Remove namespaces and namespace escalation e.g. node:: (#416)

* Remove publisher:: namespace

* Remove subscription:: namespace

* Remove client:: namespace

* Remove service:: namespace

* Remove parameter_client:: namespace

* Remove parameter_service:: namespace

* Remove rate:: namespace

* Remove timer:: namespace

* Remove node:: namespace

* Remove any_service_callback:: namespace

* Remove any_subscription_callback:: namespace

* Remove event:: namespace

* Remove ContextSharedPtr escalation

Users can use the  directive themselves if they want

* Remove single_threaded_executor:: namespace

* Remove multi_threaded_executor:: namespace

* Remove context:: namespace

* node:: removal from new logger additions

* Fix linter issues that has been triggered with uncrustify

* Remove utilities:: namespace

rclcpp/include/rclcpp/any_executable.hpp

@@ -42,11 +42,11 @@ struct AnyExecutable
   virtual ~AnyExecutable();
 
   // Only one of the following pointers will be set.
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscription;
+  rclcpp::SubscriptionBase::SharedPtr subscription;
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscription_intra_process;
+  rclcpp::SubscriptionBase::SharedPtr subscription_intra_process;
-  rclcpp::timer::TimerBase::SharedPtr timer;
+  rclcpp::TimerBase::SharedPtr timer;
-  rclcpp::service::ServiceBase::SharedPtr service;
+  rclcpp::ServiceBase::SharedPtr service;
-  rclcpp::client::ClientBase::SharedPtr client;
+  rclcpp::ClientBase::SharedPtr client;
   // These are used to keep the scope on the containing items
   rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -27,9 +27,6 @@
 namespace rclcpp
 {
 
-namespace any_service_callback
-{
-
 template<typename ServiceT>
 class AnyServiceCallback
 {
@@ -100,7 +97,6 @@ public:
   }
 };
 
-}  // namespace any_service_callback
 }  // namespace rclcpp
 
 #endif  // RCLCPP__ANY_SERVICE_CALLBACK_HPP_

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -30,9 +30,6 @@
 namespace rclcpp
 {
 
-namespace any_subscription_callback
-{
-
 template<typename MessageT, typename Alloc>
 class AnySubscriptionCallback
 {
@@ -209,7 +206,6 @@ private:
   MessageDeleter message_deleter_;
 };
 
-}  // namespace any_subscription_callback
 }  // namespace rclcpp
 
 #endif  // RCLCPP__ANY_SUBSCRIPTION_CALLBACK_HPP_

rclcpp/include/rclcpp/callback_group.hpp

@@ -59,19 +59,19 @@ public:
   explicit CallbackGroup(CallbackGroupType group_type);
 
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> &
+  const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
   get_subscription_ptrs() const;
 
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::timer::TimerBase::WeakPtr> &
+  const std::vector<rclcpp::TimerBase::WeakPtr> &
   get_timer_ptrs() const;
 
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::service::ServiceBase::WeakPtr> &
+  const std::vector<rclcpp::ServiceBase::WeakPtr> &
   get_service_ptrs() const;
 
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::client::ClientBase::WeakPtr> &
+  const std::vector<rclcpp::ClientBase::WeakPtr> &
   get_client_ptrs() const;
 
   RCLCPP_PUBLIC
@@ -87,27 +87,27 @@ protected:
 
   RCLCPP_PUBLIC
   void
-  add_subscription(const rclcpp::subscription::SubscriptionBase::SharedPtr subscription_ptr);
+  add_subscription(const rclcpp::SubscriptionBase::SharedPtr subscription_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_timer(const rclcpp::timer::TimerBase::SharedPtr timer_ptr);
+  add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_service(const rclcpp::service::ServiceBase::SharedPtr service_ptr);
+  add_service(const rclcpp::ServiceBase::SharedPtr service_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_client(const rclcpp::client::ClientBase::SharedPtr client_ptr);
+  add_client(const rclcpp::ClientBase::SharedPtr client_ptr);
 
   CallbackGroupType type_;
   // Mutex to protect the subsequent vectors of pointers.
   mutable std::mutex mutex_;
-  std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> subscription_ptrs_;
+  std::vector<rclcpp::SubscriptionBase::WeakPtr> subscription_ptrs_;
-  std::vector<rclcpp::timer::TimerBase::WeakPtr> timer_ptrs_;
+  std::vector<rclcpp::TimerBase::WeakPtr> timer_ptrs_;
-  std::vector<rclcpp::service::ServiceBase::WeakPtr> service_ptrs_;
+  std::vector<rclcpp::ServiceBase::WeakPtr> service_ptrs_;
-  std::vector<rclcpp::client::ClientBase::WeakPtr> client_ptrs_;
+  std::vector<rclcpp::ClientBase::WeakPtr> client_ptrs_;
   std::atomic_bool can_be_taken_from_;
 };
 

rclcpp/include/rclcpp/client.hpp

@@ -47,9 +47,6 @@ namespace node_interfaces
 class NodeBaseInterface;
 }  // namespace node_interfaces
 
-namespace client
-{
-
 class ClientBase
 {
 public:
@@ -282,7 +279,6 @@ private:
   std::mutex pending_requests_mutex_;
 };
 
-}  // namespace client
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CLIENT_HPP_

rclcpp/include/rclcpp/context.hpp

@@ -30,9 +30,6 @@
 namespace rclcpp
 {
 
-namespace context
-{
-
 class Context
 {
 public:
@@ -72,7 +69,6 @@ private:
   std::mutex mutex_;
 };
 
-}  // namespace context
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CONTEXT_HPP_

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -25,7 +25,7 @@ namespace contexts
 namespace default_context
 {
 
-class DefaultContext : public rclcpp::context::Context
+class DefaultContext : public rclcpp::Context
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(DefaultContext)

rclcpp/include/rclcpp/create_subscription.hpp

@@ -27,7 +27,7 @@ namespace rclcpp
 {
 
 template<typename MessageT, typename CallbackT, typename AllocatorT, typename SubscriptionT>
-typename rclcpp::subscription::Subscription<MessageT, AllocatorT>::SharedPtr
+typename rclcpp::Subscription<MessageT, AllocatorT>::SharedPtr
 create_subscription(
   rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
   const std::string & topic_name,

rclcpp/include/rclcpp/event.hpp

@@ -23,8 +23,6 @@
 
 namespace rclcpp
 {
-namespace event
-{
 
 class Event
 {
@@ -52,7 +50,6 @@ private:
   std::atomic_bool state_;
 };
 
-}  // namespace event
 }  // namespace rclcpp
 
 #endif  // RCLCPP__EVENT_HPP_

rclcpp/include/rclcpp/executor.hpp

@@ -38,10 +38,7 @@ namespace rclcpp
 {
 
 // Forward declaration is used in convenience method signature.
-namespace node
-{
 class Node;
-}  // namespace node
 
 namespace executor
 {
@@ -124,7 +121,7 @@ public:
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   RCLCPP_PUBLIC
   virtual void
-  add_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify = true);
+  add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
 
   /// Remove a node from the executor.
   /**
@@ -140,7 +137,7 @@ public:
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   RCLCPP_PUBLIC
   virtual void
-  remove_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify = true);
+  remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true);
 
   /// Add a node to executor, execute the next available unit of work, and remove the node.
   /**
@@ -162,7 +159,7 @@ public:
   }
 
   /// Convenience function which takes Node and forwards NodeBaseInterface.
-  template<typename NodeT = rclcpp::node::Node, typename T = std::milli>
+  template<typename NodeT = rclcpp::Node, typename T = std::milli>
   void
   spin_node_once(
     std::shared_ptr<NodeT> node,
@@ -185,7 +182,7 @@ public:
   /// Convenience function which takes Node and forwards NodeBaseInterface.
   RCLCPP_PUBLIC
   void
-  spin_node_some(std::shared_ptr<rclcpp::node::Node> node);
+  spin_node_some(std::shared_ptr<rclcpp::Node> node);
 
   /// Complete all available queued work without blocking.
   /**
@@ -236,7 +233,7 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    while (rclcpp::utilities::ok()) {
+    while (rclcpp::ok()) {
       // Do one item of work.
       spin_once(timeout_left);
       // Check if the future is set, return SUCCESS if it is.
@@ -295,24 +292,24 @@ protected:
   RCLCPP_PUBLIC
   static void
   execute_subscription(
-    rclcpp::subscription::SubscriptionBase::SharedPtr subscription);
+    rclcpp::SubscriptionBase::SharedPtr subscription);
 
   RCLCPP_PUBLIC
   static void
   execute_intra_process_subscription(
-    rclcpp::subscription::SubscriptionBase::SharedPtr subscription);
+    rclcpp::SubscriptionBase::SharedPtr subscription);
 
   RCLCPP_PUBLIC
   static void
-  execute_timer(rclcpp::timer::TimerBase::SharedPtr timer);
+  execute_timer(rclcpp::TimerBase::SharedPtr timer);
 
   RCLCPP_PUBLIC
   static void
-  execute_service(rclcpp::service::ServiceBase::SharedPtr service);
+  execute_service(rclcpp::ServiceBase::SharedPtr service);
 
   RCLCPP_PUBLIC
   static void
-  execute_client(rclcpp::client::ClientBase::SharedPtr client);
+  execute_client(rclcpp::ClientBase::SharedPtr client);
 
   RCLCPP_PUBLIC
   void
@@ -324,7 +321,7 @@ protected:
 
   RCLCPP_PUBLIC
   rclcpp::callback_group::CallbackGroup::SharedPtr
-  get_group_by_timer(rclcpp::timer::TimerBase::SharedPtr timer);
+  get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
   RCLCPP_PUBLIC
   void

rclcpp/include/rclcpp/executors.hpp

@@ -35,7 +35,7 @@ spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
 
 RCLCPP_PUBLIC
 void
-spin_some(rclcpp::node::Node::SharedPtr node_ptr);
+spin_some(rclcpp::Node::SharedPtr node_ptr);
 
 /// Create a default single-threaded executor and spin the specified node.
 /** \param[in] node_ptr Shared pointer to the node to spin. */
@@ -45,13 +45,13 @@ spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
 
 RCLCPP_PUBLIC
 void
-spin(rclcpp::node::Node::SharedPtr node_ptr);
+spin(rclcpp::Node::SharedPtr node_ptr);
 
 namespace executors
 {
 
-using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
+using rclcpp::executors::MultiThreadedExecutor;
-using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
+using rclcpp::executors::SingleThreadedExecutor;
 
 /// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
 /**
@@ -81,7 +81,7 @@ spin_node_until_future_complete(
   return retcode;
 }
 
-template<typename NodeT = rclcpp::node::Node, typename ResponseT, typename TimeT = std::milli>
+template<typename NodeT = rclcpp::Node, typename ResponseT, typename TimeT = std::milli>
 rclcpp::executor::FutureReturnCode
 spin_node_until_future_complete(
   rclcpp::executor::Executor & executor,
@@ -109,7 +109,7 @@ spin_until_future_complete(
   return executors::spin_node_until_future_complete<FutureT>(executor, node_ptr, future, timeout);
 }
 
-template<typename NodeT = rclcpp::node::Node, typename FutureT, typename TimeT = std::milli>
+template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeT = std::milli>
 rclcpp::executor::FutureReturnCode
 spin_until_future_complete(
   std::shared_ptr<NodeT> node_ptr,

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -28,8 +28,6 @@ namespace rclcpp
 {
 namespace executors
 {
-namespace multi_threaded_executor
-{
 
 class MultiThreadedExecutor : public executor::Executor
 {
@@ -63,7 +61,6 @@ private:
   size_t number_of_threads_;
 };
 
-}  // namespace multi_threaded_executor
 }  // namespace executors
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp

@@ -34,8 +34,6 @@ namespace rclcpp
 {
 namespace executors
 {
-namespace single_threaded_executor
-{
 
 /// Single-threaded executor implementation
 // This is the default executor created by rclcpp::spin.
@@ -64,7 +62,6 @@ private:
   RCLCPP_DISABLE_COPY(SingleThreadedExecutor)
 };
 
-}  // namespace single_threaded_executor
 }  // namespace executors
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/intra_process_manager.hpp

@@ -149,7 +149,7 @@ public:
    */
   RCLCPP_PUBLIC
   uint64_t
-  add_subscription(subscription::SubscriptionBase::SharedPtr subscription);
+  add_subscription(SubscriptionBase::SharedPtr subscription);
 
   /// Unregister a subscription using the subscription's unique id.
   /**
@@ -187,14 +187,14 @@ public:
   template<typename MessageT, typename Alloc>
   uint64_t
   add_publisher(
-    typename publisher::Publisher<MessageT, Alloc>::SharedPtr publisher,
+    typename Publisher<MessageT, Alloc>::SharedPtr publisher,
     size_t buffer_size = 0)
   {
     auto id = IntraProcessManager::get_next_unique_id();
     size_t size = buffer_size > 0 ? buffer_size : publisher->get_queue_size();
     auto mrb = mapped_ring_buffer::MappedRingBuffer<
       MessageT,
-      typename publisher::Publisher<MessageT, Alloc>::MessageAlloc
+      typename Publisher<MessageT, Alloc>::MessageAlloc
       >::make_shared(size, publisher->get_allocator());
     impl_->add_publisher(id, publisher, mrb, size);
     return id;

rclcpp/include/rclcpp/intra_process_manager_impl.hpp

@@ -48,14 +48,14 @@ public:
   ~IntraProcessManagerImplBase() = default;
 
   virtual void
-  add_subscription(uint64_t id, subscription::SubscriptionBase::SharedPtr subscription) = 0;
+  add_subscription(uint64_t id, SubscriptionBase::SharedPtr subscription) = 0;
 
   virtual void
   remove_subscription(uint64_t intra_process_subscription_id) = 0;
 
   virtual void add_publisher(
     uint64_t id,
-    publisher::PublisherBase::WeakPtr publisher,
+    PublisherBase::WeakPtr publisher,
     mapped_ring_buffer::MappedRingBufferBase::SharedPtr mrb,
     size_t size) = 0;
 
