New Intra-Process Communication (#778)

* basic ipc implementation from alsora/new_ipc_proposal

Signed-off-by: alberto <alberto.soragna@gmail.com>

better use of node_topic create subscription

Signed-off-by: alberto <alberto.soragna@gmail.com>

added intra process manager test

Signed-off-by: alberto <alberto.soragna@gmail.com>

fixed ring buffer and added test

Signed-off-by: alberto <alberto.soragna@gmail.com>

added intra process buffer test

Signed-off-by: alberto <alberto.soragna@gmail.com>

added intra process buffer test

Signed-off-by: alberto <alberto.soragna@gmail.com>

Signed-off-by: alberto <alberto.soragna@gmail.com>

removed intra-process methods from subscription base

Signed-off-by: alberto <alberto.soragna@gmail.com>

using lock_guard instead of unique_lock, renamed var without camel case

Signed-off-by: alberto <alberto.soragna@gmail.com>

using unordered set and references in intra process manager

Signed-off-by: alberto <alberto.soragna@gmail.com>

subscription intra-process does not depend anymore on subscription, but has a copy of the callback

Signed-off-by: alberto <alberto.soragna@gmail.com>

changed buffer API to use rvo

Signed-off-by: Alberto <alberto.soragna@gmail.com>

avoid copying shared_ptr

Signed-off-by: alberto <alberto.soragna@gmail.com>

revert not needed changes to create_subscription

Signed-off-by: alberto <alberto.soragna@gmail.com>

updated tests according to new buffer APIs

Signed-off-by: alberto <alberto.soragna@gmail.com>

updated types in ring buffer implementation avoid using uint32_t

Signed-off-by: alberto <alberto.soragna@gmail.com>

using unique ptr for buffers in subscription_intra_process

Signed-off-by: alberto <alberto.soragna@gmail.com>

added missing std::move in subscription_intra_process constructor

Signed-off-by: alberto <alberto.soragna@gmail.com>

use consisting names for ring_buffer_implementation members

Signed-off-by: alberto <alberto.soragna@gmail.com>

addressing typos, one-liners and similar from ivanpauno review

Signed-off-by: alberto <alberto.soragna@gmail.com>

moved subscription_intra_process_base to its own files and moved non templated method from derived class

Signed-off-by: alberto <alberto.soragna@gmail.com>

removed forward declarations, fixed include subscription_intra_process_base

Signed-off-by: alberto <alberto.soragna@gmail.com>

removed member variable from do_intra_process_publish signature

Signed-off-by: alberto <alberto.soragna@gmail.com>

declare public before private in intra_process_manager_impl

Signed-off-by: alberto <alberto.soragna@gmail.com>

made matches_any_intra_process_publishers const

Signed-off-by: alberto <alberto.soragna@gmail.com>

using const reference in get_all_matching_publishers

Signed-off-by: alberto <alberto.soragna@gmail.com>

added deleter and alloc templates in intra_process_buffer

Signed-off-by: alberto <alberto.soragna@gmail.com>

added RCLCPP_WARN to intra_process_manager_impl

Signed-off-by: alberto <alberto.soragna@gmail.com>

passing context from node to subscription_intra_process

Signed-off-by: alberto <alberto.soragna@gmail.com>

using allocators in intra_process_manager

Signed-off-by: alberto <alberto.soragna@gmail.com>

use size_t instead of int in ring buffer indices

Signed-off-by: alberto <alberto.soragna@gmail.com>

creating buffer inside subscription_intra_process constructor

Signed-off-by: alberto <alberto.soragna@gmail.com>

fix lint errors

Signed-off-by: alberto <alberto.soragna@gmail.com>

throw error if trying to dequeue when buffer empty; remove duplicated methods in intra_process_buffer

Signed-off-by: alberto <alberto.soragna@gmail.com>

added todo for creating an rmw function for checking qos compatibility

Signed-off-by: alberto <alberto.soragna@gmail.com>

test fixes

Signed-off-by: alberto <alberto.soragna@gmail.com>

refactored intra_process_manager, removed ipm impl

Signed-off-by: alberto <alberto.soragna@gmail.com>

added mutex in intra_process_manager add_* methods

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

added allocator to intra_process_buffer

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

added invalid intra_process qos test for subscription

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

throw error if history size is 0 with keep last and ipc

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

using allocator when creating unique_ptr from shared_ptr

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

adding deleter template argument to intra_process buffer

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

fix linter

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

throw error with callbackT different from messageT

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

updated deleter template argument in subscription factory

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

Fix typo in test fixture tear down method name (#787)

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

Add free function for creating service clients (#788)

