spin();
   exec.remove_node(node_ptr);

rclcpp/src/rclcpp/executors/executor_entities_collection.cpp

@@ -39,30 +39,6 @@ void ExecutorEntitiesCollection::clear()
   waitables.clear();
 }
 
-size_t ExecutorEntitiesCollection::remove_expired_entities()
-{
-  auto remove_entities = [](auto & collection) -> size_t {
-      size_t removed = 0;
-      for (auto it = collection.begin(); it != collection.end(); ) {
-        if (it->second.entity.expired()) {
-          ++removed;
-          it = collection.erase(it);
-        } else {
-          ++it;
-        }
-      }
-      return removed;
-    };
-
-  return
-    remove_entities(subscriptions) +
-    remove_entities(timers) +
-    remove_entities(guard_conditions) +
-    remove_entities(clients) +
-    remove_entities(services) +
-    remove_entities(waitables);
-}
-
 void
 build_entities_collection(
   const std::vector<rclcpp::CallbackGroup::WeakPtr> & callback_groups,
@@ -153,7 +129,7 @@ ready_executables(
         continue;
       }
       auto group_info = group_cache(entity_iter->second.callback_group);
-      if (!group_info || !group_info->can_be_taken_from().load()) {
+      if (group_info && !group_info->can_be_taken_from().load()) {
         continue;
       }
       if (!entity->call()) {
@@ -176,7 +152,7 @@ ready_executables(
         continue;
       }
       auto group_info = group_cache(entity_iter->second.callback_group);
-      if (!group_info || !group_info->can_be_taken_from().load()) {
+      if (group_info && !group_info->can_be_taken_from().load()) {
         continue;
       }
       rclcpp::AnyExecutable exec;
@@ -196,7 +172,7 @@ ready_executables(
         continue;
       }
       auto group_info = group_cache(entity_iter->second.callback_group);
-      if (!group_info || !group_info->can_be_taken_from().load()) {
+      if (group_info && !group_info->can_be_taken_from().load()) {
         continue;
       }
       rclcpp::AnyExecutable exec;
@@ -216,7 +192,7 @@ ready_executables(
         continue;
       }
       auto group_info = group_cache(entity_iter->second.callback_group);
-      if (!group_info || !group_info->can_be_taken_from().load()) {
+      if (group_info && !group_info->can_be_taken_from().load()) {
         continue;
       }
       rclcpp::AnyExecutable exec;
@@ -227,21 +203,22 @@ ready_executables(
     }
   }
 
-  for (const auto & [handle, entry] : collection.waitables) {
+  for (auto & [handle, entry] : collection.waitables) {
     auto waitable = entry.entity.lock();
     if (!waitable) {
       continue;
     }
-    if (!waitable->is_ready(rcl_wait_set)) {
+    if (!waitable->is_ready(&rcl_wait_set)) {
       continue;
     }
     auto group_info = group_cache(entry.callback_group);
-    if (!group_info || !group_info->can_be_taken_from().load()) {
+    if (group_info && !group_info->can_be_taken_from().load()) {
       continue;
     }
     rclcpp::AnyExecutable exec;
     exec.waitable = waitable;
     exec.callback_group = group_info;
+    exec.data = waitable->take_data();
     executables.push_back(exec);
     added++;
   }

rclcpp/src/rclcpp/executors/executor_entities_collector.cpp

@@ -61,12 +61,6 @@ ExecutorEntitiesCollector::~ExecutorEntitiesCollector()
     if (group_ptr) {
       group_ptr->get_associated_with_executor_atomic().store(false);
     }
-    // Disassociate the guard condition from the executor notify waitable
-    auto guard_condition_it = weak_groups_to_guard_conditions_.find(weak_group_ptr);
-    if (guard_condition_it != weak_groups_to_guard_conditions_.end()) {
-      this->notify_waitable_->remove_guard_condition(guard_condition_it->second);
-      weak_groups_to_guard_conditions_.erase(guard_condition_it);
-    }
   }
   pending_manually_added_groups_.clear();
   pending_manually_removed_groups_.clear();
@@ -150,11 +144,6 @@ ExecutorEntitiesCollector::add_callback_group(rclcpp::CallbackGroup::SharedPtr g
   }
 
   this->pending_manually_added_groups_.insert(group_ptr);
-
-  // Store callback group notify guard condition in map and add it to the notify waitable
-  auto group_guard_condition = group_ptr->get_notify_guard_condition();
-  weak_groups_to_guard_conditions_.insert({group_ptr, group_guard_condition});
-  this->notify_waitable_->add_guard_condition(group_guard_condition);
 }
 
 void
@@ -352,13 +341,6 @@ ExecutorEntitiesCollector::process_queues()
     auto group_ptr = weak_group_ptr.lock();
     if (group_ptr) {
       this->add_callback_group_to_collection(group_ptr, manually_added_groups_);
-    } else {
-      // Disassociate the guard condition from the executor notify waitable
-      auto guard_condition_it = weak_groups_to_guard_conditions_.find(weak_group_ptr);
-      if (guard_condition_it != weak_groups_to_guard_conditions_.end()) {
-        this->notify_waitable_->remove_guard_condition(guard_condition_it->second);
-        weak_groups_to_guard_conditions_.erase(guard_condition_it);
-      }
     }
   }
   pending_manually_added_groups_.clear();

rclcpp/src/rclcpp/executors/executor_notify_waitable.cpp

@@ -27,17 +27,15 @@ ExecutorNotifyWaitable::ExecutorNotifyWaitable(std::function<void(void)> on_exec
 {
 }
 
-ExecutorNotifyWaitable::ExecutorNotifyWaitable(ExecutorNotifyWaitable & other)
+ExecutorNotifyWaitable::ExecutorNotifyWaitable(const ExecutorNotifyWaitable & other)
+: ExecutorNotifyWaitable(other.execute_callback_)
 {
-  std::lock_guard<std::mutex> lock(other.guard_condition_mutex_);
-  this->execute_callback_ = other.execute_callback_;
   this->notify_guard_conditions_ = other.notify_guard_conditions_;
 }
 