@@ -92,7 +92,7 @@ public:
   ~IntraProcessManagerImpl() = default;
 
   void
-  add_subscription(uint64_t id, subscription::SubscriptionBase::SharedPtr subscription)
+  add_subscription(uint64_t id, SubscriptionBase::SharedPtr subscription)
   {
     subscriptions_[id] = subscription;
     // subscription->get_topic_name() -> const char * can be used as the key,
@@ -118,7 +118,7 @@ public:
 
   void add_publisher(
     uint64_t id,
-    publisher::PublisherBase::WeakPtr publisher,
+    PublisherBase::WeakPtr publisher,
     mapped_ring_buffer::MappedRingBufferBase::SharedPtr mrb,
     size_t size)
   {
@@ -258,9 +258,9 @@ private:
 
   using AllocSet = std::set<uint64_t, std::less<uint64_t>, RebindAlloc<uint64_t>>;
   using SubscriptionMap = std::unordered_map<
-      uint64_t, subscription::SubscriptionBase::WeakPtr,
+      uint64_t, SubscriptionBase::WeakPtr,
       std::hash<uint64_t>, std::equal_to<uint64_t>,
-      RebindAlloc<std::pair<const uint64_t, subscription::SubscriptionBase::WeakPtr>>>;
+      RebindAlloc<std::pair<const uint64_t, SubscriptionBase::WeakPtr>>>;
 
   struct strcmp_wrapper : public std::binary_function<const char *, const char *, bool>
   {
@@ -286,7 +286,7 @@ private:
 
     PublisherInfo() = default;
 
-    publisher::PublisherBase::WeakPtr publisher;
+    PublisherBase::WeakPtr publisher;
     std::atomic<uint64_t> sequence_number;
     mapped_ring_buffer::MappedRingBufferBase::SharedPtr buffer;
 

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -81,15 +81,15 @@ public:
   virtual rcl_allocator_t
   get_allocator() = 0;
 
-  static rclcpp::subscription::SubscriptionBase::SharedPtr
+  static rclcpp::SubscriptionBase::SharedPtr
   get_subscription_by_handle(
     const rcl_subscription_t * subscriber_handle,
     const WeakNodeVector & weak_nodes);
 
-  static rclcpp::service::ServiceBase::SharedPtr
+  static rclcpp::ServiceBase::SharedPtr
   get_service_by_handle(const rcl_service_t * service_handle, const WeakNodeVector & weak_nodes);
 
-  static rclcpp::client::ClientBase::SharedPtr
+  static rclcpp::ClientBase::SharedPtr
   get_client_by_handle(const rcl_client_t * client_handle, const WeakNodeVector & weak_nodes);
 
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
@@ -99,17 +99,17 @@ public:
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_subscription(
-    rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+    rclcpp::SubscriptionBase::SharedPtr subscription,
     const WeakNodeVector & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_service(
-    rclcpp::service::ServiceBase::SharedPtr service,
+    rclcpp::ServiceBase::SharedPtr service,
     const WeakNodeVector & weak_nodes);
 
   static rclcpp::callback_group::CallbackGroup::SharedPtr
   get_group_by_client(
-    rclcpp::client::ClientBase::SharedPtr client,
+    rclcpp::ClientBase::SharedPtr client,
     const WeakNodeVector & weak_nodes);
 };
 

rclcpp/include/rclcpp/node.hpp

@@ -60,9 +60,6 @@
 namespace rclcpp
 {
 
-namespace node
-{
-
 /// Node is the single point of entry for creating publishers and subscribers.
 class Node : public std::enable_shared_from_this<Node>
 {
@@ -82,7 +79,7 @@ public:
     const std::string & namespace_ = "",
     bool use_intra_process_comms = false);
 
-  /// Create a node based on the node name and a rclcpp::context::Context.
+  /// Create a node based on the node name and a rclcpp::Context.
   /**
    * \param[in] node_name Name of the node.
    * \param[in] namespace_ Namespace of the node.
@@ -94,7 +91,7 @@ public:
   Node(
     const std::string & node_name,
     const std::string & namespace_,
-    rclcpp::context::Context::SharedPtr context,
+    rclcpp::Context::SharedPtr context,
     bool use_intra_process_comms = false);
 
   RCLCPP_PUBLIC
@@ -137,7 +134,7 @@ public:
    */
   template<
     typename MessageT, typename Alloc = std::allocator<void>,
-    typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
+    typename PublisherT = ::rclcpp::Publisher<MessageT, Alloc>>
   std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name, size_t qos_history_depth,
@@ -152,7 +149,7 @@ public:
    */
   template<
     typename MessageT, typename Alloc = std::allocator<void>,
-    typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
+    typename PublisherT = ::rclcpp::Publisher<MessageT, Alloc>>
   std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name,
@@ -178,7 +175,7 @@ public:
     typename MessageT,
     typename CallbackT,
     typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
+    typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -209,7 +206,7 @@ public:
     typename MessageT,
     typename CallbackT,
     typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
+    typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -228,7 +225,7 @@ public:
    * \param[in] group Callback group to execute this timer's callback in.
    */
   template<typename DurationT = std::milli, typename CallbackT>
-  typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
+  typename rclcpp::WallTimer<CallbackT>::SharedPtr
   create_wall_timer(
     std::chrono::duration<int64_t, DurationT> period,
     CallbackT callback,
@@ -236,7 +233,7 @@ public:
 
   /* Create and return a Client. */
   template<typename ServiceT>
-  typename rclcpp::client::Client<ServiceT>::SharedPtr
+  typename rclcpp::Client<ServiceT>::SharedPtr
   create_client(
     const std::string & service_name,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
@@ -244,7 +241,7 @@ public:
 
   /* Create and return a Service. */
   template<typename ServiceT, typename CallbackT>
-  typename rclcpp::service::Service<ServiceT>::SharedPtr
+  typename rclcpp::Service<ServiceT>::SharedPtr
   create_service(
     const std::string & service_name,
     CallbackT && callback,
@@ -353,7 +350,7 @@ public:
    * out of scope.
    */
   RCLCPP_PUBLIC
-  rclcpp::event::Event::SharedPtr
+  rclcpp::Event::SharedPtr
   get_graph_event();
 
   /// Wait for a graph event to occur by waiting on an Event to become set.
@@ -367,7 +364,7 @@ public:
   RCLCPP_PUBLIC
   void
   wait_for_graph_change(
-    rclcpp::event::Event::SharedPtr event,
+    rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout);
 
   RCLCPP_PUBLIC
@@ -432,7 +429,6 @@ private:
   bool use_intra_process_comms_;
 };
 
-}  // namespace node
 }  // namespace rclcpp
 
 #ifndef RCLCPP__NODE_IMPL_HPP_

rclcpp/include/rclcpp/node_impl.hpp

@@ -49,8 +49,6 @@
 
 namespace rclcpp
 {
-namespace node
-{
 
 template<typename MessageT, typename Alloc, typename PublisherT>
 std::shared_ptr<PublisherT>
@@ -141,13 +139,13 @@ Node::create_subscription(
 }
 
 template<typename DurationT, typename CallbackT>
-typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
+typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
   std::chrono::duration<int64_t, DurationT> period,
   CallbackT callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  auto timer = rclcpp::timer::WallTimer<CallbackT>::make_shared(
+  auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
     std::chrono::duration_cast<std::chrono::nanoseconds>(period),
     std::move(callback));
   node_timers_->add_timer(timer, group);
@@ -155,7 +153,7 @@ Node::create_wall_timer(
 }
 
 template<typename ServiceT>
-typename client::Client<ServiceT>::SharedPtr
+typename Client<ServiceT>::SharedPtr
 Node::create_client(
   const std::string & service_name,
   const rmw_qos_profile_t & qos_profile,
@@ -164,8 +162,8 @@ Node::create_client(
   rcl_client_options_t options = rcl_client_get_default_options();
   options.qos = qos_profile;
 
-  using rclcpp::client::Client;
+  using rclcpp::Client;
-  using rclcpp::client::ClientBase;
+  using rclcpp::ClientBase;
 
   auto cli = Client<ServiceT>::make_shared(
     node_base_.get(),
@@ -179,23 +177,23 @@ Node::create_client(
 }
 
 template<typename ServiceT, typename CallbackT>
-typename rclcpp::service::Service<ServiceT>::SharedPtr
+typename rclcpp::Service<ServiceT>::SharedPtr
 Node::create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
+  rclcpp::AnyServiceCallback<ServiceT> any_service_callback;
   any_service_callback.set(std::forward<CallbackT>(callback));
 
   rcl_service_options_t service_options = rcl_service_get_default_options();
   service_options.qos = qos_profile;
 
-  auto serv = service::Service<ServiceT>::make_shared(
+  auto serv = Service<ServiceT>::make_shared(
     node_base_->get_shared_rcl_node_handle(),
     service_name, any_service_callback, service_options);
-  auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
+  auto serv_base_ptr = std::dynamic_pointer_cast<ServiceBase>(serv);
   node_services_->add_service(serv_base_ptr, group);
   return serv;
 }
@@ -216,8 +214,8 @@ Node::set_parameter_if_not_set(
   rclcpp::parameter::ParameterVariant parameter_variant;
   if (!this->get_parameter(name, parameter_variant)) {
     this->set_parameters({
-          rclcpp::parameter::ParameterVariant(name, value),
+        rclcpp::parameter::ParameterVariant(name, value),
-        });
+      });
   }
 }
 
@@ -248,7 +246,6 @@ Node::get_parameter_or(
   return got_parameter;
 }
 
-}  // namespace node
 }  // namespace rclcpp
 
 #endif  // RCLCPP__NODE_IMPL_HPP_

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -39,7 +39,7 @@ public:
   NodeBase(
     const std::string & node_name,
     const std::string & namespace_,
-    rclcpp::context::Context::SharedPtr context);
+    rclcpp::Context::SharedPtr context);
 
   RCLCPP_PUBLIC
   virtual
@@ -57,7 +57,7 @@ public:
 
   RCLCPP_PUBLIC
   virtual
-  rclcpp::context::Context::SharedPtr
+  rclcpp::Context::SharedPtr
   get_context();
 
   RCLCPP_PUBLIC
@@ -118,7 +118,7 @@ public:
 private:
   RCLCPP_DISABLE_COPY(NodeBase)
 
-  rclcpp::context::Context::SharedPtr context_;
+  rclcpp::Context::SharedPtr context_;
 
   std::shared_ptr<rcl_node_t> node_handle_;
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -56,7 +56,7 @@ public:
   /** \return SharedPtr to the node's context. */
   RCLCPP_PUBLIC
   virtual
-  rclcpp::context::Context::SharedPtr
+  rclcpp::Context::SharedPtr
   get_context() = 0;
 
   /// Return the rcl_node_t node handle (non-const version).

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

@@ -96,14 +96,14 @@ public:
 
   RCLCPP_PUBLIC
   virtual
-  rclcpp::event::Event::SharedPtr
+  rclcpp::Event::SharedPtr
   get_graph_event();
 
   RCLCPP_PUBLIC
   virtual
   void
   wait_for_graph_change(
-    rclcpp::event::Event::SharedPtr event,
+    rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout);
 
   RCLCPP_PUBLIC
@@ -127,7 +127,7 @@ private:
   /// For notifying waiting threads (wait_for_graph_change()) on changes (notify_graph_change()).
   std::condition_variable graph_cv_;
   /// Weak references to graph events out on loan.
-  std::vector<rclcpp::event::Event::WeakPtr> graph_events_;
+  std::vector<rclcpp::Event::WeakPtr> graph_events_;
   /// Number of graph events out on loan, used to determine if the graph should be monitored.
   /** graph_users_count_ is atomic so that it can be accessed without acquiring the graph_mutex_ */
   std::atomic_size_t graph_users_count_;

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -113,7 +113,7 @@ public:
    */
   RCLCPP_PUBLIC
   virtual
-  rclcpp::event::Event::SharedPtr
+  rclcpp::Event::SharedPtr
   get_graph_event() = 0;
 
   /// Wait for a graph event to occur by waiting on an Event to become set.
@@ -128,7 +128,7 @@ public:
   virtual
   void
   wait_for_graph_change(
-    rclcpp::event::Event::SharedPtr event,
+    rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout) = 0;
 
   /// Return the number of on loan graph events, see get_graph_event().

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -113,7 +113,7 @@ private:
 
   std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;
 
-  publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
+  Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_services.hpp

@@ -45,14 +45,14 @@ public:
   virtual
   void
   add_client(
-    rclcpp::client::ClientBase::SharedPtr client_base_ptr,
+    rclcpp::ClientBase::SharedPtr client_base_ptr,
     rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
   virtual
   void
   add_service(
-    rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
+    rclcpp::ServiceBase::SharedPtr service_base_ptr,
     rclcpp::callback_group::CallbackGroup::SharedPtr group);
 
 private:

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

@@ -36,14 +36,14 @@ public:
   virtual
   void
   add_client(
-    rclcpp::client::ClientBase::SharedPtr client_base_ptr,
+    rclcpp::ClientBase::SharedPtr client_base_ptr,
     rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
 
   RCLCPP_PUBLIC
   virtual
   void
   add_service(
-    rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
+    rclcpp::ServiceBase::SharedPtr service_base_ptr,
     rclcpp::callback_group::CallbackGroup::SharedPtr group) = 0;
 };
 

rclcpp/include/rclcpp/node_interfaces/node_timers.hpp

@@ -45,7 +45,7 @@ public:
   virtual
   void
   add_timer(
-    rclcpp::timer::TimerBase::SharedPtr timer,
+    rclcpp::TimerBase::SharedPtr timer,
     rclcpp::callback_group::CallbackGroup::SharedPtr callback_group);
 
 private:

rclcpp/include/rclcpp/node_interfaces/node_timers_interface.hpp

@@ -36,7 +36,7 @@ public:
   virtual
   void
   add_timer(
-    rclcpp::timer::TimerBase::SharedPtr timer,
+    rclcpp::TimerBase::SharedPtr timer,
     rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
 };
 

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -47,7 +47,7 @@ public:
 
   RCLCPP_PUBLIC
   virtual
-  rclcpp::publisher::PublisherBase::SharedPtr
+  rclcpp::PublisherBase::SharedPtr
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
@@ -58,11 +58,11 @@ public:
   virtual
   void
   add_publisher(
-    rclcpp::publisher::PublisherBase::SharedPtr publisher);
+    rclcpp::PublisherBase::SharedPtr publisher);
 
   RCLCPP_PUBLIC
   virtual
-  rclcpp::subscription::SubscriptionBase::SharedPtr
+  rclcpp::SubscriptionBase::SharedPtr
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
@@ -73,7 +73,7 @@ public:
   virtual
   void
   add_subscription(
-    rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+    rclcpp::SubscriptionBase::SharedPtr subscription,
     rclcpp::callback_group::CallbackGroup::SharedPtr callback_group);
 
 private:

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -42,7 +42,7 @@ public:
 
   RCLCPP_PUBLIC
   virtual
-  rclcpp::publisher::PublisherBase::SharedPtr
+  rclcpp::PublisherBase::SharedPtr
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
@@ -53,11 +53,11 @@ public:
   virtual
   void
   add_publisher(
-    rclcpp::publisher::PublisherBase::SharedPtr publisher) = 0;
+    rclcpp::PublisherBase::SharedPtr publisher) = 0;
 
   RCLCPP_PUBLIC
   virtual
-  rclcpp::subscription::SubscriptionBase::SharedPtr
+  rclcpp::SubscriptionBase::SharedPtr
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
@@ -68,7 +68,7 @@ public:
   virtual
   void
   add_subscription(
-    rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+    rclcpp::SubscriptionBase::SharedPtr subscription,
     rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
 };
 

rclcpp/include/rclcpp/parameter_client.hpp

@@ -40,8 +40,6 @@
 
 namespace rclcpp
 {
-namespace parameter_client
-{
 
 class AsyncParametersClient
 {
@@ -59,13 +57,13 @@ public:
 
   RCLCPP_PUBLIC
   AsyncParametersClient(
-    const rclcpp::node::Node::SharedPtr node,
+    const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   AsyncParametersClient(
-    rclcpp::node::Node * node,
+    rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
@@ -114,8 +112,8 @@ public:
     typename CallbackT,
     typename Alloc = std::allocator<void>,
     typename SubscriptionT =
-    rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent, Alloc>>
+    rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent, Alloc>>
-  typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
+  typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(CallbackT && callback)
   {
     using rclcpp::message_memory_strategy::MessageMemoryStrategy;
@@ -156,14 +154,14 @@ protected:
 
 private:
   const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface_;
-  rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
+  rclcpp::Client<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
+  rclcpp::Client<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
     get_parameter_types_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_client_;
+  rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
+  rclcpp::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
     set_parameters_atomically_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_client_;
+  rclcpp::Client<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_client_;
-  rclcpp::client::Client<rcl_interfaces::srv::DescribeParameters>::SharedPtr
+  rclcpp::Client<rcl_interfaces::srv::DescribeParameters>::SharedPtr
     describe_parameters_client_;
   std::string remote_node_name_;
 };
@@ -175,14 +173,14 @@ public:
 
   RCLCPP_PUBLIC
   explicit SyncParametersClient(
-    rclcpp::node::Node::SharedPtr node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   SyncParametersClient(
     rclcpp::executor::Executor::SharedPtr executor,
-    rclcpp::node::Node::SharedPtr node,
+    rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
@@ -246,7 +244,7 @@ public:
     uint64_t depth);
 
   template<typename CallbackT>
-  typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
+  typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(CallbackT && callback)
   {
     return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback));
@@ -269,11 +267,10 @@ public:
 
 private:
   rclcpp::executor::Executor::SharedPtr executor_;
-  rclcpp::node::Node::SharedPtr node_;
+  rclcpp::Node::SharedPtr node_;
   AsyncParametersClient::SharedPtr async_parameters_client_;
 };
 
-}  // namespace parameter_client
 }  // namespace rclcpp
 
 #endif  // RCLCPP__PARAMETER_CLIENT_HPP_

rclcpp/include/rclcpp/parameter_service.hpp

@@ -32,8 +32,6 @@
 
 namespace rclcpp
 {
-namespace parameter_service
-{
 
 class ParameterService
 {
@@ -42,23 +40,22 @@ public:
 
   RCLCPP_PUBLIC
   explicit ParameterService(
-    const rclcpp::node::Node::SharedPtr node,
+    const rclcpp::Node::SharedPtr node,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
 private:
-  const rclcpp::node::Node::SharedPtr node_;
+  const rclcpp::Node::SharedPtr node_;
-  rclcpp::service::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;
+  rclcpp::Service<rcl_interfaces::srv::GetParameters>::SharedPtr get_parameters_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
+  rclcpp::Service<rcl_interfaces::srv::GetParameterTypes>::SharedPtr
     get_parameter_types_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_service_;
+  rclcpp::Service<rcl_interfaces::srv::SetParameters>::SharedPtr set_parameters_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
+  rclcpp::Service<rcl_interfaces::srv::SetParametersAtomically>::SharedPtr
     set_parameters_atomically_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::DescribeParameters>::SharedPtr
+  rclcpp::Service<rcl_interfaces::srv::DescribeParameters>::SharedPtr
     describe_parameters_service_;
-  rclcpp::service::Service<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_service_;
+  rclcpp::Service<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_service_;
 };
 
-}  // namespace parameter_service
 }  // namespace rclcpp
 
 #endif  // RCLCPP__PARAMETER_SERVICE_HPP_

rclcpp/include/rclcpp/publisher.hpp

@@ -45,9 +45,6 @@ namespace node_interfaces
 class NodeTopicsInterface;
 }
 
-namespace publisher
-{
-
 class PublisherBase
 {
   friend ::rclcpp::node_interfaces::NodeTopicsInterface;
@@ -305,8 +302,6 @@ protected:
   MessageDeleter message_deleter_;
 };
 
-}  // namespace publisher
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__PUBLISHER_HPP_

rclcpp/include/rclcpp/publisher_factory.hpp

@@ -46,7 +46,7 @@ struct PublisherFactory
 {
   // Creates a PublisherT<MessageT, ...> publisher object and returns it as a PublisherBase.
   using PublisherFactoryFunction = std::function<
-      rclcpp::publisher::PublisherBase::SharedPtr(
+      rclcpp::PublisherBase::SharedPtr(
         rclcpp::node_interfaces::NodeBaseInterface * node_base,
         const std::string & topic_name,
         rcl_publisher_options_t & publisher_options)>;
@@ -58,7 +58,7 @@ struct PublisherFactory
   using AddPublisherToIntraProcessManagerFunction = std::function<
       uint64_t(
         rclcpp::intra_process_manager::IntraProcessManager * ipm,
-        rclcpp::publisher::PublisherBase::SharedPtr publisher)>;
+        rclcpp::PublisherBase::SharedPtr publisher)>;
 
   AddPublisherToIntraProcessManagerFunction add_publisher_to_intra_process_manager;
 
@@ -66,7 +66,7 @@ struct PublisherFactory
   // PublisherT::publish() and which handles the intra process transmission of
   // the message being published.
   using SharedPublishCallbackFactoryFunction = std::function<
-      rclcpp::publisher::PublisherBase::StoreMessageCallbackT(
+      rclcpp::PublisherBase::StoreMessageCallbackT(
         rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm)>;
 
   SharedPublishCallbackFactoryFunction create_shared_publish_callback;
@@ -96,13 +96,13 @@ create_publisher_factory(std::shared_ptr<Alloc> allocator)
   factory.add_publisher_to_intra_process_manager =
     [](
     rclcpp::intra_process_manager::IntraProcessManager * ipm,
-    rclcpp::publisher::PublisherBase::SharedPtr publisher) -> uint64_t
+    rclcpp::PublisherBase::SharedPtr publisher) -> uint64_t
     {
       return ipm->add_publisher<MessageT, Alloc>(std::dynamic_pointer_cast<PublisherT>(publisher));
     };
 
   // function to create a shared publish callback std::function
-  using StoreMessageCallbackT = rclcpp::publisher::PublisherBase::StoreMessageCallbackT;
+  using StoreMessageCallbackT = rclcpp::PublisherBase::StoreMessageCallbackT;
   factory.create_shared_publish_callback =
     [](rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm) -> StoreMessageCallbackT
     {
@@ -129,7 +129,7 @@ create_publisher_factory(std::shared_ptr<Alloc> allocator)
                     "' is incompatible from the publisher type '" + message_type_info.name() + "'");
           }
           MessageT * typed_message_ptr = static_cast<MessageT *>(msg);
-          using MessageDeleter = typename publisher::Publisher<MessageT, Alloc>::MessageDeleter;
+          using MessageDeleter = typename Publisher<MessageT, Alloc>::MessageDeleter;
           std::unique_ptr<MessageT, MessageDeleter> unique_msg(typed_message_ptr);
           uint64_t message_seq =
             ipm->store_intra_process_message<MessageT, Alloc>(publisher_id, unique_msg);

rclcpp/include/rclcpp/rate.hpp

@@ -25,8 +25,6 @@
 
 namespace rclcpp
 {
-namespace rate
-{
 
 class RateBase
 {
@@ -84,7 +82,7 @@ public:
       return false;
     }
     // Sleep (will get interrupted by ctrl-c, may not sleep full time)
-    rclcpp::utilities::sleep_for(time_to_sleep);
+    rclcpp::sleep_for(time_to_sleep);
     return true;
   }
 
@@ -116,7 +114,6 @@ private:
 using Rate = GenericRate<std::chrono::system_clock>;
 using WallRate = GenericRate<std::chrono::steady_clock>;
 
-}  // namespace rate
 }  // namespace rclcpp
 
 #endif  // RCLCPP__RATE_HPP_

rclcpp/include/rclcpp/rclcpp.hpp

@@ -18,46 +18,46 @@
  * It consists of these main components:
  *
  * - Node
- *   - rclcpp::node::Node
+ *   - rclcpp::Node
  *   - rclcpp/node.hpp
  * - Publisher
- *   - rclcpp::node::Node::create_publisher()
+ *   - rclcpp::Node::create_publisher()
- *   - rclcpp::publisher::Publisher
+ *   - rclcpp::Publisher
- *   - rclcpp::publisher::Publisher::publish()
+ *   - rclcpp::Publisher::publish()
  *   - rclcpp/publisher.hpp
  * - Subscription
- *   - rclcpp::node::Node::create_subscription()
+ *   - rclcpp::Node::create_subscription()
- *   - rclcpp::subscription::Subscription
+ *   - rclcpp::Subscription
  *   - rclcpp/subscription.hpp
  * - Service Client
- *   - rclcpp::node::Node::create_client()
+ *   - rclcpp::Node::create_client()
- *   - rclcpp::client::Client
+ *   - rclcpp::Client
  *   - rclcpp/client.hpp
  * - Service Server
- *   - rclcpp::node::Node::create_service()
+ *   - rclcpp::Node::create_service()
- *   - rclcpp::service::Service
+ *   - rclcpp::Service
  *   - rclcpp/service.hpp
  * - Timer
- *   - rclcpp::node::Node::create_wall_timer()
+ *   - rclcpp::Node::create_wall_timer()
- *   - rclcpp::timer::WallTimer
+ *   - rclcpp::WallTimer
- *   - rclcpp::timer::TimerBase
+ *   - rclcpp::TimerBase
  *   - rclcpp/timer.hpp
  * - Parameters:
- *   - rclcpp::node::Node::set_parameters()
+ *   - rclcpp::Node::set_parameters()
- *   - rclcpp::node::Node::get_parameters()
+ *   - rclcpp::Node::get_parameters()
- *   - rclcpp::node::Node::get_parameter()
+ *   - rclcpp::Node::get_parameter()
- *   - rclcpp::node::Node::describe_parameters()
+ *   - rclcpp::Node::describe_parameters()
- *   - rclcpp::node::Node::list_parameters()
+ *   - rclcpp::Node::list_parameters()
- *   - rclcpp::node::Node::register_param_change_callback()
+ *   - rclcpp::Node::register_param_change_callback()
  *   - rclcpp::parameter::ParameterVariant
- *   - rclcpp::parameter_client::AsyncParametersClient
+ *   - rclcpp::AsyncParametersClient
- *   - rclcpp::parameter_client::SyncParametersClient
+ *   - rclcpp::SyncParametersClient
  *   - rclcpp/parameter.hpp
  *   - rclcpp/parameter_client.hpp
  *   - rclcpp/parameter_service.hpp
  * - Rate:
- *   - rclcpp::rate::Rate
+ *   - rclcpp::Rate
- *   - rclcpp::rate::WallRate
+ *   - rclcpp::WallRate
  *   - rclcpp/rate.hpp
  *
  * There are also some components which help control the execution of callbacks:
@@ -66,32 +66,32 @@
  *   - rclcpp::spin()
  *   - rclcpp::spin_some()
  *   - rclcpp::spin_until_future_complete()
- *   - rclcpp::executors::single_threaded_executor::SingleThreadedExecutor
+ *   - rclcpp::executors::SingleThreadedExecutor
- *   - rclcpp::executors::single_threaded_executor::SingleThreadedExecutor::add_node()
+ *   - rclcpp::executors::SingleThreadedExecutor::add_node()
- *   - rclcpp::executors::single_threaded_executor::SingleThreadedExecutor::spin()
+ *   - rclcpp::executors::SingleThreadedExecutor::spin()
- *   - rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor
+ *   - rclcpp::executors::MultiThreadedExecutor
- *   - rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor::add_node()
+ *   - rclcpp::executors::MultiThreadedExecutor::add_node()
- *   - rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor::spin()
+ *   - rclcpp::executors::MultiThreadedExecutor::spin()
  *   - rclcpp/executor.hpp
  *   - rclcpp/executors.hpp
  *   - rclcpp/executors/single_threaded_executor.hpp
  *   - rclcpp/executors/multi_threaded_executor.hpp
  * - CallbackGroups (mechanism for enforcing concurrency rules for callbacks):
- *   - rclcpp::node::Node::create_callback_group()
+ *   - rclcpp::Node::create_callback_group()
  *   - rclcpp::callback_group::CallbackGroup
  *   - rclcpp/callback_group.hpp
  *
  * Additionally, there are some methods for introspecting the ROS graph:
  *
  * - Graph Events (a waitable event object that wakes up when the graph changes):
- *   - rclcpp::node::Node::get_graph_event()
+ *   - rclcpp::Node::get_graph_event()
- *   - rclcpp::node::Node::wait_for_graph_change()
+ *   - rclcpp::Node::wait_for_graph_change()
- *   - rclcpp::event::Event
+ *   - rclcpp::Event
  * - List topic names and types:
- *   - rclcpp::node::Node::get_topic_names_and_types()
+ *   - rclcpp::Node::get_topic_names_and_types()
  * - Get the number of publishers or subscribers on a topic:
- *   - rclcpp::node::Node::count_publishers()
+ *   - rclcpp::Node::count_publishers()
- *   - rclcpp::node::Node::count_subscribers()
+ *   - rclcpp::Node::count_subscribers()
  *
  * And components related to logging:
  *
@@ -105,7 +105,7 @@
  * - Logger:
  *   - rclcpp::Logger
  *   - rclcpp/logger.hpp
- *   - rclcpp::node::Node::get_logger()
+ *   - rclcpp::Node::get_logger()
  *
  * Finally, there are many internal API's and utilities:
  *
@@ -121,7 +121,7 @@
  *   - rclcpp/strategies/allocator_memory_strategy.hpp
  *   - rclcpp/strategies/message_pool_memory_strategy.hpp
  * - Context object which is shared amongst multiple Nodes:
- *   - rclcpp::context::Context
+ *   - rclcpp::Context
  *   - rclcpp/context.hpp
  *   - rclcpp/contexts/default_context.hpp
  * - Various utilities:
@@ -150,34 +150,4 @@
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-namespace rclcpp
-{
-
-// Namespace escalations.
-// For example, this next line escalates type "rclcpp:node::Node" to "rclcpp::Node"
-using rclcpp::node::Node;
-using rclcpp::publisher::Publisher;
-using rclcpp::publisher::PublisherBase;
-using rclcpp::subscription::Subscription;
-using rclcpp::subscription::SubscriptionBase;
-using rclcpp::client::Client;
-using rclcpp::client::ClientBase;
-using rclcpp::service::Service;
-using rclcpp::service::ServiceBase;
-using rclcpp::parameter_client::AsyncParametersClient;
-using rclcpp::parameter_client::SyncParametersClient;
-using rclcpp::parameter_service::ParameterService;
-using rclcpp::rate::GenericRate;
-using rclcpp::rate::WallRate;
-using rclcpp::timer::GenericTimer;
-using rclcpp::timer::TimerBase;
-using rclcpp::timer::WallTimer;
-using ContextSharedPtr = rclcpp::context::Context::SharedPtr;
-using rclcpp::utilities::ok;
-using rclcpp::utilities::shutdown;
-using rclcpp::utilities::init;
-using rclcpp::utilities::sleep_for;
-
-}  // namespace rclcpp
-
 #endif  // RCLCPP__RCLCPP_HPP_