Equivalent to the free function for creating a service.
Resolves #768

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

Cmake infrastructure for creating components (#784)

*cmake macro to create components for libraries with multiple nodes

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>

Allow registering multiple on_parameters_set_callback (#772)

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

fix for multiple nodes not being recognized (#790)

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>

Remove non-package from ament_target_dependencies() (#793)

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

fix linter issue (#795)

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>

Make TimeSource ignore use_sim_time events coming from other nodes. (#799)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

passing deleter template parameter

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

small fixes for failing tests

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

fixed imports in test_intra_process_manager

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

using RCLCPP_SMART_PTR_ALIASES_ONLY and RCLCPP_PUBLIC macros

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

added RCLCPP_PUBLIC macros and virtual destructor to sub intra_process base

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

added unique_ptr alias to macros

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

updated test_intra_process_manager.cpp

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

remove mock msgs from rclcpp (#800)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Add line break after first open paren in multiline function call (#785)

* Add line break after first open paren in multiline function call

as per developer guide:
https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#open-versus-cuddled-braces
see https://github.com/ament/ament_lint/pull/148

Signed-off-by: Dan Rose <dan@digilabs.io>

Fix dedent when first function argument starts with a brace

Signed-off-by: Dan Rose <dan@digilabs.io>

Line break with multiline if condition
Remove line breaks where allowed.

Signed-off-by: Dan Rose <dan@digilabs.io>

Fixup after rebase

Signed-off-by: Dan Rose <dan@digilabs.io>

Fixup again after reverting indent_paren_open_brace

Signed-off-by: Dan Rose <dan@digilabs.io>

* Revert comment spacing change, condense some lines

Signed-off-by: Dan Rose <dan@digilabs.io>

Adapt to '--ros-args ... [--]'-based ROS args extraction (#816)

* Use --ros-args to deal with node arguments in rclcpp.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Document implicit --ros-args flag in NodeOptions::arguments().

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Add missing size_t to int cast.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Only add implicit --ros-args flag if not present already.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Add some rclcpp::NodeOptions test coverage.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Address peer review comments.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Please cpplint and uncrustify.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Guard against making multiple result requests for a goal handle (#808)

This fixes a runtime error caused by a race condition when making consecutive requests for the
result.
Specifically, this happens if the user provides a result callback when sending a goal and then
calls async_get_result shortly after.

Resolves #783

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

Explain return value of spin_until_future_complete (#792)

Signed-off-by: Dan Rose <dan@digilabs.io>

Allow passing logger by const ref (#820)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Delete unnecessary call for get_node_by_group (#823)

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

Fix get_node_interfaces functions taking a pointer (#821)

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

add callback group as member variable and constructor arg (#811)

Signed-off-by: bpwilcox <bpwilcox@eng.ucsd.edu>

remove callback group as member variable

Wrap documentation examples in code blocks (#830)

This makes the code examples easier to read in the generated documentation.

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

Crash in callback group pointer vector iterator (#814)

Signed-off-by: Guillaume Autran <gautran@clearpath.ai>

add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy_ (#837)

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

Fix hang with timers in MultiThreadedExecutor (#835) (#836)

Signed-off-by: Todd Malsbary <todd.malsbary@intel.com>

Use of -r/--remap flags where appropriate. (#834)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Force explicit --ros-args in NodeOptions::arguments(). (#845)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Fail on invalid and unknown ROS specific arguments (#842)

* Fail on invalid and unknown ROS specific arguments.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Revert changes to utilities.hpp in rclcpp

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Fully revert change to utilities.hpp

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Fix typo in deprecated warning. (#848)

"it's" instead of its

Signed-off-by: Luca Della Vedova <luca@openrobotics.org>

Add throwing parameter name if parameter is not set (#833)

* added throwing parameter name if parameter is not set

Signed-off-by: Alex <cvbn127@gmail.com>
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

check valid timer handler 1st to reduce the time window for scan. (#841)

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

remove features and related code which were deprecated in dashing (#852)

Signed-off-by: William Woodall <william@osrfoundation.org>

reset error message before setting a new one, embed the original one (#854)

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

restored virtual destructor in publisher_base

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

* fixup a few things after rebase

Signed-off-by: William Woodall <william@osrfoundation.org>

* refactor some API's and get code compiling again

Signed-off-by: William Woodall <william@osrfoundation.org>

* docs and style changes (whitespace)

Signed-off-by: William Woodall <william@osrfoundation.org>

* move new intra process internals into experimental namespace

Signed-off-by: William Woodall <william@osrfoundation.org>

* uncrustify

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix issues with LoanedMessages after rebase