-ExecutorNotifyWaitable & ExecutorNotifyWaitable::operator=(ExecutorNotifyWaitable & other)
+ExecutorNotifyWaitable & ExecutorNotifyWaitable::operator=(const ExecutorNotifyWaitable & other)
 {
   if (this != &other) {
-    std::lock_guard<std::mutex> lock(other.guard_condition_mutex_);
     this->execute_callback_ = other.execute_callback_;
     this->notify_guard_conditions_ = other.notify_guard_conditions_;
   }
@@ -45,20 +43,17 @@ ExecutorNotifyWaitable & ExecutorNotifyWaitable::operator=(ExecutorNotifyWaitabl
 }
 
 void
-ExecutorNotifyWaitable::add_to_wait_set(rcl_wait_set_t & wait_set)
+ExecutorNotifyWaitable::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
   std::lock_guard<std::mutex> lock(guard_condition_mutex_);
-
-  // Note: no guard conditions need to be re-triggered, since the guard
-  // conditions in this class are not tracking a stateful condition, but instead
-  // only serve to interrupt the wait set when new information is available to
-  // consider.
   for (auto weak_guard_condition : this->notify_guard_conditions_) {
     auto guard_condition = weak_guard_condition.lock();
     if (!guard_condition) {continue;}
 
     rcl_guard_condition_t * cond = &guard_condition->get_rcl_guard_condition();
-    rcl_ret_t ret = rcl_wait_set_add_guard_condition(&wait_set, cond, NULL);
+
+    rcl_ret_t ret = rcl_wait_set_add_guard_condition(
+      wait_set, cond, NULL);
 
     if (RCL_RET_OK != ret) {
       rclcpp::exceptions::throw_from_rcl_error(
@@ -68,22 +63,21 @@ ExecutorNotifyWaitable::add_to_wait_set(rcl_wait_set_t & wait_set)
 }
 
 bool
-ExecutorNotifyWaitable::is_ready(const rcl_wait_set_t & wait_set)
+ExecutorNotifyWaitable::is_ready(rcl_wait_set_t * wait_set)
 {
   std::lock_guard<std::mutex> lock(guard_condition_mutex_);
 
   bool any_ready = false;
-  for (size_t ii = 0; ii < wait_set.size_of_guard_conditions; ++ii) {
-    const auto * rcl_guard_condition = wait_set.guard_conditions[ii];
+  for (size_t ii = 0; ii < wait_set->size_of_guard_conditions; ++ii) {
+    auto rcl_guard_condition = wait_set->guard_conditions[ii];
 
     if (nullptr == rcl_guard_condition) {
       continue;
     }
-    for (const auto & weak_guard_condition : this->notify_guard_conditions_) {
+    for (auto weak_guard_condition : this->notify_guard_conditions_) {
       auto guard_condition = weak_guard_condition.lock();
       if (guard_condition && &guard_condition->get_rcl_guard_condition() == rcl_guard_condition) {
         any_ready = true;
-        break;
       }
     }
   }
@@ -91,7 +85,7 @@ ExecutorNotifyWaitable::is_ready(const rcl_wait_set_t & wait_set)
 }
 
 void
-ExecutorNotifyWaitable::execute(const std::shared_ptr<void> & data)
+ExecutorNotifyWaitable::execute(std::shared_ptr<void> & data)
 {
   (void) data;
   this->execute_callback_();

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -51,28 +51,22 @@ MultiThreadedExecutor::~MultiThreadedExecutor() {}
 
 void
 MultiThreadedExecutor::spin()
-{
-  spin([](const std::exception & e) {throw e;});
-}
-
-void
-MultiThreadedExecutor::spin(const std::function<void(const std::exception & e)> & exception_handler)
 {
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");
   }
-  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false););
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
   std::vector<std::thread> threads;
   size_t thread_id = 0;
   {
     std::lock_guard wait_lock{wait_mutex_};
     for (; thread_id < number_of_threads_ - 1; ++thread_id) {
-      auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id, exception_handler);
+      auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id);
       threads.emplace_back(func);
     }
   }
 
-  run(thread_id, exception_handler);
+  run(thread_id);
   for (auto & thread : threads) {
     thread.join();
   }
@@ -85,9 +79,7 @@ MultiThreadedExecutor::get_number_of_threads()
 }
 
 void
-MultiThreadedExecutor::run(
-  size_t this_thread_number,
-  const std::function<void(const std::exception & e)> & exception_handler)
+MultiThreadedExecutor::run(size_t this_thread_number)
 {
   (void)this_thread_number;
   while (rclcpp::ok(this->context_) && spinning.load()) {
@@ -105,10 +97,11 @@ MultiThreadedExecutor::run(
       std::this_thread::yield();
     }
 
-    execute_any_executable(any_exec, exception_handler);
+    execute_any_executable(any_exec);
 
     if (any_exec.callback_group &&
-      any_exec.callback_group->type() == CallbackGroupType::MutuallyExclusive)
+      any_exec.callback_group->type() == CallbackGroupType::MutuallyExclusive &&
+      any_exec.callback_group->size() > 1)
     {
       try {
         interrupt_guard_condition_->trigger();

rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

@@ -26,27 +26,15 @@ SingleThreadedExecutor::~SingleThreadedExecutor() {}
 
 void
 SingleThreadedExecutor::spin()
-{
-  spin([](const std::exception & e) {throw e;});
-}
-
-void
-SingleThreadedExecutor::spin(
-  const std::function<void(const std::exception &)> & exception_handler)
 {
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");
   }
   RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
-
-  // Clear any previous result and rebuild the waitset
-  this->wait_result_.reset();
-  this->entities_need_rebuild_ = true;
-
   while (rclcpp::ok(this->context_) && spinning.load()) {
     rclcpp::AnyExecutable any_executable;
     if (get_next_executable(any_executable)) {
-      execute_any_executable(any_executable, exception_handler);
+      execute_any_executable(any_executable);
     }
   }
 }

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "rclcpp/executors/executor_entities_collection.hpp"
+#include "rclcpp/executors/executor_notify_waitable.hpp"
 #include "rcpputils/scope_exit.hpp"
 