rclcpp/include/rclcpp/service.hpp

@@ -35,8 +35,6 @@
 
 namespace rclcpp
 {
-namespace service
-{
 
 class ServiceBase
 {
@@ -91,8 +89,6 @@ protected:
   bool owns_rcl_handle_ = true;
 };
 
-using any_service_callback::AnyServiceCallback;
-
 template<typename ServiceT>
 class Service : public ServiceBase
 {
@@ -223,7 +219,6 @@ private:
   AnyServiceCallback<ServiceT> any_callback_;
 };
 
-}  // namespace service
 }  // namespace rclcpp
 
 #endif  // RCLCPP__SERVICE_HPP_

rclcpp/include/rclcpp/subscription.hpp

@@ -45,9 +45,6 @@ namespace node_interfaces
 class NodeTopicsInterface;
 }  // namespace node_interfaces
 
-namespace subscription
-{
-
 /// Virtual base class for subscriptions. This pattern allows us to iterate over different template
 /// specializations of Subscription, among other things.
 class SubscriptionBase
@@ -121,8 +118,6 @@ private:
   RCLCPP_DISABLE_COPY(SubscriptionBase)
 };
 
-using any_subscription_callback::AnySubscriptionCallback;
-
 /// Subscription implementation, templated on the type of message this subscription receives.
 template<typename MessageT, typename Alloc = std::allocator<void>>
 class Subscription : public SubscriptionBase
@@ -292,7 +287,6 @@ private:
   uint64_t intra_process_subscription_id_;
 };
 
-}  // namespace subscription
 }  // namespace rclcpp
 
 #endif  // RCLCPP__SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -47,7 +47,7 @@ struct SubscriptionFactory
 {
   // Creates a Subscription<MessageT> object and returns it as a SubscriptionBase.
   using SubscriptionFactoryFunction = std::function<
-      rclcpp::subscription::SubscriptionBase::SharedPtr(
+      rclcpp::SubscriptionBase::SharedPtr(
         rclcpp::node_interfaces::NodeBaseInterface * node_base,
         const std::string & topic_name,
         rcl_subscription_options_t & subscription_options)>;
@@ -58,7 +58,7 @@ struct SubscriptionFactory
   using SetupIntraProcessFunction = std::function<
       void(
         rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
-        rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+        rclcpp::SubscriptionBase::SharedPtr subscription,
         const rcl_subscription_options_t & subscription_options)>;
 
   SetupIntraProcessFunction setup_intra_process;
@@ -75,12 +75,12 @@ create_subscription_factory(
 {
   SubscriptionFactory factory;
 
-  using rclcpp::subscription::AnySubscriptionCallback;
+  using rclcpp::AnySubscriptionCallback;
   AnySubscriptionCallback<MessageT, Alloc> any_subscription_callback(allocator);
   any_subscription_callback.set(std::forward<CallbackT>(callback));
 
   auto message_alloc =
-    std::make_shared<typename subscription::Subscription<MessageT, Alloc>::MessageAlloc>();
+    std::make_shared<typename Subscription<MessageT, Alloc>::MessageAlloc>();
 
   // factory function that creates a MessageT specific SubscriptionT
   factory.create_typed_subscription =
@@ -88,13 +88,13 @@ create_subscription_factory(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic_name,
     rcl_subscription_options_t & subscription_options
-    ) -> rclcpp::subscription::SubscriptionBase::SharedPtr
+    ) -> rclcpp::SubscriptionBase::SharedPtr
     {
       subscription_options.allocator =
         rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
 
-      using rclcpp::subscription::Subscription;
+      using rclcpp::Subscription;
-      using rclcpp::subscription::SubscriptionBase;
+      using rclcpp::SubscriptionBase;
 
       auto sub = Subscription<MessageT, Alloc>::make_shared(
         node_base->get_shared_rcl_node_handle(),
@@ -110,7 +110,7 @@ create_subscription_factory(
   factory.setup_intra_process =
     [message_alloc](
     rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
-    rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+    rclcpp::SubscriptionBase::SharedPtr subscription,
     const rcl_subscription_options_t & subscription_options)
     {
       rclcpp::intra_process_manager::IntraProcessManager::WeakPtr weak_ipm = ipm;
@@ -128,7 +128,7 @@ create_subscription_factory(
         uint64_t publisher_id,
         uint64_t message_sequence,
         uint64_t subscription_id,
-        typename rclcpp::subscription::Subscription<MessageT, Alloc>::MessageUniquePtr & message)
+        typename rclcpp::Subscription<MessageT, Alloc>::MessageUniquePtr & message)
         {
           auto ipm = weak_ipm.lock();
           if (!ipm) {

rclcpp/include/rclcpp/time_source.hpp

@@ -36,13 +36,13 @@ class TimeSource
 {
 public:
   RCLCPP_PUBLIC
-  explicit TimeSource(rclcpp::node::Node::SharedPtr node);
+  explicit TimeSource(rclcpp::Node::SharedPtr node);
 
   RCLCPP_PUBLIC
   TimeSource();
 
   RCLCPP_PUBLIC
-  void attachNode(rclcpp::node::Node::SharedPtr node);
+  void attachNode(rclcpp::Node::SharedPtr node);
 
   RCLCPP_PUBLIC
   void attachNode(
@@ -77,18 +77,18 @@ private:
   // The subscription for the clock callback
   using MessageT = builtin_interfaces::msg::Time;
   using Alloc = std::allocator<void>;
-  using SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>;
+  using SubscriptionT = rclcpp::Subscription<MessageT, Alloc>;
   std::shared_ptr<SubscriptionT> clock_subscription_;
 
   // The clock callback itself
   void clock_cb(const builtin_interfaces::msg::Time::SharedPtr msg);
 
   // Parameter Client pointer
-  std::shared_ptr<rclcpp::parameter_client::AsyncParametersClient> parameter_client_;
+  std::shared_ptr<rclcpp::AsyncParametersClient> parameter_client_;
 
   // Parameter Event subscription
   using ParamMessageT = rcl_interfaces::msg::ParameterEvent;
-  using ParamSubscriptionT = rclcpp::subscription::Subscription<ParamMessageT, Alloc>;
+  using ParamSubscriptionT = rclcpp::Subscription<ParamMessageT, Alloc>;
   std::shared_ptr<ParamSubscriptionT> parameter_subscription_;
 
   // Callback for parameter updates

rclcpp/include/rclcpp/timer.hpp

@@ -37,8 +37,6 @@
 
 namespace rclcpp
 {
-namespace timer
-{
 
 class TimerBase
 {
@@ -182,7 +180,6 @@ protected:
 template<typename CallbackType>
 using WallTimer = GenericTimer<CallbackType, std::chrono::steady_clock>;
 
-}  // namespace timer
 }  // namespace rclcpp
 
 #endif  // RCLCPP__TIMER_HPP_

rclcpp/include/rclcpp/utilities.hpp

@@ -44,8 +44,6 @@ std::string to_string(T value)
 
 namespace rclcpp
 {
-namespace utilities
-{
 
 /// Initialize communications via the rmw implementation and set up a global signal handler.
 /**
@@ -111,7 +109,6 @@ RCLCPP_PUBLIC
 bool
 sleep_for(const std::chrono::nanoseconds & nanoseconds);
 
-}  // namespace utilities
 }  // namespace rclcpp
 
 #endif  // RCLCPP__UTILITIES_HPP_

rclcpp/src/rclcpp/callback_group.cpp

@@ -23,28 +23,28 @@ CallbackGroup::CallbackGroup(CallbackGroupType group_type)
 : type_(group_type), can_be_taken_from_(true)
 {}
 
-const std::vector<rclcpp::subscription::SubscriptionBase::WeakPtr> &
+const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
 CallbackGroup::get_subscription_ptrs() const
 {
   std::lock_guard<std::mutex> lock(mutex_);
   return subscription_ptrs_;
 }
 
-const std::vector<rclcpp::timer::TimerBase::WeakPtr> &
+const std::vector<rclcpp::TimerBase::WeakPtr> &
 CallbackGroup::get_timer_ptrs() const
 {
   std::lock_guard<std::mutex> lock(mutex_);
   return timer_ptrs_;
 }
 
-const std::vector<rclcpp::service::ServiceBase::WeakPtr> &
+const std::vector<rclcpp::ServiceBase::WeakPtr> &
 CallbackGroup::get_service_ptrs() const
 {
   std::lock_guard<std::mutex> lock(mutex_);
   return service_ptrs_;
 }
 
-const std::vector<rclcpp::client::ClientBase::WeakPtr> &
+const std::vector<rclcpp::ClientBase::WeakPtr> &
 CallbackGroup::get_client_ptrs() const
 {
   std::lock_guard<std::mutex> lock(mutex_);
@@ -65,28 +65,28 @@ CallbackGroup::type() const
 
 void
 CallbackGroup::add_subscription(
-  const rclcpp::subscription::SubscriptionBase::SharedPtr subscription_ptr)
+  const rclcpp::SubscriptionBase::SharedPtr subscription_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   subscription_ptrs_.push_back(subscription_ptr);
 }
 
 void
-CallbackGroup::add_timer(const rclcpp::timer::TimerBase::SharedPtr timer_ptr)
+CallbackGroup::add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   timer_ptrs_.push_back(timer_ptr);
 }
 
 void
-CallbackGroup::add_service(const rclcpp::service::ServiceBase::SharedPtr service_ptr)
+CallbackGroup::add_service(const rclcpp::ServiceBase::SharedPtr service_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   service_ptrs_.push_back(service_ptr);
 }
 
 void
-CallbackGroup::add_client(const rclcpp::client::ClientBase::SharedPtr client_ptr)
+CallbackGroup::add_client(const rclcpp::ClientBase::SharedPtr client_ptr)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   client_ptrs_.push_back(client_ptr);

rclcpp/src/rclcpp/client.cpp

@@ -27,7 +27,7 @@
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/utilities.hpp"
 
-using rclcpp::client::ClientBase;
+using rclcpp::ClientBase;
 using rclcpp::exceptions::InvalidNodeError;
 using rclcpp::exceptions::throw_from_rcl_error;
 
@@ -100,7 +100,7 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
   }
   // continue forever if timeout is negative, otherwise continue until out of time_to_wait
   do {
-    if (!rclcpp::utilities::ok()) {
+    if (!rclcpp::ok()) {
       return false;
     }
     node_ptr->wait_for_graph_change(event, time_to_wait);

rclcpp/src/rclcpp/context.cpp

@@ -14,6 +14,6 @@
 
 #include "rclcpp/context.hpp"
 
-using rclcpp::context::Context;
+using rclcpp::Context;
 
 Context::Context() {}

rclcpp/src/rclcpp/event.cpp

@@ -16,8 +16,6 @@
 
 namespace rclcpp
 {
-namespace event
-{
 
 Event::Event()
 : state_(false) {}
@@ -40,5 +38,4 @@ Event::check_and_clear()
   return state_.exchange(false);
 }
 
-}  // namespace event
 }  // namespace rclcpp

rclcpp/src/rclcpp/executor.cpp

@@ -50,7 +50,7 @@ Executor::Executor(const ExecutorArgs & args)
   // and one for the executor's guard cond (interrupt_guard_condition_)
 
   // Put the global ctrl-c guard condition in
-  memory_strategy_->add_guard_condition(rclcpp::utilities::get_sigint_guard_condition(&wait_set_));
+  memory_strategy_->add_guard_condition(rclcpp::get_sigint_guard_condition(&wait_set_));
 