Signed-off-by: William Woodall <william@osrfoundation.org>

* more fixups

Signed-off-by: William Woodall <william@osrfoundation.org>

* readd logic for avoiding in compatible QoS

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid an error when intra process is disabled

Signed-off-by: William Woodall <william@osrfoundation.org>

* change intra process to preserve pointer in cyclic_pipeline

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix issue matching topics in intra process

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix some issues with the tests after latest behavior change

Signed-off-by: William Woodall <william@osrfoundation.org>

* address review feedback

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix the initialization order

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid possible loss of data warning

Signed-off-by: William Woodall <william@osrfoundation.org>

* more fixes related to initialization

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix use of custom allocators

Signed-off-by: William Woodall <william@osrfoundation.org>

rclcpp/CMakeLists.txt

@@ -47,7 +47,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/graph_listener.cpp
   src/rclcpp/init_options.cpp
   src/rclcpp/intra_process_manager.cpp
-  src/rclcpp/intra_process_manager_impl.cpp
   src/rclcpp/logger.cpp
   src/rclcpp/memory_strategies.cpp
   src/rclcpp/memory_strategy.cpp
@@ -75,6 +74,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/service.cpp
   src/rclcpp/signal_handler.cpp
   src/rclcpp/subscription_base.cpp
+  src/rclcpp/subscription_intra_process_base.cpp
   src/rclcpp/time.cpp
   src/rclcpp/time_source.cpp
   src/rclcpp/timer.cpp
@@ -200,17 +200,7 @@ if(BUILD_TESTING)
       "rosidl_typesupport_cpp"
     )
   endif()
-  ament_add_gtest(test_mapped_ring_buffer test/test_mapped_ring_buffer.cpp)
+  ament_add_gmock(test_intra_process_manager test/test_intra_process_manager.cpp)
-  if(TARGET test_mapped_ring_buffer)
-    ament_target_dependencies(test_mapped_ring_buffer
-      "rcl"
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_generator_cpp"
-      "rosidl_typesupport_cpp"
-    )
-  endif()
-  ament_add_gtest(test_intra_process_manager test/test_intra_process_manager.cpp)
   if(TARGET test_intra_process_manager)
     ament_target_dependencies(test_intra_process_manager
       "rcl"
@@ -219,6 +209,27 @@ if(BUILD_TESTING)
       "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
     )
+    target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_ring_buffer_implementation test/test_ring_buffer_implementation.cpp)
+  if(TARGET test_ring_buffer_implementation)
+    ament_target_dependencies(test_ring_buffer_implementation
+      "rcl_interfaces"
+      "rmw"
+      "rosidl_generator_cpp"
+      "rosidl_typesupport_cpp"
+    )
+    target_link_libraries(test_ring_buffer_implementation ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_intra_process_buffer test/test_intra_process_buffer.cpp)
+  if(TARGET test_intra_process_buffer)
+    ament_target_dependencies(test_intra_process_buffer
+      "rcl_interfaces"
+      "rmw"
+      "rosidl_generator_cpp"
+      "rosidl_typesupport_cpp"
+    )
+    target_link_libraries(test_intra_process_buffer ${PROJECT_NAME})
   endif()
 
   ament_add_gtest(test_loaned_message test/test_loaned_message.cpp)

rclcpp/include/rclcpp/any_executable.hpp

@@ -42,7 +42,6 @@ struct AnyExecutable
 
   // Only one of the following pointers will be set.
   rclcpp::SubscriptionBase::SharedPtr subscription;
-  rclcpp::SubscriptionBase::SharedPtr subscription_intra_process;
   rclcpp::TimerBase::SharedPtr timer;
   rclcpp::ServiceBase::SharedPtr service;
   rclcpp::ClientBase::SharedPtr client;

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -227,7 +227,7 @@ public:
     TRACEPOINT(callback_end, (const void *)this);
   }
 
-  bool use_take_shared_method()
+  bool use_take_shared_method() const
   {
     return const_shared_ptr_callback_ || const_shared_ptr_with_info_callback_;
   }

rclcpp/include/rclcpp/create_subscription.hpp

@@ -72,6 +72,7 @@ create_subscription(
 
   auto sub = node_topics->create_subscription(topic_name, factory, qos);
   node_topics->add_subscription(sub, options.callback_group);
+
   return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }
 

rclcpp/include/rclcpp/detail/resolve_intra_process_buffer_type.hpp

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

rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp

@@ -25,6 +25,7 @@ namespace rclcpp
 namespace detail
 {
 
+/// Return whether or not intra process is enabled, resolving "NodeDefault" if needed.
 template<typename OptionsT, typename NodeBaseT>
 bool
 resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)

rclcpp/include/rclcpp/executor.hpp

@@ -305,11 +305,6 @@ protected:
   execute_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription);
 
