Unit tests for node interfaces (#1202)

* Unit tests for node interfaces

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR Feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address PR feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Adjusting comment

Signed-off-by: Stephen Brawner <brawner@gmail.com>

rclcpp/test/CMakeLists.txt

@@ -136,6 +136,52 @@ ament_add_gtest(test_node_interfaces__get_node_interfaces
 if(TARGET test_node_interfaces__get_node_interfaces)
   target_link_libraries(test_node_interfaces__get_node_interfaces ${PROJECT_NAME})
 endif()
+ament_add_gtest(test_node_interfaces__node_base
+  rclcpp/node_interfaces/test_node_base.cpp)
+if(TARGET test_node_interfaces__node_base)
+  target_link_libraries(test_node_interfaces__node_base ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_clock
+  rclcpp/node_interfaces/test_node_clock.cpp)
+if(TARGET test_node_interfaces__node_clock)
+  target_link_libraries(test_node_interfaces__node_clock ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_graph
+  rclcpp/node_interfaces/test_node_graph.cpp)
+if(TARGET test_node_interfaces__node_graph)
+  ament_target_dependencies(
+    test_node_interfaces__node_graph
+    "test_msgs")
+  target_link_libraries(test_node_interfaces__node_graph ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_parameters
+  rclcpp/node_interfaces/test_node_parameters.cpp)
+if(TARGET test_node_interfaces__node_parameters)
+  target_link_libraries(test_node_interfaces__node_parameters ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_services
+  rclcpp/node_interfaces/test_node_services.cpp)
+if(TARGET test_node_interfaces__node_services)
+  target_link_libraries(test_node_interfaces__node_services ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_timers
+  rclcpp/node_interfaces/test_node_timers.cpp)
+if(TARGET test_node_interfaces__node_timers)
+  target_link_libraries(test_node_interfaces__node_timers ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_topics
+  rclcpp/node_interfaces/test_node_topics.cpp)
+if(TARGET test_node_interfaces__node_topics)
+  ament_target_dependencies(
+    test_node_interfaces__node_topics
+    "test_msgs")
+  target_link_libraries(test_node_interfaces__node_topics ${PROJECT_NAME})
+endif()
+ament_add_gtest(test_node_interfaces__node_waitables
+  rclcpp/node_interfaces/test_node_waitables.cpp)
+if(TARGET test_node_interfaces__node_waitables)
+  target_link_libraries(test_node_interfaces__node_waitables ${PROJECT_NAME})
+endif()
 
 # TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output
 # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_rclcpp_node

rclcpp/test/rclcpp/node_interfaces/test_node_base.cpp

@@ -0,0 +1,60 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestNodeBase : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeBase, construct_from_node)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_base =
+    dynamic_cast<rclcpp::node_interfaces::NodeBase *>(node->get_node_base_interface().get());
+  ASSERT_NE(nullptr, node_base);
+
+  EXPECT_STREQ("node", node_base->get_name());
+  EXPECT_STREQ("/ns", node_base->get_namespace());
+
+  EXPECT_STREQ("/ns/node", node_base->get_fully_qualified_name());
+  EXPECT_NE(nullptr, node_base->get_context());
+  EXPECT_NE(nullptr, node_base->get_rcl_node_handle());
+  EXPECT_NE(nullptr, node_base->get_shared_rcl_node_handle());
+
+  const auto * const_node_base = node_base;
+  EXPECT_NE(nullptr, const_node_base->get_rcl_node_handle());
+  EXPECT_NE(nullptr, const_node_base->get_shared_rcl_node_handle());
+}

rclcpp/test/rclcpp/node_interfaces/test_node_clock.cpp

@@ -0,0 +1,49 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+#include "rclcpp/node_interfaces/node_clock.hpp"
+#include "rclcpp/node.hpp"
+
+class TestNodeClock : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeClock, construct_from_node)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_clock =
+    dynamic_cast<rclcpp::node_interfaces::NodeClock *>(node->get_node_clock_interface().get());
+  ASSERT_NE(nullptr, node_clock);
+  EXPECT_NE(nullptr, node_clock->get_clock());
+
+  const auto * const_node_clock = node_clock;
+  EXPECT_NE(nullptr, const_node_clock->get_clock());
+}