   // Put the executor's guard condition in
   memory_strategy_->add_guard_condition(&interrupt_guard_condition_);
@@ -97,8 +97,8 @@ Executor::~Executor()
   }
   // Remove and release the sigint guard condition
   memory_strategy_->remove_guard_condition(
-    rclcpp::utilities::get_sigint_guard_condition(&wait_set_));
+    rclcpp::get_sigint_guard_condition(&wait_set_));
-  rclcpp::utilities::release_sigint_guard_condition(&wait_set_);
+  rclcpp::release_sigint_guard_condition(&wait_set_);
 }
 
 void
@@ -129,7 +129,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
 }
 
 void
-Executor::add_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify)
+Executor::add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify)
 {
   this->add_node(node_ptr->get_node_base_interface(), notify);
 }
@@ -163,7 +163,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
 }
 
 void
-Executor::remove_node(std::shared_ptr<rclcpp::node::Node> node_ptr, bool notify)
+Executor::remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify)
 {
   this->remove_node(node_ptr->get_node_base_interface(), notify);
 }
@@ -188,7 +188,7 @@ Executor::spin_node_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr n
 }
 
 void
-Executor::spin_node_some(std::shared_ptr<rclcpp::node::Node> node)
+Executor::spin_node_some(std::shared_ptr<rclcpp::Node> node)
 {
   this->spin_node_some(node->get_node_base_interface());
 }
@@ -269,7 +269,7 @@ Executor::execute_any_executable(AnyExecutable::SharedPtr any_exec)
 
 void
 Executor::execute_subscription(
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
+  rclcpp::SubscriptionBase::SharedPtr subscription)
 {
   std::shared_ptr<void> message = subscription->create_message();
   rmw_message_info_t message_info;
@@ -290,7 +290,7 @@ Executor::execute_subscription(
 
 void
 Executor::execute_intra_process_subscription(
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
+  rclcpp::SubscriptionBase::SharedPtr subscription)
 {
   rcl_interfaces::msg::IntraProcessMessage ipm;
   rmw_message_info_t message_info;
@@ -312,14 +312,14 @@ Executor::execute_intra_process_subscription(
 
 void
 Executor::execute_timer(
-  rclcpp::timer::TimerBase::SharedPtr timer)
+  rclcpp::TimerBase::SharedPtr timer)
 {
   timer->execute_callback();
 }
 
 void
 Executor::execute_service(
-  rclcpp::service::ServiceBase::SharedPtr service)
+  rclcpp::ServiceBase::SharedPtr service)
 {
   auto request_header = service->create_request_header();
   std::shared_ptr<void> request = service->create_request();
@@ -339,7 +339,7 @@ Executor::execute_service(
 
 void
 Executor::execute_client(
-  rclcpp::client::ClientBase::SharedPtr client)
+  rclcpp::ClientBase::SharedPtr client)
 {
   auto request_header = client->create_request_header();
   std::shared_ptr<void> response = client->create_response();
@@ -471,7 +471,7 @@ Executor::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr gro
 }
 
 rclcpp::callback_group::CallbackGroup::SharedPtr
-Executor::get_group_by_timer(rclcpp::timer::TimerBase::SharedPtr timer)
+Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
 {
   for (auto & weak_node : weak_nodes_) {
     auto node = weak_node.lock();

rclcpp/src/rclcpp/executors.cpp

@@ -22,7 +22,7 @@ rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr
 }
 
 void
-rclcpp::spin_some(rclcpp::node::Node::SharedPtr node_ptr)
+rclcpp::spin_some(rclcpp::Node::SharedPtr node_ptr)
 {
   rclcpp::spin_some(node_ptr->get_node_base_interface());
 }
@@ -37,7 +37,7 @@ rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
 }
 
 void
-rclcpp::spin(rclcpp::node::Node::SharedPtr node_ptr)
+rclcpp::spin(rclcpp::Node::SharedPtr node_ptr)
 {
   rclcpp::spin(node_ptr->get_node_base_interface());
 }

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -21,7 +21,7 @@
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/scope_exit.hpp"
 
-using rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor;
+using rclcpp::executors::MultiThreadedExecutor;
 
 MultiThreadedExecutor::MultiThreadedExecutor(const rclcpp::executor::ExecutorArgs & args)
 : executor::Executor(args)
@@ -66,11 +66,11 @@ MultiThreadedExecutor::get_number_of_threads()
 void
 MultiThreadedExecutor::run(size_t)
 {
-  while (rclcpp::utilities::ok() && spinning.load()) {
+  while (rclcpp::ok() && spinning.load()) {
     executor::AnyExecutable::SharedPtr any_exec;
     {
       std::lock_guard<std::mutex> wait_lock(wait_mutex_);
-      if (!rclcpp::utilities::ok() || !spinning.load()) {
+      if (!rclcpp::ok() || !spinning.load()) {
         return;
       }
       any_exec = get_next_executable();

rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

@@ -15,7 +15,7 @@
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/scope_exit.hpp"
 
-using rclcpp::executors::single_threaded_executor::SingleThreadedExecutor;
+using rclcpp::executors::SingleThreadedExecutor;
 
 SingleThreadedExecutor::SingleThreadedExecutor(const rclcpp::executor::ExecutorArgs & args)
 : executor::Executor(args) {}
@@ -29,7 +29,7 @@ SingleThreadedExecutor::spin()
     throw std::runtime_error("spin() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  while (rclcpp::utilities::ok() && spinning.load()) {
+  while (rclcpp::ok() && spinning.load()) {
     auto any_exec = get_next_executable();
     execute_any_executable(any_exec);
   }

rclcpp/src/rclcpp/graph_listener.cpp

@@ -43,7 +43,7 @@ GraphListener::GraphListener()
     throw_from_rcl_error(ret, "failed to create interrupt guard condition");
   }
 
-  shutdown_guard_condition_ = rclcpp::utilities::get_sigint_guard_condition(&wait_set_);
+  shutdown_guard_condition_ = rclcpp::get_sigint_guard_condition(&wait_set_);
 }
 
 GraphListener::~GraphListener()
@@ -75,7 +75,7 @@ GraphListener::start_if_not_started()
     // This is important to ensure that the wait set is finalized before
     // destruction of static objects occurs.
     std::weak_ptr<GraphListener> weak_this = shared_from_this();
-    rclcpp::utilities::on_shutdown(
+    rclcpp::on_shutdown(
       [weak_this]() {
         auto shared_this = weak_this.lock();
         if (shared_this) {
@@ -335,7 +335,7 @@ GraphListener::shutdown()
       throw_from_rcl_error(ret, "failed to finalize interrupt guard condition");
     }
     if (shutdown_guard_condition_) {
-      rclcpp::utilities::release_sigint_guard_condition(&wait_set_);
+      rclcpp::release_sigint_guard_condition(&wait_set_);
       shutdown_guard_condition_ = nullptr;
     }
     if (is_started_) {

rclcpp/src/rclcpp/intra_process_manager.cpp

@@ -31,7 +31,7 @@ IntraProcessManager::~IntraProcessManager()
 
 uint64_t
 IntraProcessManager::add_subscription(
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscription)
+  rclcpp::SubscriptionBase::SharedPtr subscription)
 {
   auto id = IntraProcessManager::get_next_unique_id();
   impl_->add_subscription(id, subscription);

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -16,7 +16,7 @@
 
 using rclcpp::memory_strategy::MemoryStrategy;
 
-rclcpp::subscription::SubscriptionBase::SharedPtr
+rclcpp::SubscriptionBase::SharedPtr
 MemoryStrategy::get_subscription_by_handle(
   const rcl_subscription_t * subscriber_handle, const WeakNodeVector & weak_nodes)
 {
@@ -46,7 +46,7 @@ MemoryStrategy::get_subscription_by_handle(
   return nullptr;
 }
 
-rclcpp::service::ServiceBase::SharedPtr
+rclcpp::ServiceBase::SharedPtr
 MemoryStrategy::get_service_by_handle(
   const rcl_service_t * service_handle,
   const WeakNodeVector & weak_nodes)
@@ -72,7 +72,7 @@ MemoryStrategy::get_service_by_handle(
   return nullptr;
 }
 
-rclcpp::client::ClientBase::SharedPtr
+rclcpp::ClientBase::SharedPtr
 MemoryStrategy::get_client_by_handle(
   const rcl_client_t * client_handle,
   const WeakNodeVector & weak_nodes)
@@ -123,7 +123,7 @@ MemoryStrategy::get_node_by_group(
 
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_subscription(
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+  rclcpp::SubscriptionBase::SharedPtr subscription,
   const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
@@ -149,7 +149,7 @@ MemoryStrategy::get_group_by_subscription(
 
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_service(
-  rclcpp::service::ServiceBase::SharedPtr service,
+  rclcpp::ServiceBase::SharedPtr service,
   const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {
@@ -175,7 +175,7 @@ MemoryStrategy::get_group_by_service(
 
 rclcpp::callback_group::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_client(
-  rclcpp::client::ClientBase::SharedPtr client,
+  rclcpp::ClientBase::SharedPtr client,
   const WeakNodeVector & weak_nodes)
 {
   for (auto & weak_node : weak_nodes) {

rclcpp/src/rclcpp/node.cpp

@@ -32,7 +32,7 @@
 #include "rclcpp/node_interfaces/node_timers.hpp"
 #include "rclcpp/node_interfaces/node_topics.hpp"
 
-using rclcpp::node::Node;
+using rclcpp::Node;
 using rclcpp::exceptions::throw_from_rcl_error;
 
 Node::Node(
@@ -49,7 +49,7 @@ Node::Node(
 Node::Node(
   const std::string & node_name,
   const std::string & namespace_,
-  rclcpp::context::Context::SharedPtr context,
+  rclcpp::Context::SharedPtr context,
   bool use_intra_process_comms)
 : node_base_(new rclcpp::node_interfaces::NodeBase(node_name, namespace_, context)),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
@@ -190,7 +190,7 @@ Node::get_callback_groups() const
   return node_base_->get_callback_groups();
 }
 
-rclcpp::event::Event::SharedPtr
+rclcpp::Event::SharedPtr
 Node::get_graph_event()
 {
   return node_graph_->get_graph_event();
@@ -198,7 +198,7 @@ Node::get_graph_event()
 
 void
 Node::wait_for_graph_change(
-  rclcpp::event::Event::SharedPtr event,
+  rclcpp::Event::SharedPtr event,
   std::chrono::nanoseconds timeout)
 {
   node_graph_->wait_for_graph_change(event, timeout);

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -30,7 +30,7 @@ using rclcpp::node_interfaces::NodeBase;
 NodeBase::NodeBase(
   const std::string & node_name,
   const std::string & namespace_,
-  rclcpp::context::Context::SharedPtr context)
+  rclcpp::Context::SharedPtr context)
 : context_(context),
   node_handle_(nullptr),
   default_callback_group_(nullptr),
@@ -176,7 +176,7 @@ NodeBase::get_namespace() const
   return rcl_node_get_namespace(node_handle_.get());
 }
 
-rclcpp::context::Context::SharedPtr
+rclcpp::Context::SharedPtr
 NodeBase::get_context()
 {
   return context_;

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

@@ -233,7 +233,7 @@ NodeGraph::notify_graph_change()
         std::remove_if(
           graph_events_.begin(),
           graph_events_.end(),
-          [](const rclcpp::event::Event::WeakPtr & wptr) {
+          [](const rclcpp::Event::WeakPtr & wptr) {
             return wptr.expired();
           }),
         graph_events_.end());
@@ -258,10 +258,10 @@ NodeGraph::notify_shutdown()
   graph_cv_.notify_all();
 }
 
-rclcpp::event::Event::SharedPtr
+rclcpp::Event::SharedPtr
 NodeGraph::get_graph_event()
 {
-  auto event = rclcpp::event::Event::make_shared();
+  auto event = rclcpp::Event::make_shared();
   std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
   graph_events_.push_back(event);
   graph_users_count_++;
@@ -275,7 +275,7 @@ NodeGraph::get_graph_event()
 
 void
 NodeGraph::wait_for_graph_change(
-  rclcpp::event::Event::SharedPtr event,
+  rclcpp::Event::SharedPtr event,
   std::chrono::nanoseconds timeout)
 {
   using rclcpp::exceptions::InvalidEventError;
@@ -297,7 +297,7 @@ NodeGraph::wait_for_graph_change(
     }
   }
   auto pred = [&event]() {
-      return event->check() || !rclcpp::utilities::ok();
+      return event->check() || !rclcpp::ok();
     };
   std::unique_lock<std::mutex> graph_lock(graph_mutex_);
   if (!pred()) {

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -33,7 +33,7 @@ NodeParameters::NodeParameters(
 : node_topics_(node_topics)
 {
   using MessageT = rcl_interfaces::msg::ParameterEvent;
-  using PublisherT = rclcpp::publisher::Publisher<MessageT>;
+  using PublisherT = rclcpp::Publisher<MessageT>;
   using AllocatorT = std::allocator<void>;
   // TODO(wjwwood): expose this allocator through the Parameter interface.
   auto allocator = std::make_shared<AllocatorT>();

rclcpp/src/rclcpp/node_interfaces/node_services.cpp

@@ -27,7 +27,7 @@ NodeServices::~NodeServices()
 
 void
 NodeServices::add_service(
-  rclcpp::service::ServiceBase::SharedPtr service_base_ptr,
+  rclcpp::ServiceBase::SharedPtr service_base_ptr,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
   if (group) {
@@ -54,7 +54,7 @@ NodeServices::add_service(
 
 void
 NodeServices::add_client(
-  rclcpp::client::ClientBase::SharedPtr client_base_ptr,
+  rclcpp::ClientBase::SharedPtr client_base_ptr,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
   if (group) {

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -27,7 +27,7 @@ NodeTimers::~NodeTimers()
 
 void
 NodeTimers::add_timer(
-  rclcpp::timer::TimerBase::SharedPtr timer,
+  rclcpp::TimerBase::SharedPtr timer,
   rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
 {
   if (callback_group) {

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -30,7 +30,7 @@ NodeTopics::NodeTopics(rclcpp::node_interfaces::NodeBaseInterface * node_base)
 NodeTopics::~NodeTopics()
 {}
 
-rclcpp::publisher::PublisherBase::SharedPtr
+rclcpp::PublisherBase::SharedPtr
 NodeTopics::create_publisher(
   const std::string & topic_name,
   const rclcpp::PublisherFactory & publisher_factory,
@@ -63,7 +63,7 @@ NodeTopics::create_publisher(
 
 void
 NodeTopics::add_publisher(
-  rclcpp::publisher::PublisherBase::SharedPtr publisher)
+  rclcpp::PublisherBase::SharedPtr publisher)
 {
   // The publisher is not added to a callback group or anthing like that for now.
   // It may be stored within the NodeTopics class or the NodeBase class in the future.
@@ -79,7 +79,7 @@ NodeTopics::add_publisher(
   }
 }
 
-rclcpp::subscription::SubscriptionBase::SharedPtr
+rclcpp::SubscriptionBase::SharedPtr
 NodeTopics::create_subscription(
   const std::string & topic_name,
   const rclcpp::SubscriptionFactory & subscription_factory,
@@ -104,7 +104,7 @@ NodeTopics::create_subscription(
 
 void
 NodeTopics::add_subscription(
-  rclcpp::subscription::SubscriptionBase::SharedPtr subscription,
+  rclcpp::SubscriptionBase::SharedPtr subscription,
   rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
 {
   // Assign to a group.