-  RCLCPP_PUBLIC
-  static void
-  execute_intra_process_subscription(
-    rclcpp::SubscriptionBase::SharedPtr subscription);
-
   RCLCPP_PUBLIC
   static void
   execute_timer(rclcpp::TimerBase::SharedPtr timer);

rclcpp/include/rclcpp/experimental/README.md

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

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

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

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

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

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

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

rclcpp/include/rclcpp/experimental/create_intra_process_buffer.hpp

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

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -0,0 +1,426 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__INTRA_PROCESS_MANAGER_HPP_
+#define RCLCPP__EXPERIMENTAL__INTRA_PROCESS_MANAGER_HPP_
+
+#include <rmw/types.h>
+
+#include <shared_mutex>
+
+#include <algorithm>
+#include <atomic>
+#include <cstdint>
+#include <exception>
+#include <map>
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+#include "rclcpp/allocator/allocator_deleter.hpp"
+#include "rclcpp/experimental/subscription_intra_process.hpp"
+#include "rclcpp/experimental/subscription_intra_process_base.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+namespace experimental
+{
+
+/// This class performs intra process communication between nodes.
+/**
+ * This class is used in the creation of publishers and subscriptions.
+ * A singleton instance of this class is owned by a rclcpp::Context and a
+ * rclcpp::Node can use an associated Context to get an instance of this class.
+ * Nodes which do not have a common Context will not exchange intra process
+ * messages because they do not share access to the same instance of this class.
+ *
+ * When a Node creates a subscription, it can also create a helper class,
+ * called SubscriptionIntraProcess, meant to receive intra process messages.
+ * It can be registered with this class.
+ * It is also allocated an id which is unique among all publishers
+ * and subscriptions in this process and that is associated to the subscription.
+ *
+ * When a Node creates a publisher, as with subscriptions, a helper class can
+ * be registered with this class.
+ * This is required in order to publish intra-process messages.
+ * It is also allocated an id which is unique among all publishers
+ * and subscriptions in this process and that is associated to the publisher.
+ *
+ * When a publisher or a subscription are registered, this class checks to see
+ * which other subscriptions or publishers it will communicate with,
+ * i.e. they have the same topic and compatible QoS.
+ *
+ * When the user publishes a message, if intra-process communication is enabled
+ * on the publisher, the message is given to this class.
+ * Using the publisher id, a list of recipients for the message is selected.
+ * For each subscription in the list, this class stores the message, whether
+ * sharing ownership or making a copy, in a buffer associated with the
+ * subscription helper class.
+ *
+ * The subscription helper class contains a buffer where published
+ * intra-process messages are stored until they are taken from the subscription.
+ * Depending on the data type stored in the buffer, the subscription helper
+ * class can request either shared or exclusive ownership on the message.
+ *
+ * Thus, when an intra-process message is published, this class knows how many
+ * intra-process subscriptions needs it and how many require ownership.
+ * This information allows this class to operate efficiently by performing the
+ * fewest number of copies of the message required.
+ *
+ * This class is neither CopyConstructable nor CopyAssignable.
+ */
+class IntraProcessManager
+{
+private:
+  RCLCPP_DISABLE_COPY(IntraProcessManager)
+
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(IntraProcessManager)
+
+  RCLCPP_PUBLIC
+  IntraProcessManager();
+
+  RCLCPP_PUBLIC
+  virtual ~IntraProcessManager();
+
+  /// Register a subscription with the manager, returns subscriptions unique id.
+  /**
+   * This method stores the subscription intra process object, together with
+   * the information of its wrapped subscription (i.e. topic name and QoS).
+   *
+   * In addition this generates a unique intra process id for the subscription.
+   *
+   * \param subscription the SubscriptionIntraProcess to register.
+   * \return an unsigned 64-bit integer which is the subscription's unique id.
+   */
+  RCLCPP_PUBLIC
+  uint64_t
+  add_subscription(rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription);
+
+  /// Unregister a subscription using the subscription's unique id.
+  /**
+   * This method does not allocate memory.
+   *
+   * \param intra_process_subscription_id id of the subscription to remove.
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_subscription(uint64_t intra_process_subscription_id);
+
+  /// Register a publisher with the manager, returns the publisher unique id.
+  /**
+   * This method stores the publisher intra process object, together with
+   * the information of its wrapped publisher (i.e. topic name and QoS).
+   *