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
@@ -29,14 +30,6 @@ StaticSingleThreadedExecutor::~StaticSingleThreadedExecutor() {}
 
 void
 StaticSingleThreadedExecutor::spin()
-{
-  spin([](const std::exception & e) {throw e;});
-}
-
-
-void
-StaticSingleThreadedExecutor::spin(
-  const std::function<void(const std::exception & e)> & exception_handler)
 {
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin() called while already spinning");
@@ -47,7 +40,21 @@ StaticSingleThreadedExecutor::spin(
   // except we need to keep the wait result to reproduce the StaticSingleThreadedExecutor
   // behavior.
   while (rclcpp::ok(this->context_) && spinning.load()) {
-    this->spin_once_impl(std::chrono::nanoseconds(-1), exception_handler);
+    std::deque<rclcpp::AnyExecutable> to_exec;
+
+    std::lock_guard<std::mutex> guard(mutex_);
+    if (current_collection_.empty() || this->entities_need_rebuild_.load()) {
+      this->collect_entities();
+    }
+
+    auto wait_result = wait_set_.wait(std::chrono::nanoseconds(-1));
+    if (wait_result.kind() == WaitResultKind::Empty) {
+      RCUTILS_LOG_WARN_NAMED(
+        "rclcpp",
+        "empty wait set received in wait(). This should never happen.");
+      continue;
+    }
+    execute_ready_executables(current_collection_, wait_result, false);
   }
 }
 
@@ -58,6 +65,7 @@ StaticSingleThreadedExecutor::spin_some(std::chrono::nanoseconds max_duration)
   if (std::chrono::nanoseconds(0) == max_duration) {
     max_duration = std::chrono::nanoseconds::max();
   }
+
   return this->spin_some_impl(max_duration, false);
 }
 
@@ -75,87 +83,65 @@ StaticSingleThreadedExecutor::spin_some_impl(std::chrono::nanoseconds max_durati
 {
   auto start = std::chrono::steady_clock::now();
   auto max_duration_not_elapsed = [max_duration, start]() {
-      const auto spin_forever = std::chrono::nanoseconds(0) == max_duration;
-      const auto cur_duration = std::chrono::steady_clock::now() - start;
-      return spin_forever || (cur_duration < max_duration);
+      if (std::chrono::nanoseconds(0) == max_duration) {
+        // told to spin forever if need be
+        return true;
+      } else if (std::chrono::steady_clock::now() - start < max_duration) {
+        // told to spin only for some maximum amount of time
+        return true;
+      }
+      // spun too long
+      return false;
     };
 
   if (spinning.exchange(true)) {
     throw std::runtime_error("spin_some() called while already spinning");
   }
-  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false););
+  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
 
   while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     // Get executables that are ready now
     std::lock_guard<std::mutex> guard(mutex_);
+    if (current_collection_.empty() || this->entities_need_rebuild_.load()) {
+      this->collect_entities();
+    }
 
-    auto wait_result = this->collect_and_wait(std::chrono::nanoseconds(0));
-    if (wait_result.has_value()) {
-      // Execute ready executables
-      bool work_available = this->execute_ready_executables(
-        current_collection_,
-        wait_result.value(),
-        false);
-      if (!work_available || !exhaustive) {
-        break;
-      }
+    auto wait_result = wait_set_.wait(std::chrono::nanoseconds(0));
+    if (wait_result.kind() == WaitResultKind::Empty) {
+      RCUTILS_LOG_WARN_NAMED(
+        "rclcpp",
+        "empty wait set received in wait(). This should never happen.");
+      continue;
+    }
+
+    // Execute ready executables
+    bool work_available = execute_ready_executables(current_collection_, wait_result, false);
+    if (!work_available || !exhaustive) {
+      break;
     }
   }
 }
 
 void
 StaticSingleThreadedExecutor::spin_once_impl(std::chrono::nanoseconds timeout)
-{
-  spin_once_impl(timeout, std::function<void(const std::exception & e)>());
-}
-
-void
-StaticSingleThreadedExecutor::spin_once_impl(
-  std::chrono::nanoseconds timeout,
-  const std::function<void(const std::exception & e)> & exception_handler)
 {
   if (rclcpp::ok(context_) && spinning.load()) {
     std::lock_guard<std::mutex> guard(mutex_);
-    auto wait_result = this->collect_and_wait(timeout);
-    if (wait_result.has_value()) {
-      if(exception_handler) {
-        try {
-          this->execute_ready_executables(current_collection_, wait_result.value(), true);
-        } catch (const std::exception & e) {
-          RCLCPP_ERROR_STREAM(
-            rclcpp::get_logger("rclcpp"),
-            "Exception while spinning : " << e.what());
-
-          exception_handler(e);
-        }
-      } else {
-        this->execute_ready_executables(current_collection_, wait_result.value(), true);
-      }
+    if (current_collection_.empty() || this->entities_need_rebuild_.load()) {
+      this->collect_entities();
     }
-  }
-}
 
-std::optional<rclcpp::WaitResult<rclcpp::WaitSet>>
-StaticSingleThreadedExecutor::collect_and_wait(std::chrono::nanoseconds timeout)
-{
-  if (this->entities_need_rebuild_.exchange(false) || current_collection_.empty()) {
-    this->collect_entities();
-  }
-  auto wait_result = wait_set_.wait(std::chrono::nanoseconds(timeout));
-  if (wait_result.kind() == WaitResultKind::Empty) {
-    RCUTILS_LOG_WARN_NAMED(
-      "rclcpp",
-      "empty wait set received in wait(). This should never happen.");
-    return {};
-  } else {
-    if (wait_result.kind() == WaitResultKind::Ready && current_notify_waitable_) {
-      auto & rcl_wait_set = wait_result.get_wait_set().get_rcl_wait_set();
-      if (current_notify_waitable_->is_ready(rcl_wait_set)) {
-        current_notify_waitable_->execute(current_notify_waitable_->take_data());
-      }
+    auto wait_result = wait_set_.wait(std::chrono::nanoseconds(timeout));
+    if (wait_result.kind() == WaitResultKind::Empty) {
+      RCUTILS_LOG_WARN_NAMED(
+        "rclcpp",
+        "empty wait set received in wait(). This should never happen.");
+      return;
     }
+
+    // Execute ready executables
+    execute_ready_executables(current_collection_, wait_result, true);
   }
-  return wait_result;
 }
 