rclcpp/test/rclcpp/node_interfaces/test_node_graph.cpp

@@ -0,0 +1,186 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <utility>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
+#include "rclcpp/node_interfaces/node_graph.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/empty.hpp"
+
+class TestNodeGraph : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeGraph, construct_from_node)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  auto topic_names_and_types = node_graph->get_topic_names_and_types(false);
+  EXPECT_LT(0u, topic_names_and_types.size());
+
+  auto service_names_and_types = node_graph->get_service_names_and_types();
+  EXPECT_LT(0u, service_names_and_types.size());
+
+  auto names = node_graph->get_node_names();
+  EXPECT_EQ(1u, names.size());
+
+  auto names_and_namespaces = node_graph->get_node_names_and_namespaces();
+  EXPECT_EQ(1u, names_and_namespaces.size());
+
+  EXPECT_EQ(0u, node_graph->count_publishers("not_a_topic"));
+  EXPECT_EQ(0u, node_graph->count_subscribers("not_a_topic"));
+}
+
+TEST_F(TestNodeGraph, get_topic_names_and_types)
+{
+  auto node = std::make_shared<rclcpp::Node>("node2", "ns");
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+  auto topic_names_and_types = node_graph->get_topic_names_and_types();
+  EXPECT_LT(0u, topic_names_and_types.size());
+}
+
+TEST_F(TestNodeGraph, get_service_names_and_types)
+{
+  auto node = std::make_shared<rclcpp::Node>("node2", "ns");
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+  auto service_names_and_types = node_graph->get_service_names_and_types();
+  EXPECT_LT(0u, service_names_and_types.size());
+}
+
+TEST_F(TestNodeGraph, get_service_names_and_types_by_node)
+{
+  auto node1 = std::make_shared<rclcpp::Node>("node1", "ns");
+  auto node2 = std::make_shared<rclcpp::Node>("node2", "ns");
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node1->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  EXPECT_THROW(
+    node_graph->get_service_names_and_types_by_node("not_a_node", "not_absolute_namespace"),
+    std::runtime_error);
+  auto service_names_and_types1 = node_graph->get_service_names_and_types_by_node("node1", "/ns");
+  auto service_names_and_types2 = node_graph->get_service_names_and_types_by_node("node2", "/ns");
+  EXPECT_EQ(service_names_and_types1.size(), service_names_and_types2.size());
+}
+
+TEST_F(TestNodeGraph, get_node_names_and_namespaces)
+{
+  auto node = std::make_shared<rclcpp::Node>("node", "ns");
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  auto names_and_namespaces = node_graph->get_node_names_and_namespaces();
+  EXPECT_EQ(1u, names_and_namespaces.size());
+}
+
+TEST_F(TestNodeGraph, notify_shutdown)
+{
+  auto node = std::make_shared<rclcpp::Node>("node", "ns");
+  auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  EXPECT_NO_THROW(node_graph->notify_shutdown());
+}
+
+TEST_F(TestNodeGraph, wait_for_graph_change)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+  auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  EXPECT_NO_THROW(node_graph->notify_graph_change());
+  EXPECT_THROW(
+    node_graph->wait_for_graph_change(nullptr, std::chrono::milliseconds(1)),
+    rclcpp::exceptions::InvalidEventError);
+
+  auto event = std::make_shared<rclcpp::Event>();
+  EXPECT_THROW(
+    node_graph->wait_for_graph_change(event, std::chrono::milliseconds(0)),
+    rclcpp::exceptions::EventNotRegisteredError);
+}
+
+TEST_F(TestNodeGraph, get_info_by_topic)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+  const rclcpp::QoS publisher_qos(1);
+  auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", publisher_qos);
+  auto callback = [](const test_msgs::msg::Empty::SharedPtr) {};
+
+  const rclcpp::QoS subscriber_qos(10);
+  auto subscription =
+    node->create_subscription<test_msgs::msg::Empty>(
+    "topic", subscriber_qos, std::move(callback));
+
+  const auto * node_graph =
+    dynamic_cast<rclcpp::node_interfaces::NodeGraph *>(node->get_node_graph_interface().get());
+  ASSERT_NE(nullptr, node_graph);
+
+  auto publishers = node_graph->get_publishers_info_by_topic("topic", false);
+  ASSERT_EQ(1u, publishers.size());
+
+  auto publisher_endpoint_info = publishers[0];
+  const auto const_publisher_endpoint_info = publisher_endpoint_info;
+  EXPECT_STREQ("node", publisher_endpoint_info.node_name().c_str());
+  EXPECT_STREQ("node", const_publisher_endpoint_info.node_name().c_str());
+  EXPECT_STREQ("/ns", publisher_endpoint_info.node_namespace().c_str());
+  EXPECT_STREQ("/ns", const_publisher_endpoint_info.node_namespace().c_str());
+  EXPECT_STREQ("test_msgs/msg/Empty", publisher_endpoint_info.topic_type().c_str());
+  EXPECT_STREQ("test_msgs/msg/Empty", const_publisher_endpoint_info.topic_type().c_str());
+  EXPECT_EQ(rclcpp::EndpointType::Publisher, publisher_endpoint_info.endpoint_type());
+  EXPECT_EQ(rclcpp::EndpointType::Publisher, const_publisher_endpoint_info.endpoint_type());
+
+  rclcpp::QoS actual_qos = publisher_endpoint_info.qos_profile();
+  EXPECT_EQ(0u, actual_qos.get_rmw_qos_profile().depth);
+
+  rclcpp::QoS const_actual_qos = const_publisher_endpoint_info.qos_profile();
+  EXPECT_EQ(0u, const_actual_qos.get_rmw_qos_profile().depth);
+
+  auto endpoint_gid = publisher_endpoint_info.endpoint_gid();
+  auto const_endpoint_gid = const_publisher_endpoint_info.endpoint_gid();
+  bool endpoint_gid_is_all_zeros = true;
+  for (size_t i = 0; i < RMW_GID_STORAGE_SIZE; ++i) {
+    endpoint_gid_is_all_zeros &= (endpoint_gid[i] == 0);
+    EXPECT_EQ(endpoint_gid[i], const_endpoint_gid[i]);
+  }
+  EXPECT_FALSE(endpoint_gid_is_all_zeros);
+}

rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp

@@ -0,0 +1,89 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * NodeParameters is a complicated interface with lots of code, but it is tested elsewhere
+ * very thoroughly. This currently just includes unittests for the currently uncovered
+ * functionality.
+ */
+
+#include <gtest/gtest.h>
+
+#include <algorithm>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_parameters.hpp"
+
+class TestNodeParameters : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeParameters, list_parameters)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_parameters =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters);
+
+  std::vector<std::string> prefixes;
+  const auto list_result = node_parameters->list_parameters(prefixes, 1u);
+
+  // Currently the only default parameter is 'use_sim_time', but that may change.
+  size_t number_of_parameters = list_result.names.size();
+  EXPECT_GE(1u, number_of_parameters);
+
+  const std::string parameter_name = "new_parameter";
+  const rclcpp::ParameterValue value(true);
+  const rcl_interfaces::msg::ParameterDescriptor descriptor;
+  const auto added_parameter_value =
+    node_parameters->declare_parameter(parameter_name, value, descriptor, false);
+  EXPECT_EQ(value.get<bool>(), added_parameter_value.get<bool>());
+
+  auto list_result2 = node_parameters->list_parameters(prefixes, 1u);
+  EXPECT_EQ(number_of_parameters + 1u, list_result2.names.size());
+
+  EXPECT_NE(
+    std::find(list_result2.names.begin(), list_result2.names.end(), parameter_name),
+    list_result2.names.end());
+}
+
+TEST_F(TestNodeParameters, parameter_overrides)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  auto * node_parameters =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters);
+
+  const auto & parameter_overrides = node_parameters->get_parameter_overrides();
+  EXPECT_EQ(0u, parameter_overrides.size());
+}