rclcpp/src/rclcpp/parameter_client.cpp

@@ -21,8 +21,8 @@
 
 #include "./parameter_service_names.hpp"
 
-using rclcpp::parameter_client::AsyncParametersClient;
+using rclcpp::AsyncParametersClient;
-using rclcpp::parameter_client::SyncParametersClient;
+using rclcpp::SyncParametersClient;
 
 AsyncParametersClient::AsyncParametersClient(
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
@@ -42,8 +42,8 @@ AsyncParametersClient::AsyncParametersClient(
   rcl_client_options_t options = rcl_client_get_default_options();
   options.qos = qos_profile;
 
-  using rclcpp::client::Client;
+  using rclcpp::Client;
-  using rclcpp::client::ClientBase;
+  using rclcpp::ClientBase;
 
   get_parameters_client_ = Client<rcl_interfaces::srv::GetParameters>::make_shared(
     node_base_interface.get(),
@@ -89,7 +89,7 @@ AsyncParametersClient::AsyncParametersClient(
 }
 
 AsyncParametersClient::AsyncParametersClient(
-  const rclcpp::node::Node::SharedPtr node,
+  const rclcpp::Node::SharedPtr node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile)
 : AsyncParametersClient(
@@ -102,7 +102,7 @@ AsyncParametersClient::AsyncParametersClient(
 {}
 
 AsyncParametersClient::AsyncParametersClient(
-  rclcpp::node::Node * node,
+  rclcpp::Node * node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile)
 : AsyncParametersClient(
@@ -131,7 +131,7 @@ AsyncParametersClient::get_parameters(
   get_parameters_client_->async_send_request(
     request,
     [request, promise_result, future_result, callback](
-      rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedFuture cb_f)
+      rclcpp::Client<rcl_interfaces::srv::GetParameters>::SharedFuture cb_f)
     {
       std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
       auto & pvalues = cb_f.get()->values;
@@ -172,7 +172,7 @@ AsyncParametersClient::get_parameter_types(
   get_parameter_types_client_->async_send_request(
     request,
     [promise_result, future_result, callback](
-      rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f)
+      rclcpp::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f)
     {
       std::vector<rclcpp::parameter::ParameterType> types;
       auto & pts = cb_f.get()->types;
@@ -211,7 +211,7 @@ AsyncParametersClient::set_parameters(
   set_parameters_client_->async_send_request(
     request,
     [promise_result, future_result, callback](
-      rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f)
+      rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f)
     {
       promise_result->set_value(cb_f.get()->results);
       if (callback != nullptr) {
@@ -245,7 +245,7 @@ AsyncParametersClient::set_parameters_atomically(
   set_parameters_atomically_client_->async_send_request(
     request,
     [promise_result, future_result, callback](
-      rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedFuture cb_f)
+      rclcpp::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedFuture cb_f)
     {
       promise_result->set_value(cb_f.get()->result);
       if (callback != nullptr) {
@@ -276,7 +276,7 @@ AsyncParametersClient::list_parameters(
   list_parameters_client_->async_send_request(
     request,
     [promise_result, future_result, callback](
-      rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f)
+      rclcpp::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f)
     {
       promise_result->set_value(cb_f.get()->result);
       if (callback != nullptr) {
@@ -302,7 +302,7 @@ AsyncParametersClient::service_is_ready() const
 bool
 AsyncParametersClient::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
 {
-  const std::vector<std::shared_ptr<rclcpp::client::ClientBase>> clients = {
+  const std::vector<std::shared_ptr<rclcpp::ClientBase>> clients = {
     get_parameters_client_,
     get_parameter_types_client_,
     set_parameters_client_,
@@ -326,7 +326,7 @@ AsyncParametersClient::wait_for_service_nanoseconds(std::chrono::nanoseconds tim
 }
 
 SyncParametersClient::SyncParametersClient(
-  rclcpp::node::Node::SharedPtr node,
+  rclcpp::Node::SharedPtr node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile)
 : SyncParametersClient(
@@ -338,7 +338,7 @@ SyncParametersClient::SyncParametersClient(
 
 SyncParametersClient::SyncParametersClient(
   rclcpp::executor::Executor::SharedPtr executor,
-  rclcpp::node::Node::SharedPtr node,
+  rclcpp::Node::SharedPtr node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile)
 : executor_(executor), node_(node)

rclcpp/src/rclcpp/parameter_service.cpp

@@ -21,14 +21,14 @@
 
 #include "./parameter_service_names.hpp"
 
-using rclcpp::parameter_service::ParameterService;
+using rclcpp::ParameterService;
 
 ParameterService::ParameterService(
-  const rclcpp::node::Node::SharedPtr node,
+  const rclcpp::Node::SharedPtr node,
   const rmw_qos_profile_t & qos_profile)
 : node_(node)
 {
-  std::weak_ptr<rclcpp::node::Node> captured_node = node_;
+  std::weak_ptr<rclcpp::Node> captured_node = node_;
   get_parameters_service_ = node_->create_service<rcl_interfaces::srv::GetParameters>(
     std::string(node_->get_name()) + "/" + parameter_service_names::get_parameters,
     [captured_node](

rclcpp/src/rclcpp/publisher.cpp

@@ -33,7 +33,7 @@
 #include "rclcpp/node.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
 
-using rclcpp::publisher::PublisherBase;
+using rclcpp::PublisherBase;
 
 PublisherBase::PublisherBase(
   rclcpp::node_interfaces::NodeBaseInterface * node_base,

rclcpp/src/rclcpp/service.cpp

@@ -25,7 +25,7 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-using rclcpp::service::ServiceBase;
+using rclcpp::ServiceBase;
 
 ServiceBase::ServiceBase(
   std::shared_ptr<rcl_node_t> node_handle,

rclcpp/src/rclcpp/subscription.cpp

@@ -25,7 +25,7 @@
 #include "rmw/rmw.h"
 
 
-using rclcpp::subscription::SubscriptionBase;
+using rclcpp::SubscriptionBase;
 
 SubscriptionBase::SubscriptionBase(
   std::shared_ptr<rcl_node_t> node_handle,

rclcpp/src/rclcpp/time_source.cpp

@@ -33,7 +33,7 @@
 namespace rclcpp
 {
 
-TimeSource::TimeSource(std::shared_ptr<rclcpp::node::Node> node)
+TimeSource::TimeSource(std::shared_ptr<rclcpp::Node> node)
 : ros_time_active_(false)
 {
   this->attachNode(node);
@@ -44,7 +44,7 @@ TimeSource::TimeSource()
 {
 }
 
-void TimeSource::attachNode(rclcpp::node::Node::SharedPtr node)
+void TimeSource::attachNode(rclcpp::Node::SharedPtr node)
 {
   attachNode(
     node->get_node_base_interface(),
@@ -85,7 +85,7 @@ void TimeSource::attachNode(
     msg_mem_strat,
     allocator);
 
-  parameter_client_ = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(
+  parameter_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
     node_base_,
     node_topics_,
     node_graph_,

rclcpp/src/rclcpp/timer.cpp

@@ -17,7 +17,7 @@
 #include <chrono>
 #include <string>
 
-using rclcpp::timer::TimerBase;
+using rclcpp::TimerBase;
 
 TimerBase::TimerBase(std::chrono::nanoseconds period)
 {

rclcpp/src/rclcpp/utilities.cpp

@@ -157,7 +157,7 @@ signal_handler(int signal_value)
 }
 
 void
-rclcpp::utilities::init(int argc, char * argv[])
+rclcpp::init(int argc, char * argv[])
 {
   g_is_interrupted.store(false);
   if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) {
@@ -174,14 +174,14 @@ rclcpp::utilities::init(int argc, char * argv[])
   action.sa_flags = SA_SIGINFO;
   ::old_action = set_sigaction(SIGINT, action);
   // Register an on_shutdown hook to restore the old action.
-  rclcpp::utilities::on_shutdown(
+  rclcpp::on_shutdown(
     []() {
       set_sigaction(SIGINT, ::old_action);
     });
 #else
   ::old_signal_handler = set_signal_handler(SIGINT, ::signal_handler);
   // Register an on_shutdown hook to restore the old signal handler.
-  rclcpp::utilities::on_shutdown(
+  rclcpp::on_shutdown(
     []() {
       set_signal_handler(SIGINT, ::old_signal_handler);
     });
@@ -189,7 +189,7 @@ rclcpp::utilities::init(int argc, char * argv[])
 }
 
 bool
-rclcpp::utilities::ok()
+rclcpp::ok()
 {
   return ::g_signal_status == 0;
 }
@@ -198,7 +198,7 @@ static std::mutex on_shutdown_mutex_;
 static std::vector<std::function<void(void)>> on_shutdown_callbacks_;
 
 void
-rclcpp::utilities::shutdown()
+rclcpp::shutdown()
 {
   trigger_interrupt_guard_condition(SIGINT);
 
@@ -211,14 +211,14 @@ rclcpp::utilities::shutdown()
 }
 
 void
-rclcpp::utilities::on_shutdown(std::function<void(void)> callback)
+rclcpp::on_shutdown(std::function<void(void)> callback)
 {
   std::lock_guard<std::mutex> lock(on_shutdown_mutex_);
   on_shutdown_callbacks_.push_back(callback);
 }
 
 rcl_guard_condition_t *
-rclcpp::utilities::get_sigint_guard_condition(rcl_wait_set_t * wait_set)
+rclcpp::get_sigint_guard_condition(rcl_wait_set_t * wait_set)
 {
   std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
   auto kv = g_sigint_guard_cond_handles.find(wait_set);
@@ -240,7 +240,7 @@ rclcpp::utilities::get_sigint_guard_condition(rcl_wait_set_t * wait_set)
 }
 
 void
-rclcpp::utilities::release_sigint_guard_condition(rcl_wait_set_t * wait_set)
+rclcpp::release_sigint_guard_condition(rcl_wait_set_t * wait_set)
 {
   std::lock_guard<std::mutex> lock(g_sigint_guard_cond_handles_mutex);
   auto kv = g_sigint_guard_cond_handles.find(wait_set);
@@ -262,7 +262,7 @@ rclcpp::utilities::release_sigint_guard_condition(rcl_wait_set_t * wait_set)
 }
 
 bool
-rclcpp::utilities::sleep_for(const std::chrono::nanoseconds & nanoseconds)
+rclcpp::sleep_for(const std::chrono::nanoseconds & nanoseconds)
 {
   std::chrono::nanoseconds time_left = nanoseconds;
   {

rclcpp/test/test_client.cpp

@@ -32,7 +32,7 @@ protected:
 
   void SetUp()
   {
-    node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
+    node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   }
 
   void TearDown()
@@ -40,7 +40,7 @@ protected:
     node.reset();
   }
 
-  rclcpp::node::Node::SharedPtr node;
+  rclcpp::Node::SharedPtr node;
 };
 
 /*

rclcpp/test/test_executor.cpp

@@ -38,7 +38,7 @@ protected:
 
   void SetUp()
   {
-    node = std::make_shared<rclcpp::node::Node>("my_node");
+    node = std::make_shared<rclcpp::Node>("my_node");
   }
 
   void TearDown()
@@ -46,7 +46,7 @@ protected:
     node.reset();
   }
 
-  rclcpp::node::Node::SharedPtr node;
+  rclcpp::Node::SharedPtr node;
 };
 
 // Make sure that executors detach from nodes when destructing

rclcpp/test/test_externally_defined_services.cpp

@@ -43,7 +43,7 @@ callback(
 {}
 
 TEST_F(TestExternallyDefinedServices, default_behavior) {
-  auto node_handle = rclcpp::node::Node::make_shared("base_node");
+  auto node_handle = rclcpp::Node::make_shared("base_node");
 
   try {
     auto srv = node_handle->create_service<rclcpp::srv::Mock>("test",
@@ -57,17 +57,17 @@ TEST_F(TestExternallyDefinedServices, default_behavior) {
 
 
 TEST_F(TestExternallyDefinedServices, extern_defined_uninitialized) {
-  auto node_handle = rclcpp::node::Node::make_shared("base_node");
+  auto node_handle = rclcpp::Node::make_shared("base_node");
 
   // mock for externally defined service
   rcl_service_t service_handle = rcl_get_zero_initialized_service();
 
-  rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;
+  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
 
   // don't initialize the service
   // expect fail
   try {
-    rclcpp::service::Service<rclcpp::srv::Mock>(
+    rclcpp::Service<rclcpp::srv::Mock>(
       node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
       &service_handle, cb);
   } catch (const std::runtime_error &) {
@@ -79,7 +79,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_uninitialized) {
 }
 
 TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
-  auto node_handle = rclcpp::node::Node::make_shared("base_node");
+  auto node_handle = rclcpp::Node::make_shared("base_node");
 
   // mock for externally defined service
   rcl_service_t service_handle = rcl_get_zero_initialized_service();
@@ -95,10 +95,10 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
     return;
   }
 
-  rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;
+  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
 
   try {
-    rclcpp::service::Service<rclcpp::srv::Mock>(
+    rclcpp::Service<rclcpp::srv::Mock>(
       node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
       &service_handle, cb);
   } catch (const std::runtime_error &) {
@@ -110,7 +110,7 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
 }
 
 TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
-  auto node_handle = rclcpp::node::Node::make_shared("base_node");
+  auto node_handle = rclcpp::Node::make_shared("base_node");
 
   // mock for externally defined service
   rcl_service_t service_handle = rcl_get_zero_initialized_service();
@@ -125,11 +125,11 @@ TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
     FAIL();
     return;
   }
-  rclcpp::any_service_callback::AnyServiceCallback<rclcpp::srv::Mock> cb;
+  rclcpp::AnyServiceCallback<rclcpp::srv::Mock> cb;
 