 // This preserves the "scheduling semantics" of the StaticSingleThreadedExecutor
@@ -166,67 +152,95 @@ bool StaticSingleThreadedExecutor::execute_ready_executables(
   bool spin_once)
 {
   bool any_ready_executable = false;
+
   if (wait_result.kind() != rclcpp::WaitResultKind::Ready) {
     return any_ready_executable;
   }
 
-  while (auto subscription = wait_result.next_ready_subscription()) {
-    auto entity_iter = collection.subscriptions.find(subscription->get_subscription_handle().get());
-    if (entity_iter != collection.subscriptions.end()) {
-      execute_subscription(subscription);
-      any_ready_executable = true;
-      if (spin_once) {return any_ready_executable;}
-    }
-  }
+  auto rcl_wait_set = wait_result.get_wait_set().get_rcl_wait_set();
 
-  size_t current_timer_index = 0;
-  while (true) {
-    auto [timer, timer_index] = wait_result.peek_next_ready_timer(current_timer_index);
-    if (nullptr == timer) {
-      break;
-    }
-    current_timer_index = timer_index;
-    auto entity_iter = collection.timers.find(timer->get_timer_handle().get());
+  for (size_t ii = 0; ii < rcl_wait_set.size_of_timers; ++ii) {
+    if (nullptr == rcl_wait_set.timers[ii]) {continue;}
+    auto entity_iter = collection.timers.find(rcl_wait_set.timers[ii]);
     if (entity_iter != collection.timers.end()) {
-      wait_result.clear_timer_with_index(current_timer_index);
-      auto data = timer->call();
-      if (!data) {
-        // someone canceled the timer between is_ready and call
+      auto entity = entity_iter->second.entity.lock();
+      if (!entity) {
         continue;
       }
-
-      execute_timer(std::move(timer), data);
+      if (!entity->call()) {
+        continue;
+      }
+      execute_timer(entity);
+      if (spin_once) {
+        return true;
+      }
       any_ready_executable = true;
-      if (spin_once) {return any_ready_executable;}
     }
   }
 
-  while (auto client = wait_result.next_ready_client()) {
-    auto entity_iter = collection.clients.find(client->get_client_handle().get());
-    if (entity_iter != collection.clients.end()) {
-      execute_client(client);
+  for (size_t ii = 0; ii < rcl_wait_set.size_of_subscriptions; ++ii) {
+    if (nullptr == rcl_wait_set.subscriptions[ii]) {continue;}
+    auto entity_iter = collection.subscriptions.find(rcl_wait_set.subscriptions[ii]);
+    if (entity_iter != collection.subscriptions.end()) {
+      auto entity = entity_iter->second.entity.lock();
+      if (!entity) {
+        continue;
+      }
+      execute_subscription(entity);
+      if (spin_once) {
+        return true;
+      }
       any_ready_executable = true;
-      if (spin_once) {return any_ready_executable;}
     }
   }
 
-  while (auto service = wait_result.next_ready_service()) {
-    auto entity_iter = collection.services.find(service->get_service_handle().get());
+  for (size_t ii = 0; ii < rcl_wait_set.size_of_services; ++ii) {
+    if (nullptr == rcl_wait_set.services[ii]) {continue;}
+    auto entity_iter = collection.services.find(rcl_wait_set.services[ii]);
     if (entity_iter != collection.services.end()) {
-      execute_service(service);
+      auto entity = entity_iter->second.entity.lock();
+      if (!entity) {
+        continue;
+      }
+      execute_service(entity);
+      if (spin_once) {
+        return true;
+      }
       any_ready_executable = true;
-      if (spin_once) {return any_ready_executable;}
     }
   }
 
-  while (auto waitable = wait_result.next_ready_waitable()) {
-    auto entity_iter = collection.waitables.find(waitable.get());
-    if (entity_iter != collection.waitables.end()) {
-      const auto data = waitable->take_data();
-      waitable->execute(data);
+  for (size_t ii = 0; ii < rcl_wait_set.size_of_clients; ++ii) {
+    if (nullptr == rcl_wait_set.clients[ii]) {continue;}
+    auto entity_iter = collection.clients.find(rcl_wait_set.clients[ii]);
+    if (entity_iter != collection.clients.end()) {
+      auto entity = entity_iter->second.entity.lock();
+      if (!entity) {
+        continue;
+      }
+      execute_client(entity);
+      if (spin_once) {
+        return true;
+      }
       any_ready_executable = true;
-      if (spin_once) {return any_ready_executable;}
     }
   }
+
+  for (auto & [handle, entry] : collection.waitables) {
+    auto waitable = entry.entity.lock();
+    if (!waitable) {
+      continue;
+    }
+    if (!waitable->is_ready(&rcl_wait_set)) {
+      continue;
+    }
+
+    auto data = waitable->take_data();
+    waitable->execute(data);
+    if (spin_once) {
+      return true;
+    }
+    any_ready_executable = true;
+  }
   return any_ready_executable;
 }

rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor.cpp

@@ -40,21 +40,16 @@ EventsExecutor::EventsExecutor(
   // The timers manager can be used either to only track timers (in this case an expired
   // timer will generate an executor event and then it will be executed by the executor thread)
   // or it can also take care of executing expired timers in its dedicated thread.
-  std::function<void(const rclcpp::TimerBase *,
-    const std::shared_ptr<void> &)> timer_on_ready_cb = nullptr;
+  std::function<void(const rclcpp::TimerBase *)> timer_on_ready_cb = nullptr;
   if (!execute_timers_separate_thread) {
-    timer_on_ready_cb =
-      [this](const rclcpp::TimerBase * timer_id, const std::shared_ptr<void> & data) {
-        ExecutorEvent event = {timer_id, data, -1, ExecutorEventType::TIMER_EVENT, 1};
+    timer_on_ready_cb = [this](const rclcpp::TimerBase * timer_id) {
+        ExecutorEvent event = {timer_id, -1, ExecutorEventType::TIMER_EVENT, 1};
         this->events_queue_->enqueue(event);
       };
   }
   timers_manager_ =
     std::make_shared<rclcpp::experimental::TimersManager>(context_, timer_on_ready_cb);
 