rclcpp/test/rclcpp/node_interfaces/test_node_services.cpp

@@ -0,0 +1,111 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_services.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestService : public rclcpp::ServiceBase
+{
+public:
+  explicit TestService(rclcpp::Node * node)
+  : rclcpp::ServiceBase(node->get_node_base_interface()->get_shared_rcl_node_handle()) {}
+
+  std::shared_ptr<void> create_request() override {return nullptr;}
+  std::shared_ptr<rmw_request_id_t> create_request_header() override {return nullptr;}
+  void handle_request(std::shared_ptr<rmw_request_id_t>, std::shared_ptr<void>) override {}
+};
+
+class TestClient : public rclcpp::ClientBase
+{
+public:
+  explicit TestClient(rclcpp::Node * node)
+  : rclcpp::ClientBase(node->get_node_base_interface().get(), node->get_node_graph_interface()) {}
+
+  std::shared_ptr<void> create_response() override {return nullptr;}
+  std::shared_ptr<rmw_request_id_t> create_request_header() override {return nullptr;}
+  void handle_response(
+    std::shared_ptr<rmw_request_id_t>, std::shared_ptr<void>) override {}
+};
+
+class TestNodeService : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeService, add_service)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_services =
+    dynamic_cast<rclcpp::node_interfaces::NodeServices *>(
+    node->get_node_services_interface().get());
+  ASSERT_NE(nullptr, node_services);
+
+  auto service = std::make_shared<TestService>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(
+    node_services->add_service(service, callback_group));
+
+  // Check that adding a service from node to a callback group of different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_services->add_service(service, callback_group_in_different_node),
+    std::runtime_error);
+}
+
+TEST_F(TestNodeService, add_client)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_services =
+    dynamic_cast<rclcpp::node_interfaces::NodeServices *>(
+    node->get_node_services_interface().get());
+  ASSERT_NE(nullptr, node_services);
+
+  auto client = std::make_shared<TestClient>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(node_services->add_client(client, callback_group));
+
+  // Check that adding a client from node to a callback group of different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_services->add_client(client, callback_group_in_different_node),
+    std::runtime_error);
+}

rclcpp/test/rclcpp/node_interfaces/test_node_timers.cpp

@@ -0,0 +1,71 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_timers.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestTimer : public rclcpp::TimerBase
+{
+public:
+  explicit TestTimer(rclcpp::Node * node)
+  : TimerBase(node->get_clock(), std::chrono::nanoseconds(1),
+      node->get_node_base_interface()->get_context()) {}
+
+  void execute_callback() override {}
+  bool is_steady() override {return false;}
+};
+
+class TestNodeTimers : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeTimers, add_timer)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto node_timers =
+    dynamic_cast<rclcpp::node_interfaces::NodeTimers *>(node->get_node_timers_interface().get());
+  ASSERT_NE(nullptr, node_timers);
+  auto timer = std::make_shared<TestTimer>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(node_timers->add_timer(timer, callback_group));
+
+  // Check that adding timer from node to callback group in different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_timers->add_timer(timer, callback_group_in_different_node),
+    std::runtime_error);
+}