   {
     // Call constructor
-    rclcpp::service::Service<rclcpp::srv::Mock> srv_cpp(
+    rclcpp::Service<rclcpp::srv::Mock> srv_cpp(
       node_handle->get_node_base_interface()->get_shared_rcl_node_handle(),
       &service_handle, cb);
     // Call destructor

rclcpp/test/test_find_weak_nodes.cpp

@@ -34,8 +34,8 @@ TEST_F(TestFindWeakNodes, allocator_strategy_with_weak_nodes) {
   // A vector of weak pointers to nodes
   auto memory_strategy = std::make_shared<
     rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
-  auto existing_node = rclcpp::node::Node::make_shared("existing_node");
+  auto existing_node = rclcpp::Node::make_shared("existing_node");
-  auto dead_node = rclcpp::node::Node::make_shared("dead_node");
+  auto dead_node = rclcpp::Node::make_shared("dead_node");
   rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
   weak_nodes.push_back(existing_node->get_node_base_interface());
   weak_nodes.push_back(dead_node->get_node_base_interface());
@@ -59,8 +59,8 @@ TEST_F(TestFindWeakNodes, allocator_strategy_no_weak_nodes) {
   // A vector of weak pointers to nodes, all valid
   auto memory_strategy = std::make_shared<
     rclcpp::memory_strategies::allocator_memory_strategy::AllocatorMemoryStrategy<>>();
-  auto existing_node1 = rclcpp::node::Node::make_shared("existing_node1");
+  auto existing_node1 = rclcpp::Node::make_shared("existing_node1");
-  auto existing_node2 = rclcpp::node::Node::make_shared("existing_node2");
+  auto existing_node2 = rclcpp::Node::make_shared("existing_node2");
   rclcpp::memory_strategy::MemoryStrategy::WeakNodeVector weak_nodes;
   weak_nodes.push_back(existing_node1->get_node_base_interface());
   weak_nodes.push_back(existing_node2->get_node_base_interface());

rclcpp/test/test_intra_process_manager.cpp

@@ -23,8 +23,6 @@
 // Mock up publisher and subscription base to avoid needing an rmw impl.
 namespace rclcpp
 {
-namespace publisher
-{
 namespace mock
 {
 
@@ -80,13 +78,10 @@ public:
 };
 
 }  // namespace mock
-}  // namespace publisher
 }  // namespace rclcpp
 
 namespace rclcpp
 {
-namespace subscription
-{
 namespace mock
 {
 
@@ -112,7 +107,6 @@ public:
 };
 
 }  // namespace mock
-}  // namespace subscription
 }  // namespace rclcpp
 
 // Prevent rclcpp/publisher.hpp and rclcpp/subscription.hpp from being imported.
@@ -146,18 +140,18 @@ TEST(TestIntraProcessManager, nominal) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
   auto p1 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
 
   auto p2 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p2->mock_topic_name = "nominal2";
   p2->mock_queue_size = 10;
 
-  auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
@@ -237,12 +231,12 @@ TEST(TestIntraProcessManager, remove_publisher_before_trying_to_take) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
   auto p1 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
-  auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
@@ -279,20 +273,20 @@ TEST(TestIntraProcessManager, removed_subscription_affects_take) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
   auto p1 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
-  auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
-  auto s2 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s2 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s2->mock_topic_name = "nominal1";
   s2->mock_queue_size = 10;
 
-  auto s3 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s3 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s3->mock_topic_name = "nominal1";
   s3->mock_queue_size = 10;
 
@@ -350,20 +344,20 @@ TEST(TestIntraProcessManager, multiple_subscriptions_one_publisher) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
   auto p1 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
-  auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
-  auto s2 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s2 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s2->mock_topic_name = "nominal1";
   s2->mock_queue_size = 10;
 
-  auto s3 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s3 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s3->mock_topic_name = "nominal1";
   s3->mock_queue_size = 10;
 
@@ -422,24 +416,24 @@ TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
   auto p1 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
   auto p2 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p2->mock_topic_name = "nominal1";
   p2->mock_queue_size = 10;
 
   auto p3 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p3->mock_topic_name = "nominal1";
   p3->mock_queue_size = 10;
 
-  auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
@@ -522,32 +516,32 @@ TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
   auto p1 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
   auto p2 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p2->mock_topic_name = "nominal1";
   p2->mock_queue_size = 10;
 
   auto p3 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p3->mock_topic_name = "nominal1";
   p3->mock_queue_size = 10;
 
-  auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
-  auto s2 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s2 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s2->mock_topic_name = "nominal1";
   s2->mock_queue_size = 10;
 
-  auto s3 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s3 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s3->mock_topic_name = "nominal1";
   s3->mock_queue_size = 10;
 
@@ -689,12 +683,12 @@ TEST(TestIntraProcessManager, ring_buffer_displacement) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
   auto p1 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
 
-  auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
@@ -760,7 +754,7 @@ TEST(TestIntraProcessManager, subscription_creation_race_condition) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
   auto p1 = std::make_shared<
-    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
     >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
@@ -778,7 +772,7 @@ TEST(TestIntraProcessManager, subscription_creation_race_condition) {
   auto p1_m1_id = ipm.store_intra_process_message(p1_id, unique_msg);
   ASSERT_EQ(nullptr, unique_msg);
 
-  auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
@@ -799,7 +793,7 @@ TEST(TestIntraProcessManager, subscription_creation_race_condition) {
 TEST(TestIntraProcessManager, publisher_out_of_scope_take) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto s1 = std::make_shared<rclcpp::subscription::mock::SubscriptionBase>();
+  auto s1 = std::make_shared<rclcpp::mock::SubscriptionBase>();
   s1->mock_topic_name = "nominal1";
   s1->mock_queue_size = 10;
 
@@ -809,7 +803,7 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_take) {
   uint64_t p1_m1_id;
   {
     auto p1 = std::make_shared<
-      rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+      rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
       >();
     p1->mock_topic_name = "nominal1";
     p1->mock_queue_size = 2;
@@ -848,7 +842,7 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_store) {
   uint64_t p1_id;
   {
     auto p1 = std::make_shared<
-      rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+      rclcpp::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
       >();
     p1->mock_topic_name = "nominal1";
     p1->mock_queue_size = 2;

rclcpp/test/test_node.cpp

@@ -35,40 +35,40 @@ protected:
  */
 TEST_F(TestNode, construction_and_destruction) {
   {
-    auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
+    auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   }
 
   {
     ASSERT_THROW({
-      auto node = std::make_shared<rclcpp::node::Node>("invalid_node?", "/ns");
+      auto node = std::make_shared<rclcpp::Node>("invalid_node?", "/ns");
     }, rclcpp::exceptions::InvalidNodeNameError);
   }
 
   {
     ASSERT_THROW({
-      auto node = std::make_shared<rclcpp::node::Node>("my_node", "/invalid_ns?");
+      auto node = std::make_shared<rclcpp::Node>("my_node", "/invalid_ns?");
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
 }
 
 TEST_F(TestNode, get_name_and_namespace) {
   {
-    auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
+    auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/ns", node->get_namespace());
   }
   {
-    auto node = std::make_shared<rclcpp::node::Node>("my_node", "ns");
+    auto node = std::make_shared<rclcpp::Node>("my_node", "ns");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/ns", node->get_namespace());
   }
   {
-    auto node = std::make_shared<rclcpp::node::Node>("my_node", "/my/ns");
+    auto node = std::make_shared<rclcpp::Node>("my_node", "/my/ns");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/my/ns", node->get_namespace());
   }
   {
-    auto node = std::make_shared<rclcpp::node::Node>("my_node", "my/ns");
+    auto node = std::make_shared<rclcpp::Node>("my_node", "my/ns");
     EXPECT_STREQ("my_node", node->get_name());
     EXPECT_STREQ("/my/ns", node->get_namespace());
   }
@@ -77,24 +77,24 @@ TEST_F(TestNode, get_name_and_namespace) {
 TEST_F(TestNode, get_logger) {
   // Currently the namespace is not taken into account with the node logger name
   {
-    auto node = std::make_shared<rclcpp::node::Node>("my_node");
+    auto node = std::make_shared<rclcpp::Node>("my_node");
     EXPECT_STREQ("my_node", node->get_logger().get_name());
   }
   {
-    auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
+    auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
     EXPECT_STREQ("my_node", node->get_logger().get_name());
   }
 }
 
 TEST_F(TestNode, get_clock) {
-  auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto ros_clock = node->get_clock();
   EXPECT_TRUE(ros_clock != nullptr);
   EXPECT_EQ(ros_clock->get_clock_type(), RCL_ROS_TIME);
 }
 
 TEST_F(TestNode, now) {
-  auto node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
+  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto clock = node->get_clock();
   auto now_builtin = node->now().nanoseconds();
   auto now_external = clock->now().nanoseconds();

rclcpp/test/test_publisher.cpp

@@ -32,7 +32,7 @@ protected:
 
   void SetUp()
   {
-    node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
+    node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   }
 
   void TearDown()
@@ -40,7 +40,7 @@ protected:
     node.reset();
   }
 
-  rclcpp::node::Node::SharedPtr node;
+  rclcpp::Node::SharedPtr node;
 };
 
 /*

rclcpp/test/test_rate.cpp

@@ -28,7 +28,7 @@ TEST(TestRate, rate_basics) {
   double overrun_ratio = 1.5;
 
   auto start = std::chrono::system_clock::now();
-  rclcpp::rate::Rate r(period);
+  rclcpp::Rate r(period);
   ASSERT_FALSE(r.is_steady());
   ASSERT_TRUE(r.sleep());
   auto one = std::chrono::system_clock::now();
@@ -36,14 +36,14 @@ TEST(TestRate, rate_basics) {
   ASSERT_TRUE(period < delta);
   ASSERT_TRUE(period * overrun_ratio > delta);
 
-  rclcpp::utilities::sleep_for(offset);
+  rclcpp::sleep_for(offset);
   ASSERT_TRUE(r.sleep());
   auto two = std::chrono::system_clock::now();
   delta = two - start;
   ASSERT_TRUE(2 * period < delta);
   ASSERT_TRUE(2 * period * overrun_ratio > delta);
 
-  rclcpp::utilities::sleep_for(offset);
+  rclcpp::sleep_for(offset);
   auto two_offset = std::chrono::system_clock::now();
   r.reset();
   ASSERT_TRUE(r.sleep());
@@ -52,7 +52,7 @@ TEST(TestRate, rate_basics) {
   ASSERT_TRUE(period < delta);
   ASSERT_TRUE(period * overrun_ratio > delta);
 
-  rclcpp::utilities::sleep_for(offset + period);
+  rclcpp::sleep_for(offset + period);
   auto four = std::chrono::system_clock::now();
   ASSERT_FALSE(r.sleep());
   auto five = std::chrono::system_clock::now();
@@ -67,7 +67,7 @@ TEST(TestRate, wall_rate_basics) {
   double overrun_ratio = 1.5;
 
   auto start = std::chrono::steady_clock::now();
-  rclcpp::rate::WallRate r(period);
+  rclcpp::WallRate r(period);
   ASSERT_TRUE(r.is_steady());
   ASSERT_TRUE(r.sleep());
   auto one = std::chrono::steady_clock::now();
@@ -75,14 +75,14 @@ TEST(TestRate, wall_rate_basics) {
   ASSERT_TRUE(period < delta);
   ASSERT_TRUE(period * overrun_ratio > delta);
 
-  rclcpp::utilities::sleep_for(offset);
+  rclcpp::sleep_for(offset);
   ASSERT_TRUE(r.sleep());
   auto two = std::chrono::steady_clock::now();
   delta = two - start;
   ASSERT_TRUE(2 * period < delta + epsilon);
   ASSERT_TRUE(2 * period * overrun_ratio > delta);
 
-  rclcpp::utilities::sleep_for(offset);
+  rclcpp::sleep_for(offset);
   auto two_offset = std::chrono::steady_clock::now();
   r.reset();
   ASSERT_TRUE(r.sleep());
@@ -91,7 +91,7 @@ TEST(TestRate, wall_rate_basics) {
   ASSERT_TRUE(period < delta);
   ASSERT_TRUE(period * overrun_ratio > delta);
 
-  rclcpp::utilities::sleep_for(offset + period);
+  rclcpp::sleep_for(offset + period);
   auto four = std::chrono::steady_clock::now();
   ASSERT_FALSE(r.sleep());
   auto five = std::chrono::steady_clock::now();

rclcpp/test/test_service.cpp

@@ -32,7 +32,7 @@ protected:
 
   void SetUp()
   {
-    node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
+    node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   }
 
   void TearDown()
@@ -40,7 +40,7 @@ protected:
     node.reset();
   }
 
-  rclcpp::node::Node::SharedPtr node;
+  rclcpp::Node::SharedPtr node;
 };
 
 /*

rclcpp/test/test_subscription.cpp

@@ -32,7 +32,7 @@ protected:
 
   void SetUp()
   {
-    node = std::make_shared<rclcpp::node::Node>("my_node", "/ns");
+    node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   }
 
   void TearDown()
@@ -40,7 +40,7 @@ protected:
     node.reset();
   }
 
-  rclcpp::node::Node::SharedPtr node;
+  rclcpp::Node::SharedPtr node;
 };
 
 /*

rclcpp/test/test_time_source.cpp

@@ -39,7 +39,7 @@ protected:
 
   void SetUp()
   {
-    node = std::make_shared<rclcpp::node::Node>("my_node");
+    node = std::make_shared<rclcpp::Node>("my_node");
   }
 
   void TearDown()
@@ -47,7 +47,7 @@ protected:
     node.reset();
   }
 
-  rclcpp::node::Node::SharedPtr node;
+  rclcpp::Node::SharedPtr node;
 };
 
 
@@ -228,7 +228,7 @@ TEST_F(TestTimeSource, callbacks) {
 }
 
 void trigger_clock_changes(
-  rclcpp::node::Node::SharedPtr node)
+  rclcpp::Node::SharedPtr node)
 {
   auto clock_pub = node->create_publisher<builtin_interfaces::msg::Time>("clock",
       rmw_qos_profile_default);
@@ -334,8 +334,8 @@ TEST_F(TestTimeSource, parameter_activation) {
   ts.attachClock(ros_clock);
   EXPECT_FALSE(ros_clock->ros_time_is_active());
 
-  auto parameter_service = std::make_shared<rclcpp::parameter_service::ParameterService>(node);
+  auto parameter_service = std::make_shared<rclcpp::ParameterService>(node);
-  auto parameters_client = std::make_shared<rclcpp::parameter_client::SyncParametersClient>(node);
+  auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
 
   using namespace std::chrono_literals;
   EXPECT_TRUE(parameters_client->wait_for_service(2s));

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -83,7 +83,7 @@ public:
     const std::string & namespace_ = "",
     bool use_intra_process_comms = false);
 