-  this->current_entities_collection_ =
-    std::make_shared<rclcpp::executors::ExecutorEntitiesCollection>();
-
   notify_waitable_ = std::make_shared<rclcpp::executors::ExecutorNotifyWaitable>(
     [this]() {
       // This callback is invoked when:
@@ -66,10 +61,6 @@ EventsExecutor::EventsExecutor(
       this->refresh_current_collection_from_callback_groups();
     });
 
-  // Make sure that the notify waitable is immediately added to the collection
-  // to avoid missing events
-  this->add_notify_waitable_to_collection(current_entities_collection_->waitables);
-
   notify_waitable_->add_guard_condition(interrupt_guard_condition_);
   notify_waitable_->add_guard_condition(shutdown_guard_condition_);
 
@@ -90,12 +81,15 @@ EventsExecutor::EventsExecutor(
       }
 
       ExecutorEvent event =
-      {notify_waitable_entity_id, nullptr, waitable_data, ExecutorEventType::WAITABLE_EVENT, 1};
+      {notify_waitable_entity_id, waitable_data, ExecutorEventType::WAITABLE_EVENT, 1};
       this->events_queue_->enqueue(event);
     });
 
   this->entities_collector_ =
     std::make_shared<rclcpp::executors::ExecutorEntitiesCollector>(notify_waitable_);
+
+  this->current_entities_collection_ =
+    std::make_shared<rclcpp::executors::ExecutorEntitiesCollection>();
 }
 
 EventsExecutor::~EventsExecutor()
@@ -126,35 +120,6 @@ EventsExecutor::spin()
   }
 }
 
-void
-EventsExecutor::spin(const std::function<void(const std::exception & e)> & exception_handler)
-{
-  if (spinning.exchange(true)) {
-    throw std::runtime_error("spin() called while already spinning");
-  }
-  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
-
-  timers_manager_->start(exception_handler);
-  RCPPUTILS_SCOPE_EXIT(timers_manager_->stop(); );
-
-  while (rclcpp::ok(context_) && spinning.load()) {
-    // Wait until we get an event
-    ExecutorEvent event;
-    bool has_event = events_queue_->dequeue(event);
-    if (has_event) {
-      try {
-        this->execute_event(event);
-      } catch (const std::exception & e) {
-        RCLCPP_ERROR_STREAM(
-          rclcpp::get_logger("rclcpp"),
-          "Exception while spinning : " << e.what());
-
-        exception_handler(e);
-      }
-    }
-  }
-}
-
 void
 EventsExecutor::spin_some(std::chrono::nanoseconds max_duration)
 {
@@ -237,12 +202,11 @@ EventsExecutor::spin_once_impl(std::chrono::nanoseconds timeout)
     timeout = std::chrono::nanoseconds::max();
   }
 
-  // Select the smallest between input timeout and timer timeout.
-  // Cancelled timers are not considered.
+  // Select the smallest between input timeout and timer timeout
   bool is_timer_timeout = false;
   auto next_timer_timeout = timers_manager_->get_head_timeout();
-  if (next_timer_timeout.has_value() && next_timer_timeout.value() < timeout) {
-    timeout = next_timer_timeout.value();
+  if (next_timer_timeout < timeout) {
+    timeout = next_timer_timeout;
     is_timer_timeout = true;
   }
 
@@ -305,13 +269,10 @@ EventsExecutor::execute_event(const ExecutorEvent & event)
   switch (event.type) {
     case ExecutorEventType::CLIENT_EVENT:
       {
-        rclcpp::ClientBase::SharedPtr client;
-        {
-          std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-          client = this->retrieve_entity(
-            static_cast<const rcl_client_t *>(event.entity_key),
-            current_entities_collection_->clients);
-        }
+        auto client = this->retrieve_entity(
+          static_cast<const rcl_client_t *>(event.entity_key),
+          current_entities_collection_->clients);
+
         if (client) {
           for (size_t i = 0; i < event.num_events; i++) {
             execute_client(client);
@@ -322,13 +283,9 @@ EventsExecutor::execute_event(const ExecutorEvent & event)
       }
     case ExecutorEventType::SUBSCRIPTION_EVENT:
       {
-        rclcpp::SubscriptionBase::SharedPtr subscription;
-        {
-          std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-          subscription = this->retrieve_entity(
-            static_cast<const rcl_subscription_t *>(event.entity_key),
-            current_entities_collection_->subscriptions);
-        }
+        auto subscription = this->retrieve_entity(
+          static_cast<const rcl_subscription_t *>(event.entity_key),
+          current_entities_collection_->subscriptions);
         if (subscription) {
           for (size_t i = 0; i < event.num_events; i++) {
             execute_subscription(subscription);
@@ -338,13 +295,10 @@ EventsExecutor::execute_event(const ExecutorEvent & event)
       }
     case ExecutorEventType::SERVICE_EVENT:
       {
-        rclcpp::ServiceBase::SharedPtr service;
-        {
-          std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-          service = this->retrieve_entity(
-            static_cast<const rcl_service_t *>(event.entity_key),
-            current_entities_collection_->services);
-        }
+        auto service = this->retrieve_entity(
+          static_cast<const rcl_service_t *>(event.entity_key),
+          current_entities_collection_->services);
+
         if (service) {
           for (size_t i = 0; i < event.num_events; i++) {
             execute_service(service);
@@ -356,21 +310,17 @@ EventsExecutor::execute_event(const ExecutorEvent & event)
     case ExecutorEventType::TIMER_EVENT:
       {
         timers_manager_->execute_ready_timer(
-          static_cast<const rclcpp::TimerBase *>(event.entity_key), event.data);
+          static_cast<const rclcpp::TimerBase *>(event.entity_key));
         break;
       }
     case ExecutorEventType::WAITABLE_EVENT:
       {
-        rclcpp::Waitable::SharedPtr waitable;
-        {
-          std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-          waitable = this->retrieve_entity(
-            static_cast<const rclcpp::Waitable *>(event.entity_key),
-            current_entities_collection_->waitables);
-        }
+        auto waitable = this->retrieve_entity(
+          static_cast<const rclcpp::Waitable *>(event.entity_key),
+          current_entities_collection_->waitables);
         if (waitable) {
           for (size_t i = 0; i < event.num_events; i++) {
-            const auto data = waitable->take_data_by_entity_id(event.waitable_data);
+            auto data = waitable->take_data_by_entity_id(event.waitable_data);
             waitable->execute(data);
           }
         }
@@ -432,7 +382,6 @@ EventsExecutor::get_automatically_added_callback_groups_from_nodes()
 void
 EventsExecutor::refresh_current_collection_from_callback_groups()
 {
-  // Build the new collection
   this->entities_collector_->update_collections();
   auto callback_groups = this->entities_collector_->get_all_callback_groups();
   rclcpp::executors::ExecutorEntitiesCollection new_collection;
@@ -446,11 +395,18 @@ EventsExecutor::refresh_current_collection_from_callback_groups()
   // retrieved in the "standard" way.
   // To do it, we need to add the notify waitable as an entry in both the new and
   // current collections such that it's neither added or removed.
-  this->add_notify_waitable_to_collection(new_collection.waitables);
+  rclcpp::CallbackGroup::WeakPtr weak_group_ptr;
+  new_collection.waitables.insert(
+  {
+    this->notify_waitable_.get(),
+    {this->notify_waitable_, weak_group_ptr}
+  });
 