+   * In addition this generates a unique intra process id for the publisher.
+   *
+   * \param publisher publisher to be registered with the manager.
+   * \return an unsigned 64-bit integer which is the publisher's unique id.
+   */
+  RCLCPP_PUBLIC
+  uint64_t
+  add_publisher(rclcpp::PublisherBase::SharedPtr publisher);
+
+  /// Unregister a publisher using the publisher's unique id.
+  /**
+   * This method does not allocate memory.
+   *
+   * \param intra_process_publisher_id id of the publisher to remove.
+   */
+  RCLCPP_PUBLIC
+  void
+  remove_publisher(uint64_t intra_process_publisher_id);
+
+  /// Publishes an intra-process message, passed as a unique pointer.
+  /**
+   * This is one of the two methods for publishing intra-process.
+   *
+   * Using the intra-process publisher id, a list of recipients is obtained.
+   * This list is split in half, depending whether they require ownership or not.
+   *
+   * This particular method takes a unique pointer as input.
+   * The pointer can be promoted to a shared pointer and passed to all the subscriptions
+   * that do not require ownership.
+   * In case of subscriptions requiring ownership, the message will be copied for all of
+   * them except the last one, when ownership can be transferred.
+   *
+   * This method can save an additional copy compared to the shared pointer one.
+   *
+   * This method can throw an exception if the publisher id is not found or
+   * if the publisher shared_ptr given to add_publisher has gone out of scope.
+   *
+   * This method does allocate memory.
+   *
+   * \param intra_process_publisher_id the id of the publisher of this message.
+   * \param message the message that is being stored.
+   */
+  template<
+    typename MessageT,
+    typename Alloc = std::allocator<void>,
+    typename Deleter = std::default_delete<MessageT>>
+  void
+  do_intra_process_publish(
+    uint64_t intra_process_publisher_id,
+    std::unique_ptr<MessageT, Deleter> message,
+    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
+  {
+    using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+    using MessageAllocatorT = typename MessageAllocTraits::allocator_type;
+
+    std::shared_lock<std::shared_timed_mutex> lock(mutex_);
+
+    auto publisher_it = pub_to_subs_.find(intra_process_publisher_id);
+    if (publisher_it == pub_to_subs_.end()) {
+      // Publisher is either invalid or no longer exists.
+      RCLCPP_WARN(
+        rclcpp::get_logger("rclcpp"),
+        "Calling do_intra_process_publish for invalid or no longer existing publisher id");
+      return;
+    }
+    const auto & sub_ids = publisher_it->second;
+
+    if (sub_ids.take_ownership_subscriptions.empty()) {
+      // None of the buffers require ownership, so we promote the pointer
+      std::shared_ptr<MessageT> msg = std::move(message);
+
+      this->template add_shared_msg_to_buffers<MessageT>(msg, sub_ids.take_shared_subscriptions);
+    } else if (!sub_ids.take_ownership_subscriptions.empty() && // NOLINT
+      sub_ids.take_shared_subscriptions.size() <= 1)
+    {
+      // There is at maximum 1 buffer that does not require ownership.
+      // So we this case is equivalent to all the buffers requiring ownership
+
+      // Merge the two vector of ids into a unique one
+      std::vector<uint64_t> concatenated_vector(sub_ids.take_shared_subscriptions);
+      concatenated_vector.insert(
+        concatenated_vector.end(),
+        sub_ids.take_ownership_subscriptions.begin(),
+        sub_ids.take_ownership_subscriptions.end());
+
+      this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
+        std::move(message),
+        concatenated_vector,
+        allocator);
+    } else if (!sub_ids.take_ownership_subscriptions.empty() && // NOLINT
+      sub_ids.take_shared_subscriptions.size() > 1)
+    {
+      // Construct a new shared pointer from the message
+      // for the buffers that do not require ownership
+      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
+
+      this->template add_shared_msg_to_buffers<MessageT>(shared_msg,
+        sub_ids.take_shared_subscriptions);
+      this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
+        std::move(message),
+        sub_ids.take_ownership_subscriptions,
+        allocator);
+    }
+  }
+
+  template<
+    typename MessageT,
+    typename Alloc = std::allocator<void>,
+    typename Deleter = std::default_delete<MessageT>>
+  std::shared_ptr<const MessageT>
+  do_intra_process_publish_and_return_shared(
+    uint64_t intra_process_publisher_id,
+    std::unique_ptr<MessageT, Deleter> message,
+    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
+  {
+    using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+    using MessageAllocatorT = typename MessageAllocTraits::allocator_type;
+
+    std::shared_lock<std::shared_timed_mutex> lock(mutex_);
+
+    auto publisher_it = pub_to_subs_.find(intra_process_publisher_id);
+    if (publisher_it == pub_to_subs_.end()) {
+      // Publisher is either invalid or no longer exists.
+      RCLCPP_WARN(
+        rclcpp::get_logger("rclcpp"),
+        "Calling do_intra_process_publish for invalid or no longer existing publisher id");
+      return nullptr;
+    }
+    const auto & sub_ids = publisher_it->second;
+
+    if (sub_ids.take_ownership_subscriptions.empty()) {