-  /// Create a node based on the node name and a rclcpp::context::Context.
+  /// Create a node based on the node name and a rclcpp::Context.
   /**
    * \param[in] node_name Name of the node.
    * \param[in] node_name Namespace of the node.
@@ -95,7 +95,7 @@ public:
   LifecycleNode(
     const std::string & node_name,
     const std::string & namespace_,
-    rclcpp::context::Context::SharedPtr context,
+    rclcpp::Context::SharedPtr context,
     bool use_intra_process_comms = false);
 
   RCLCPP_LIFECYCLE_PUBLIC
@@ -172,7 +172,7 @@ public:
     typename MessageT,
     typename CallbackT,
     typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
+    typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -202,7 +202,7 @@ public:
     typename MessageT,
     typename CallbackT,
     typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
+    typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -221,7 +221,7 @@ public:
    * \param[in] group Callback group to execute this timer's callback in.
    */
   template<typename DurationT = std::milli, typename CallbackT>
-  typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
+  typename rclcpp::WallTimer<CallbackT>::SharedPtr
   create_wall_timer(
     std::chrono::duration<int64_t, DurationT> period,
     CallbackT callback,
@@ -229,7 +229,7 @@ public:
 
   /* Create and return a Client. */
   template<typename ServiceT>
-  typename rclcpp::client::Client<ServiceT>::SharedPtr
+  typename rclcpp::Client<ServiceT>::SharedPtr
   create_client(
     const std::string & service_name,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
@@ -237,7 +237,7 @@ public:
 
   /* Create and return a Service. */
   template<typename ServiceT, typename CallbackT>
-  typename rclcpp::service::Service<ServiceT>::SharedPtr
+  typename rclcpp::Service<ServiceT>::SharedPtr
   create_service(
     const std::string & service_name,
     CallbackT && callback,
@@ -313,7 +313,7 @@ public:
    * out of scope.
    */
   RCLCPP_LIFECYCLE_PUBLIC
-  rclcpp::event::Event::SharedPtr
+  rclcpp::Event::SharedPtr
   get_graph_event();
 
   /// Wait for a graph event to occur by waiting on an Event to become set.
@@ -326,7 +326,7 @@ public:
   RCLCPP_LIFECYCLE_PUBLIC
   void
   wait_for_graph_change(
-    rclcpp::event::Event::SharedPtr event,
+    rclcpp::Event::SharedPtr event,
     std::chrono::nanoseconds timeout);
 
   RCLCPP_LIFECYCLE_PUBLIC
@@ -480,7 +480,7 @@ protected:
 
   RCLCPP_LIFECYCLE_PUBLIC
   void
-  add_timer_handle(std::shared_ptr<rclcpp::timer::TimerBase> timer);
+  add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer);
 
 private:
   RCLCPP_DISABLE_COPY(LifecycleNode)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -90,7 +90,7 @@ LifecycleNode::create_subscription(
 
   return rclcpp::create_subscription<
     MessageT, CallbackT, Alloc,
-    rclcpp::subscription::Subscription<MessageT, Alloc>>(
+    rclcpp::Subscription<MessageT, Alloc>>(
     this->node_topics_.get(),
     topic_name,
     std::forward<CallbackT>(callback),
@@ -131,13 +131,13 @@ LifecycleNode::create_subscription(
 }
 
 template<typename DurationT, typename CallbackT>
-typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
+typename rclcpp::WallTimer<CallbackT>::SharedPtr
 LifecycleNode::create_wall_timer(
   std::chrono::duration<int64_t, DurationT> period,
   CallbackT callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  auto timer = rclcpp::timer::WallTimer<CallbackT>::make_shared(
+  auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
     std::chrono::duration_cast<std::chrono::nanoseconds>(period),
     std::move(callback));
   node_timers_->add_timer(timer, group);
@@ -145,7 +145,7 @@ LifecycleNode::create_wall_timer(
 }
 
 template<typename ServiceT>
-typename rclcpp::client::Client<ServiceT>::SharedPtr
+typename rclcpp::Client<ServiceT>::SharedPtr
 LifecycleNode::create_client(
   const std::string & service_name,
   const rmw_qos_profile_t & qos_profile,
@@ -154,8 +154,8 @@ LifecycleNode::create_client(
   rcl_client_options_t options = rcl_client_get_default_options();
   options.qos = qos_profile;
 
-  using rclcpp::client::Client;
+  using rclcpp::Client;
-  using rclcpp::client::ClientBase;
+  using rclcpp::ClientBase;
 
   auto cli = Client<ServiceT>::make_shared(
     node_base_.get(),
@@ -169,23 +169,23 @@ LifecycleNode::create_client(
 }
 
 template<typename ServiceT, typename CallbackT>
-typename rclcpp::service::Service<ServiceT>::SharedPtr
+typename rclcpp::Service<ServiceT>::SharedPtr
 LifecycleNode::create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
+  rclcpp::AnyServiceCallback<ServiceT> any_service_callback;
   any_service_callback.set(std::forward<CallbackT>(callback));
 
   rcl_service_options_t service_options = rcl_service_get_default_options();
   service_options.qos = qos_profile;
 
-  auto serv = rclcpp::service::Service<ServiceT>::make_shared(
+  auto serv = rclcpp::Service<ServiceT>::make_shared(
     node_base_->get_shared_rcl_node_handle(),
     service_name, any_service_callback, service_options);
-  auto serv_base_ptr = std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(serv);
+  auto serv_base_ptr = std::dynamic_pointer_cast<rclcpp::ServiceBase>(serv);
   node_services_->add_service(serv_base_ptr, group);
   return serv;
 }

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp

@@ -45,7 +45,7 @@ public:
  */
 template<typename MessageT, typename Alloc = std::allocator<void>>
 class LifecyclePublisher : public LifecyclePublisherInterface,
-  public rclcpp::publisher::Publisher<MessageT, Alloc>
+  public rclcpp::Publisher<MessageT, Alloc>
 {
 public:
   using MessageAllocTraits = rclcpp::allocator::AllocRebind<MessageT, Alloc>;
@@ -58,7 +58,7 @@ public:
     const std::string & topic,
     const rcl_publisher_options_t & publisher_options,
     std::shared_ptr<MessageAlloc> allocator)
-  : rclcpp::publisher::Publisher<MessageT, Alloc>(
+  : rclcpp::Publisher<MessageT, Alloc>(
       node_base, topic, publisher_options, allocator),
     enabled_(false)
   {}
@@ -77,7 +77,7 @@ public:
     if (!enabled_) {
       return;
     }
-    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+    rclcpp::Publisher<MessageT, Alloc>::publish(msg);
   }
 
   /// LifecyclePublisher publish function
@@ -92,7 +92,7 @@ public:
     if (!enabled_) {
       return;
     }
-    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+    rclcpp::Publisher<MessageT, Alloc>::publish(msg);
   }
 
   /// LifecyclePublisher publish function
@@ -107,7 +107,7 @@ public:
     if (!enabled_) {
       return;
     }
-    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+    rclcpp::Publisher<MessageT, Alloc>::publish(msg);
   }
 
   /// LifecyclePublisher publish function
@@ -122,7 +122,7 @@ public:
     if (!enabled_) {
       return;
     }
-    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+    rclcpp::Publisher<MessageT, Alloc>::publish(msg);
   }
 
   virtual void
@@ -146,7 +146,7 @@ public:
     if (!enabled_) {
       return;
     }
-    rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
+    rclcpp::Publisher<MessageT, Alloc>::publish(msg);
   }
 
   virtual void

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -55,7 +55,7 @@ LifecycleNode::LifecycleNode(
 LifecycleNode::LifecycleNode(
   const std::string & node_name,
   const std::string & namespace_,
-  rclcpp::context::Context::SharedPtr context,
+  rclcpp::Context::SharedPtr context,
   bool use_intra_process_comms)
 : node_base_(new rclcpp::node_interfaces::NodeBase(node_name, namespace_, context)),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
@@ -209,7 +209,7 @@ LifecycleNode::get_callback_groups() const
   return node_base_->get_callback_groups();
 }
 
-rclcpp::event::Event::SharedPtr
+rclcpp::Event::SharedPtr
 LifecycleNode::get_graph_event()
 {
   return node_graph_->get_graph_event();
@@ -217,7 +217,7 @@ LifecycleNode::get_graph_event()
 
 void
 LifecycleNode::wait_for_graph_change(
-  rclcpp::event::Event::SharedPtr event,
+  rclcpp::Event::SharedPtr event,
   std::chrono::nanoseconds timeout)
 {
   node_graph_->wait_for_graph_change(event, timeout);
@@ -449,7 +449,7 @@ LifecycleNode::add_publisher_handle(
 }
 
 void
-LifecycleNode::add_timer_handle(std::shared_ptr<rclcpp::timer::TimerBase> timer)
+LifecycleNode::add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer)
 {
   impl_->add_timer_handle(timer);
 }

rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp

@@ -104,61 +104,61 @@ public:
     {  // change_state
       auto cb = std::bind(&LifecycleNodeInterfaceImpl::on_change_state, this,
           std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
-      rclcpp::any_service_callback::AnyServiceCallback<ChangeStateSrv> any_cb;
+      rclcpp::AnyServiceCallback<ChangeStateSrv> any_cb;
       any_cb.set(std::move(cb));
 
-      srv_change_state_ = std::make_shared<rclcpp::service::Service<ChangeStateSrv>>(
+      srv_change_state_ = std::make_shared<rclcpp::Service<ChangeStateSrv>>(
         node_base_interface_->get_shared_rcl_node_handle(),
         &state_machine_.com_interface.srv_change_state,
         any_cb);
       node_services_interface_->add_service(
-        std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(srv_change_state_),
+        std::dynamic_pointer_cast<rclcpp::ServiceBase>(srv_change_state_),
         nullptr);
     }
 
     {  // get_state
       auto cb = std::bind(&LifecycleNodeInterfaceImpl::on_get_state, this,
           std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
-      rclcpp::any_service_callback::AnyServiceCallback<GetStateSrv> any_cb;
+      rclcpp::AnyServiceCallback<GetStateSrv> any_cb;
       any_cb.set(std::move(cb));
 
-      srv_get_state_ = std::make_shared<rclcpp::service::Service<GetStateSrv>>(
+      srv_get_state_ = std::make_shared<rclcpp::Service<GetStateSrv>>(
         node_base_interface_->get_shared_rcl_node_handle(),
         &state_machine_.com_interface.srv_get_state,
         any_cb);
       node_services_interface_->add_service(
-        std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(srv_get_state_),
+        std::dynamic_pointer_cast<rclcpp::ServiceBase>(srv_get_state_),
         nullptr);
     }
 
     {  // get_available_states
       auto cb = std::bind(&LifecycleNodeInterfaceImpl::on_get_available_states, this,
           std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
-      rclcpp::any_service_callback::AnyServiceCallback<GetAvailableStatesSrv> any_cb;
+      rclcpp::AnyServiceCallback<GetAvailableStatesSrv> any_cb;
       any_cb.set(std::move(cb));
 
-      srv_get_available_states_ = std::make_shared<rclcpp::service::Service<GetAvailableStatesSrv>>(
+      srv_get_available_states_ = std::make_shared<rclcpp::Service<GetAvailableStatesSrv>>(
         node_base_interface_->get_shared_rcl_node_handle(),
         &state_machine_.com_interface.srv_get_available_states,
         any_cb);
       node_services_interface_->add_service(
-        std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(srv_get_available_states_),
+        std::dynamic_pointer_cast<rclcpp::ServiceBase>(srv_get_available_states_),
         nullptr);
     }
 
     {  // get_available_transitions
       auto cb = std::bind(&LifecycleNodeInterfaceImpl::on_get_available_transitions, this,
           std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
-      rclcpp::any_service_callback::AnyServiceCallback<GetAvailableTransitionsSrv> any_cb;
+      rclcpp::AnyServiceCallback<GetAvailableTransitionsSrv> any_cb;
       any_cb.set(std::move(cb));
 
       srv_get_available_transitions_ =
-        std::make_shared<rclcpp::service::Service<GetAvailableTransitionsSrv>>(
+        std::make_shared<rclcpp::Service<GetAvailableTransitionsSrv>>(
         node_base_interface_->get_shared_rcl_node_handle(),
         &state_machine_.com_interface.srv_get_available_transitions,
         any_cb);
       node_services_interface_->add_service(
-        std::dynamic_pointer_cast<rclcpp::service::ServiceBase>(srv_get_available_transitions_),
+        std::dynamic_pointer_cast<rclcpp::ServiceBase>(srv_get_available_transitions_),
         nullptr);
     }
   }
@@ -391,7 +391,7 @@ public:
   }
 
   void
-  add_timer_handle(std::shared_ptr<rclcpp::timer::TimerBase> timer)
+  add_timer_handle(std::shared_ptr<rclcpp::TimerBase> timer)
   {
     weak_timers_.push_back(timer);
   }
@@ -404,12 +404,12 @@ public:
 
   using NodeBasePtr = std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>;
   using NodeServicesPtr = std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>;
-  using ChangeStateSrvPtr = std::shared_ptr<rclcpp::service::Service<ChangeStateSrv>>;
+  using ChangeStateSrvPtr = std::shared_ptr<rclcpp::Service<ChangeStateSrv>>;
-  using GetStateSrvPtr = std::shared_ptr<rclcpp::service::Service<GetStateSrv>>;
+  using GetStateSrvPtr = std::shared_ptr<rclcpp::Service<GetStateSrv>>;
   using GetAvailableStatesSrvPtr =
-      std::shared_ptr<rclcpp::service::Service<GetAvailableStatesSrv>>;
+      std::shared_ptr<rclcpp::Service<GetAvailableStatesSrv>>;
   using GetAvailableTransitionsSrvPtr =
-      std::shared_ptr<rclcpp::service::Service<GetAvailableTransitionsSrv>>;
+      std::shared_ptr<rclcpp::Service<GetAvailableTransitionsSrv>>;
 
   NodeBasePtr node_base_interface_;
   NodeServicesPtr node_services_interface_;
@@ -420,7 +420,7 @@ public:
 
   // to controllable things
   std::vector<std::weak_ptr<rclcpp_lifecycle::LifecyclePublisherInterface>> weak_pubs_;
-  std::vector<std::weak_ptr<rclcpp::timer::TimerBase>> weak_timers_;
+  std::vector<std::weak_ptr<rclcpp::TimerBase>> weak_timers_;
 };
 
 }  // namespace rclcpp_lifecycle