-  // Acquire lock before modifying the current collection
-  std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-  this->add_notify_waitable_to_collection(current_entities_collection_->waitables);
+  this->current_entities_collection_->waitables.insert(
+  {
+    this->notify_waitable_.get(),
+    {this->notify_waitable_, weak_group_ptr}
+  });
 
   this->refresh_current_collection(new_collection);
 }
@@ -459,9 +415,6 @@ void
 EventsExecutor::refresh_current_collection(
   const rclcpp::executors::ExecutorEntitiesCollection & new_collection)
 {
-  // Acquire lock before modifying the current collection
-  std::lock_guard<std::recursive_mutex> lock(collection_mutex_);
-
   current_entities_collection_->timers.update(
     new_collection.timers,
     [this](rclcpp::TimerBase::SharedPtr timer) {timers_manager_->add_timer(timer);},
@@ -516,7 +469,7 @@ EventsExecutor::create_entity_callback(
 {
   std::function<void(size_t)>
   callback = [this, entity_key, event_type](size_t num_events) {
-      ExecutorEvent event = {entity_key, nullptr, -1, event_type, num_events};
+      ExecutorEvent event = {entity_key, -1, event_type, num_events};
       this->events_queue_->enqueue(event);
     };
   return callback;
@@ -528,21 +481,8 @@ EventsExecutor::create_waitable_callback(const rclcpp::Waitable * entity_key)
   std::function<void(size_t, int)>
   callback = [this, entity_key](size_t num_events, int waitable_data) {
       ExecutorEvent event =
-      {entity_key, nullptr, waitable_data, ExecutorEventType::WAITABLE_EVENT, num_events};
+      {entity_key, waitable_data, ExecutorEventType::WAITABLE_EVENT, num_events};
       this->events_queue_->enqueue(event);
     };
   return callback;
 }
-
-void
-EventsExecutor::add_notify_waitable_to_collection(
-  rclcpp::executors::ExecutorEntitiesCollection::WaitableCollection & collection)
-{
-  // The notify waitable is not associated to any group, so use an invalid one
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr;
-  collection.insert(
-  {
-    this->notify_waitable_.get(),
-    {this->notify_waitable_, weak_group_ptr}
-  });
-}

rclcpp/src/rclcpp/experimental/timers_manager.cpp

@@ -20,7 +20,6 @@
 #include <iostream>
 #include <memory>
 #include <stdexcept>
-#include <rclcpp/logging.hpp>
 
 #include "rcpputils/scope_exit.hpp"
 
@@ -28,10 +27,10 @@ using rclcpp::experimental::TimersManager;
 
 TimersManager::TimersManager(
   std::shared_ptr<rclcpp::Context> context,
-  std::function<void(const rclcpp::TimerBase *, const std::shared_ptr<void> &)> on_ready_callback)
-: on_ready_callback_(on_ready_callback),
-  context_(context)
+  std::function<void(const rclcpp::TimerBase *)> on_ready_callback)
 {
+  context_ = context;
+  on_ready_callback_ = on_ready_callback;
 }
 
 TimersManager::~TimersManager()
@@ -72,17 +71,14 @@ void TimersManager::add_timer(rclcpp::TimerBase::SharedPtr timer)
   }
 }
 
-void TimersManager::start(const std::function<void(const std::exception & e)> & exception_handler)
+void TimersManager::start()
 {
   // Make sure that the thread is not already running
   if (running_.exchange(true)) {
     throw std::runtime_error("TimersManager::start() can't start timers thread as already running");
   }
 
-  timers_thread_ = std::thread(
-    [this, exception_handler]() {
-      run_timers(exception_handler);
-    });
+  timers_thread_ = std::thread(&TimersManager::run_timers, this);
 }
 
 void TimersManager::stop()
@@ -104,7 +100,7 @@ void TimersManager::stop()
   }
 }
 