+      // If there are no owning, just convert to shared.
+      std::shared_ptr<MessageT> shared_msg = std::move(message);
+      if (!sub_ids.take_shared_subscriptions.empty()) {
+        this->template add_shared_msg_to_buffers<MessageT>(shared_msg,
+          sub_ids.take_shared_subscriptions);
+      }
+      return shared_msg;
+    } else {
+      // Construct a new shared pointer from the message for the buffers that
+      // do not require ownership and to return.
+      auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
+
+      if (!sub_ids.take_shared_subscriptions.empty()) {
+        this->template add_shared_msg_to_buffers<MessageT>(
+          shared_msg,
+          sub_ids.take_shared_subscriptions);
+      }
+      if (!sub_ids.take_ownership_subscriptions.empty()) {
+        this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
+          std::move(message),
+          sub_ids.take_ownership_subscriptions,
+          allocator);
+      }
+
+      return shared_msg;
+    }
+  }
+
+  /// Return true if the given rmw_gid_t matches any stored Publishers.
+  RCLCPP_PUBLIC
+  bool
+  matches_any_publishers(const rmw_gid_t * id) const;
+
+  /// Return the number of intraprocess subscriptions that are matched with a given publisher id.
+  RCLCPP_PUBLIC
+  size_t
+  get_subscription_count(uint64_t intra_process_publisher_id) const;
+
+  RCLCPP_PUBLIC
+  rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr
+  get_subscription_intra_process(uint64_t intra_process_subscription_id);
+
+private:
+  struct SubscriptionInfo
+  {
+    SubscriptionInfo() = default;
+
+    rclcpp::experimental::SubscriptionIntraProcessBase::SharedPtr subscription;
+    rmw_qos_profile_t qos;
+    const char * topic_name;
+    bool use_take_shared_method;
+  };
+
+  struct PublisherInfo
+  {
+    PublisherInfo() = default;
+
+    rclcpp::PublisherBase::WeakPtr publisher;
+    rmw_qos_profile_t qos;
+    const char * topic_name;
+  };
+
+  struct SplittedSubscriptions
+  {
+    std::vector<uint64_t> take_shared_subscriptions;
+    std::vector<uint64_t> take_ownership_subscriptions;
+  };
+
+  using SubscriptionMap =
+    std::unordered_map<uint64_t, SubscriptionInfo>;
+
+  using PublisherMap =
+    std::unordered_map<uint64_t, PublisherInfo>;
+
+  using PublisherToSubscriptionIdsMap =
+    std::unordered_map<uint64_t, SplittedSubscriptions>;
+
+  RCLCPP_PUBLIC
+  static
+  uint64_t
+  get_next_unique_id();
+
+  RCLCPP_PUBLIC
+  void
+  insert_sub_id_for_pub(uint64_t sub_id, uint64_t pub_id, bool use_take_shared_method);
+
+  RCLCPP_PUBLIC
+  bool
+  can_communicate(PublisherInfo pub_info, SubscriptionInfo sub_info) const;
+
+  template<typename MessageT>
+  void
+  add_shared_msg_to_buffers(
+    std::shared_ptr<const MessageT> message,
+    std::vector<uint64_t> subscription_ids)
+  {
+    for (auto id : subscription_ids) {
+      auto subscription_it = subscriptions_.find(id);
+      if (subscription_it == subscriptions_.end()) {
+        throw std::runtime_error("subscription has unexpectedly gone out of scope");
+      }
+      auto subscription_base = subscription_it->second.subscription;
+
+      auto subscription = std::static_pointer_cast<
+        rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+        >(subscription_base);
+
+      subscription->provide_intra_process_message(message);
+    }
+  }
+
+  template<
+    typename MessageT,
+    typename Alloc = std::allocator<void>,
+    typename Deleter = std::default_delete<MessageT>>
+  void
+  add_owned_msg_to_buffers(
+    std::unique_ptr<MessageT, Deleter> message,
+    std::vector<uint64_t> subscription_ids,
+    std::shared_ptr<typename allocator::AllocRebind<MessageT, Alloc>::allocator_type> allocator)
+  {
+    using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+    using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
+
+    for (auto it = subscription_ids.begin(); it != subscription_ids.end(); it++) {
+      auto subscription_it = subscriptions_.find(*it);
+      if (subscription_it == subscriptions_.end()) {
+        throw std::runtime_error("subscription has unexpectedly gone out of scope");
+      }
+      auto subscription_base = subscription_it->second.subscription;
+
+      auto subscription = std::static_pointer_cast<
+        rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+        >(subscription_base);
+
+      if (std::next(it) == subscription_ids.end()) {
+        // If this is the last subscription, give up ownership
+        subscription->provide_intra_process_message(std::move(message));
+      } else {
+        // Copy the message since we have additional subscriptions to serve
+        MessageUniquePtr copy_message;
+        Deleter deleter = message.get_deleter();
+        auto ptr = MessageAllocTraits::allocate(*allocator.get(), 1);
+        MessageAllocTraits::construct(*allocator.get(), ptr, *message);
+        copy_message = MessageUniquePtr(ptr, deleter);
+
+        subscription->provide_intra_process_message(std::move(copy_message));
+      }
+    }
+  }
+
+  PublisherToSubscriptionIdsMap pub_to_subs_;
+  SubscriptionMap subscriptions_;
+  PublisherMap publishers_;
+
+  mutable std::shared_timed_mutex mutex_;
+};
+
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__INTRA_PROCESS_MANAGER_HPP_