rclcpp/test/rclcpp/node_interfaces/test_node_topics.cpp

@@ -0,0 +1,129 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+#include <type_traits>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_topics.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/empty.hpp"
+
+namespace
+{
+
+const rosidl_message_type_support_t EmptyTypeSupport()
+{
+  return *rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::Empty>();
+}
+
+const rcl_publisher_options_t PublisherOptions()
+{
+  return rclcpp::PublisherOptionsWithAllocator<std::allocator<void>>().template
+         to_rcl_publisher_options<test_msgs::msg::Empty>(rclcpp::QoS(10));
+}
+
+const rcl_subscription_options_t SubscriptionOptions()
+{
+  return rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>>().template
+         to_rcl_subscription_options<test_msgs::msg::Empty>(rclcpp::QoS(10));
+}
+
+}  // namespace
+
+class TestPublisher : public rclcpp::PublisherBase
+{
+public:
+  explicit TestPublisher(rclcpp::Node * node)
+  : rclcpp::PublisherBase(
+      node->get_node_base_interface().get(), "topic", EmptyTypeSupport(), PublisherOptions()) {}
+};
+
+class TestSubscription : public rclcpp::SubscriptionBase
+{
+public:
+  explicit TestSubscription(rclcpp::Node * node)
+  : rclcpp::SubscriptionBase(
+      node->get_node_base_interface().get(), EmptyTypeSupport(), "topic", SubscriptionOptions()) {}
+  std::shared_ptr<void> create_message() override {return nullptr;}
+
+  std::shared_ptr<rclcpp::SerializedMessage>
+  create_serialized_message() override {return nullptr;}
+
+  void handle_message(std::shared_ptr<void> &, const rclcpp::MessageInfo &) override {}
+  void handle_loaned_message(void *, const rclcpp::MessageInfo &) override {}
+  void return_message(std::shared_ptr<void> &) override {}
+  void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> &) override {}
+};
+
+class TestNodeTopics : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeTopics, add_publisher)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  // This dynamic cast is not necessary for the unittest itself, but instead is used to ensure
+  // the proper type is being tested and covered.
+  auto * node_topics =
+    dynamic_cast<rclcpp::node_interfaces::NodeTopics *>(node->get_node_topics_interface().get());
+  ASSERT_NE(nullptr, node_topics);
+  auto publisher = std::make_shared<TestPublisher>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(node_topics->add_publisher(publisher, callback_group));
+
+  // Check that adding publisher from node to a callback group in different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_topics->add_publisher(publisher, callback_group_in_different_node),
+    std::runtime_error);
+}
+
+TEST_F(TestNodeTopics, add_subscription)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+  auto * node_topics =
+    dynamic_cast<rclcpp::node_interfaces::NodeTopics *>(node->get_node_topics_interface().get());
+  ASSERT_NE(nullptr, node_topics);
+  auto subscription = std::make_shared<TestSubscription>(node.get());
+  auto callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_NO_THROW(node_topics->add_subscription(subscription, callback_group));
+
+  // Check that adding subscription from node to callback group in different_node throws exception.
+  std::shared_ptr<rclcpp::Node> different_node = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group_in_different_node =
+    different_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  EXPECT_THROW(
+    node_topics->add_subscription(subscription, callback_group_in_different_node),
+    std::runtime_error);
+}

rclcpp/test/rclcpp/node_interfaces/test_node_waitables.cpp

@@ -0,0 +1,68 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+
+#include "rcl/node_options.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_waitables.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestWaitable : public rclcpp::Waitable
+{
+public:
+  bool add_to_wait_set(rcl_wait_set_t *) override {return false;}
+  bool is_ready(rcl_wait_set_t *) override {return false;}
+  void execute() override {}
+};
+
+class TestNodeWaitables : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNodeWaitables, add_remove_waitable)
+{
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", "ns");
+
+  auto * node_waitables =
+    dynamic_cast<rclcpp::node_interfaces::NodeWaitables *>(
+    node->get_node_waitables_interface().get());
+  ASSERT_NE(nullptr, node_waitables);
+
+  std::shared_ptr<rclcpp::Node> node2 = std::make_shared<rclcpp::Node>("node2", "ns");
+
+  auto callback_group1 = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  auto callback_group2 = node2->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  auto waitable = std::make_shared<TestWaitable>();
+  EXPECT_NO_THROW(
+    node_waitables->add_waitable(waitable, callback_group1));
+  EXPECT_THROW(
+    node_waitables->add_waitable(waitable, callback_group2),
+    std::runtime_error);
+  EXPECT_NO_THROW(node_waitables->remove_waitable(waitable, callback_group1));
+  EXPECT_NO_THROW(node_waitables->remove_waitable(waitable, callback_group2));
+}