-std::optional<std::chrono::nanoseconds> TimersManager::get_head_timeout()
+std::chrono::nanoseconds TimersManager::get_head_timeout()
 {
   // Do not allow to interfere with the thread running
   if (running_) {
@@ -152,12 +148,8 @@ bool TimersManager::execute_head_timer()
   if (timer_ready) {
     // NOTE: here we always execute the timer, regardless of whether the
     // on_ready_callback is set or not.
-    auto data = head_timer->call();
-    if (!data) {
-      // someone canceled the timer between is_ready and call
-      return false;
-    }
-    head_timer->execute_callback(data);
+    head_timer->call();
+    head_timer->execute_callback();
     timers_heap.heapify_root();
     weak_timers_heap_.store(timers_heap);
   }
@@ -165,9 +157,7 @@ bool TimersManager::execute_head_timer()
   return timer_ready;
 }
 
-void TimersManager::execute_ready_timer(
-  const rclcpp::TimerBase * timer_id,
-  const std::shared_ptr<void> & data)
+void TimersManager::execute_ready_timer(const rclcpp::TimerBase * timer_id)
 {
   TimerPtr ready_timer;
   {
@@ -175,11 +165,11 @@ void TimersManager::execute_ready_timer(
     ready_timer = weak_timers_heap_.get_timer(timer_id);
   }
   if (ready_timer) {
-    ready_timer->execute_callback(data);
+    ready_timer->execute_callback();
   }
 }
 
-std::optional<std::chrono::nanoseconds> TimersManager::get_head_timeout_unsafe()
+std::chrono::nanoseconds TimersManager::get_head_timeout_unsafe()
 {
   // If we don't have any weak pointer, then we just return maximum timeout
   if (weak_timers_heap_.empty()) {
@@ -201,14 +191,11 @@ std::optional<std::chrono::nanoseconds> TimersManager::get_head_timeout_unsafe()
     }
     head_timer = locked_heap.front();
   }
-  if (head_timer->is_canceled()) {
-    return std::nullopt;
-  }
+
   return head_timer->time_until_trigger();
 }
 
-void TimersManager::execute_ready_timers_unsafe(
-  std::function<void(const std::exception & e)> exception_handler)
+void TimersManager::execute_ready_timers_unsafe()
 {
   // We start by locking the timers
   TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
@@ -226,28 +213,11 @@ void TimersManager::execute_ready_timers_unsafe(
   const size_t number_ready_timers = locked_heap.get_number_ready_timers();
   size_t executed_timers = 0;
   while (executed_timers < number_ready_timers && head_timer->is_ready()) {
-    auto data = head_timer->call();
-    if (data) {
-      if (on_ready_callback_) {
-        on_ready_callback_(head_timer.get(), data);
-      } else {
-        if (exception_handler) {
-          try {
-            head_timer->execute_callback(data);
-          } catch (const std::exception & e) {
-            RCLCPP_ERROR_STREAM(
-              rclcpp::get_logger("rclcpp"),
-              "Exception while spinning : " << e.what());
-
-            exception_handler(e);
-          }
-        } else {
-          head_timer->execute_callback(data);
-        }
-      }
+    head_timer->call();
+    if (on_ready_callback_) {
+      on_ready_callback_(head_timer.get());
     } else {
-      // someone canceled the timer between is_ready and call
-      // we don't do anything, as the timer is now 'processed'
+      head_timer->execute_callback();
     }
 
     executed_timers++;
@@ -262,8 +232,7 @@ void TimersManager::execute_ready_timers_unsafe(
   weak_timers_heap_.store(locked_heap);
 }
 
-void TimersManager::run_timers(
-  const std::function<void(const std::exception & e)> & exception_handler)
+void TimersManager::run_timers()
 {
   // Make sure the running flag is set to false when we exit from this function
   // to allow restarting the timers thread.
@@ -273,41 +242,24 @@ void TimersManager::run_timers(
     // Lock mutex
     std::unique_lock<std::mutex> lock(timers_mutex_);
 
-    std::optional<std::chrono::nanoseconds> time_to_sleep = get_head_timeout_unsafe();
+    std::chrono::nanoseconds time_to_sleep = get_head_timeout_unsafe();
 
-    // If head timer was cancelled, try to reheap and get a new head.
-    // This avoids an edge condition where head timer is cancelled, but other
-    // valid timers remain in the heap.
-    if (!time_to_sleep.has_value()) {
-      // Re-heap to (possibly) move cancelled timer from head of heap. If
-      // entire heap is cancelled, this will still result in a nullopt.
-      TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
-      locked_heap.heapify();
-      weak_timers_heap_.store(locked_heap);
-      time_to_sleep = get_head_timeout_unsafe();
-    }
-
-    // If no timers, or all timers cancelled, wait for an update.
-    if (!time_to_sleep.has_value() || (time_to_sleep.value() == std::chrono::nanoseconds::max()) ) {
-      // Wait until notification that timers have been updated
-      timers_cv_.wait(lock, [this]() {return timers_updated_;});
-
-      // Re-heap in case ordering changed due to a cancelled timer
-      // re-activating.
-      TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
-      locked_heap.heapify();
-      weak_timers_heap_.store(locked_heap);
-    } else if (time_to_sleep.value() != std::chrono::nanoseconds::zero()) {
-      // If time_to_sleep is zero, we immediately execute. Otherwise, wait
-      // until timeout or notification that timers have been updated
-      timers_cv_.wait_for(lock, time_to_sleep.value(), [this]() {return timers_updated_;});
+    // No need to wait if a timer is already available
+    if (time_to_sleep > std::chrono::nanoseconds::zero()) {
+      if (time_to_sleep != std::chrono::nanoseconds::max()) {
+        // Wait until timeout or notification that timers have been updated
+        timers_cv_.wait_for(lock, time_to_sleep, [this]() {return timers_updated_;});
+      } else {
+        // Wait until notification that timers have been updated
+        timers_cv_.wait(lock, [this]() {return timers_updated_;});
+      }
     }
 
     // Reset timers updated flag
     timers_updated_ = false;
 