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -0,0 +1,163 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_HPP_
+#define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_HPP_
+
+#include <rmw/rmw.h>
+
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rcl/error_handling.h"
+
+#include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
+#include "rclcpp/experimental/create_intra_process_buffer.hpp"
+#include "rclcpp/experimental/subscription_intra_process_base.hpp"
+#include "rclcpp/type_support_decl.hpp"
+#include "rclcpp/waitable.hpp"
+
+namespace rclcpp
+{
+namespace experimental
+{
+
+template<
+  typename MessageT,
+  typename Alloc = std::allocator<void>,
+  typename Deleter = std::default_delete<MessageT>,
+  typename CallbackMessageT = MessageT>
+class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcess)
+
+  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+  using MessageAlloc = typename MessageAllocTraits::allocator_type;
+  using ConstMessageSharedPtr = std::shared_ptr<const MessageT>;
+  using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
+
+  using BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
+    MessageT,
+    Alloc,
+    Deleter
+    >::UniquePtr;
+
+  SubscriptionIntraProcess(
+    AnySubscriptionCallback<CallbackMessageT, Alloc> callback,
+    std::shared_ptr<Alloc> allocator,
+    rclcpp::Context::SharedPtr context,
+    const std::string & topic_name,
+    rmw_qos_profile_t qos_profile,
+    rclcpp::IntraProcessBufferType buffer_type)
+  : SubscriptionIntraProcessBase(topic_name, qos_profile),
+    any_callback_(callback)
+  {
+    if (!std::is_same<MessageT, CallbackMessageT>::value) {
+      throw std::runtime_error("SubscriptionIntraProcess wrong callback type");
+    }
+
+    // Create the intra-process buffer.
+    buffer_ = rclcpp::experimental::create_intra_process_buffer<MessageT, Alloc, Deleter>(
+      buffer_type,
+      qos_profile,
+      allocator);
+
+    // Create the guard condition.
+    rcl_guard_condition_options_t guard_condition_options =
+      rcl_guard_condition_get_default_options();
+
+    gc_ = rcl_get_zero_initialized_guard_condition();
+    rcl_ret_t ret = rcl_guard_condition_init(
+      &gc_, context->get_rcl_context().get(), guard_condition_options);
+
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error("SubscriptionIntraProcess init error initializing guard condition");
+    }
+  }
+
+  bool
+  is_ready(rcl_wait_set_t * wait_set)
+  {
+    (void)wait_set;
+    return buffer_->has_data();
+  }
+
+  void execute()
+  {
+    execute_impl<CallbackMessageT>();
+  }
+
+  void
+  provide_intra_process_message(ConstMessageSharedPtr message)
+  {
+    buffer_->add_shared(std::move(message));
+    trigger_guard_condition();
+  }
+
+  void
+  provide_intra_process_message(MessageUniquePtr message)
+  {
+    buffer_->add_unique(std::move(message));
+    trigger_guard_condition();
+  }
+
+  bool
+  use_take_shared_method() const
+  {
+    return buffer_->use_take_shared_method();
+  }
+
+private:
+  void
+  trigger_guard_condition()
+  {
+    rcl_ret_t ret = rcl_trigger_guard_condition(&gc_);
+    (void)ret;
+  }
+
+  template<typename T>
+  typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type
+  execute_impl()
+  {
+    throw std::runtime_error("Subscription intra-process can't handle serialized messages");
+  }
+
+  template<class T>
+  typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value, void>::type
+  execute_impl()
+  {
+    rmw_message_info_t msg_info;
+    msg_info.from_intra_process = true;
+
+    if (any_callback_.use_take_shared_method()) {
+      ConstMessageSharedPtr msg = buffer_->consume_shared();
+      any_callback_.dispatch_intra_process(msg, msg_info);
+    } else {
+      MessageUniquePtr msg = buffer_->consume_unique();
+      any_callback_.dispatch_intra_process(std::move(msg), msg_info);
+    }
+  }
+
+  AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
+  BufferUniquePtr buffer_;
+};
+
+}  // namespace experimental
+}  // namespace rclcpp
+
+#endif  // RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_HPP_