     // Execute timers
-    this->execute_ready_timers_unsafe(exception_handler);
+    this->execute_ready_timers_unsafe();
   }
 }
 

rclcpp/src/rclcpp/generic_client.cpp

@@ -1,164 +0,0 @@
-// Copyright 2023 Sony Group Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <future>
-
-#include "rclcpp/generic_client.hpp"
-#include "rclcpp/typesupport_helpers.hpp"
-
-#include "rosidl_runtime_c/service_type_support_struct.h"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
-
-namespace rclcpp
-{
-GenericClient::GenericClient(
-  rclcpp::node_interfaces::NodeBaseInterface * node_base,
-  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
-  const std::string & service_name,
-  const std::string & service_type,
-  rcl_client_options_t & client_options)
-: ClientBase(node_base, node_graph)
-{
-  ts_lib_ = get_typesupport_library(
-    service_type, "rosidl_typesupport_cpp");
-
-  auto service_ts_ = get_service_typesupport_handle(
-    service_type, "rosidl_typesupport_cpp", *ts_lib_);
-
-  auto response_type_support_intro = get_message_typesupport_handle(
-    service_ts_->response_typesupport,
-    rosidl_typesupport_introspection_cpp::typesupport_identifier);
-  response_members_ = static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(
-    response_type_support_intro->data);
-
-  rcl_ret_t ret = rcl_client_init(
-    this->get_client_handle().get(),
-    this->get_rcl_node_handle(),
-    service_ts_,
-    service_name.c_str(),
-    &client_options);
-  if (ret != RCL_RET_OK) {
-    if (ret == RCL_RET_SERVICE_NAME_INVALID) {
-      auto rcl_node_handle = this->get_rcl_node_handle();
-      // this will throw on any validation problem
-      rcl_reset_error();
-      expand_topic_or_service_name(
-        service_name,
-        rcl_node_get_name(rcl_node_handle),
-        rcl_node_get_namespace(rcl_node_handle),
-        true);
-    }
-    rclcpp::exceptions::throw_from_rcl_error(ret, "could not create generic client");
-  }
-}
-
-std::shared_ptr<void>
-GenericClient::create_response()
-{
-  void * response = new uint8_t[response_members_->size_of_];
-  response_members_->init_function(response, rosidl_runtime_cpp::MessageInitialization::ZERO);
-  return std::shared_ptr<void>(
-    response,
-    [this](void * p)
-    {
-      response_members_->fini_function(p);
-      delete[] reinterpret_cast<uint8_t *>(p);
-    });
-}
-
-std::shared_ptr<rmw_request_id_t>
-GenericClient::create_request_header()
-{
-  // 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);
-}
-
-void
-GenericClient::handle_response(
-  std::shared_ptr<rmw_request_id_t> request_header,
-  std::shared_ptr<void> response)
-{
-  auto optional_pending_request =
-    this->get_and_erase_pending_request(request_header->sequence_number);
-  if (!optional_pending_request) {
-    return;
-  }
-  auto & value = *optional_pending_request;
-  if (std::holds_alternative<Promise>(value)) {
-    auto & promise = std::get<Promise>(value);
-    promise.set_value(std::move(response));
-  }
-}
-
-size_t
-GenericClient::prune_pending_requests()
-{
-  std::lock_guard guard(pending_requests_mutex_);
-  auto ret = pending_requests_.size();
-  pending_requests_.clear();
-  return ret;
-}
-
-bool
-GenericClient::remove_pending_request(int64_t request_id)
-{
-  std::lock_guard guard(pending_requests_mutex_);
-  return pending_requests_.erase(request_id) != 0u;
-}
-
-std::optional<GenericClient::CallbackInfoVariant>
-GenericClient::get_and_erase_pending_request(int64_t request_number)
-{
-  std::unique_lock<std::mutex> lock(pending_requests_mutex_);
-  auto it = pending_requests_.find(request_number);
-  if (it == pending_requests_.end()) {
-    RCUTILS_LOG_DEBUG_NAMED(
-      "rclcpp",
-      "Received invalid sequence number. Ignoring...");
-    return std::nullopt;
-  }
-  auto value = std::move(it->second.second);
-  pending_requests_.erase(request_number);
-  return value;
-}
-
-GenericClient::FutureAndRequestId
-GenericClient::async_send_request(const Request request)
-{
-  Promise promise;
-  auto future = promise.get_future();
-  auto req_id = async_send_request_impl(
-    request,
-    std::move(promise));
-  return FutureAndRequestId(std::move(future), req_id);
-}
-
-int64_t
-GenericClient::async_send_request_impl(const Request request, CallbackInfoVariant value)
-{
-  int64_t sequence_number;
-  std::lock_guard<std::mutex> lock(pending_requests_mutex_);
-  rcl_ret_t ret = rcl_send_request(get_client_handle().get(), request, &sequence_number);
-  if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send request");
-  }
-  pending_requests_.try_emplace(
-    sequence_number,
-    std::make_pair(std::chrono::system_clock::now(), std::move(value)));
-  return sequence_number;
-}
-
-}  // namespace rclcpp

rclcpp/src/rclcpp/generic_publisher.cpp

@@ -23,10 +23,6 @@ namespace rclcpp
 
 void GenericPublisher::publish(const rclcpp::SerializedMessage & message)
 {
-  TRACETOOLS_TRACEPOINT(
-    rclcpp_publish,
-    nullptr,
-    static_cast<const void *>(&message.get_rcl_serialized_message()));
   auto return_code = rcl_publish_serialized_message(
     get_publisher_handle().get(), &message.get_rcl_serialized_message(), NULL);
 
@@ -72,7 +68,6 @@ void GenericPublisher::deserialize_message(
 
 void GenericPublisher::publish_loaned_message(void * loaned_message)
 {
-  TRACETOOLS_TRACEPOINT(rclcpp_publish, nullptr, static_cast<const void *>(loaned_message));
   auto return_code = rcl_publish_loaned_message(
     get_publisher_handle().get(), loaned_message, NULL);
 

rclcpp/src/rclcpp/generic_subscription.cpp

@@ -49,9 +49,9 @@ GenericSubscription::handle_message(
 void
 GenericSubscription::handle_serialized_message(
   const std::shared_ptr<rclcpp::SerializedMessage> & message,
-  const rclcpp::MessageInfo & message_info)
+  const rclcpp::MessageInfo &)
 {
-  any_callback_.dispatch(message, message_info);
+  callback_(message);
 }
 
 void