rclcpp/include/rclcpp/experimental/subscription_intra_process_base.hpp

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

rclcpp/include/rclcpp/intra_process_buffer_type.hpp

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

rclcpp/include/rclcpp/intra_process_manager.hpp

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

rclcpp/include/rclcpp/intra_process_manager_impl.hpp

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

rclcpp/include/rclcpp/loaned_message.hpp

@@ -18,6 +18,7 @@
 #include <memory>
 #include <utility>
 
+#include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/publisher_base.hpp"
 
@@ -30,7 +31,7 @@ namespace rclcpp
 template<typename MessageT, typename AllocatorT = std::allocator<void>>
 class LoanedMessage
 {
-  using MessageAllocatorTraits = allocator::AllocRebind<MessageT, AllocatorT>;
+  using MessageAllocatorTraits = rclcpp::allocator::AllocRebind<MessageT, AllocatorT>;
   using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
 
 public:

rclcpp/include/rclcpp/macros.hpp

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

rclcpp/include/rclcpp/mapped_ring_buffer.hpp

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

rclcpp/include/rclcpp/node_impl.hpp

@@ -40,7 +40,6 @@
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"
 #include "rclcpp/create_subscription.hpp"
-#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"

rclcpp/include/rclcpp/publisher.hpp

@@ -28,12 +28,10 @@
 #include "rcl/error_handling.h"
 #include "rcl/publisher.h"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
-
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/detail/resolve_use_intra_process.hpp"
-#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/loaned_message.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
@@ -101,12 +99,13 @@ public:
   {
     // Topic is unused for now.
     (void)topic;
+    (void)options;
 
     // If needed, setup intra process communication.
     if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
       auto context = node_base->get_context();
       // Get the intra process manager instance for this context.
-      auto ipm = context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
+      auto ipm = context->get_sub_context<rclcpp::experimental::IntraProcessManager>();
       // Register the publisher with the intra process manager.
       if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
         throw std::invalid_argument(
@@ -116,26 +115,20 @@ public:
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with a zero qos history depth value");
       }
+      if (qos.get_rmw_qos_profile().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
+        throw std::invalid_argument(
+                "intraprocess communication allowed only with volatile durability");
+      }
       uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this());
       this->setup_intra_process(
         intra_process_publisher_id,
-        ipm,
+        ipm);
-        options.template to_rcl_publisher_options<MessageT>(qos));
     }
   }
 
   virtual ~Publisher()
   {}
 
-  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-  make_mapped_ring_buffer(size_t size) const override
-  {
-    return mapped_ring_buffer::MappedRingBuffer<
-      MessageT,
-      typename Publisher<MessageT, AllocatorT>::MessageAllocator
-    >::make_shared(size, this->get_allocator());
-  }
-
   /// Loan memory for a ROS message from the middleware
   /**
    * If the middleware is capable of loaning memory for a ROS message instance,
@@ -165,7 +158,7 @@ public:
   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
   {
     if (!intra_process_is_enabled_) {
-      this->do_inter_process_publish(msg.get());
+      this->do_inter_process_publish(*msg);
       return;
     }
     // If an interprocess subscription exist, then the unique_ptr is promoted
@@ -174,21 +167,14 @@ public:
     // interprocess publish, resulting in lower publish-to-subscribe latency.
     // It's not possible to do that with an unique_ptr,
     // as do_intra_process_publish takes the ownership of the message.
-    uint64_t message_seq;
     bool inter_process_publish_needed =
       get_subscription_count() > get_intra_process_subscription_count();
-    MessageSharedPtr shared_msg;
+
     if (inter_process_publish_needed) {
-      shared_msg = std::move(msg);
+      auto shared_msg = this->do_intra_process_publish_and_return_shared(std::move(msg));
-      message_seq =
+      this->do_inter_process_publish(*shared_msg);
-        store_intra_process_message(intra_process_publisher_id_, shared_msg);
     } else {
-      message_seq =
+      this->do_intra_process_publish(std::move(msg));
-        store_intra_process_message(intra_process_publisher_id_, std::move(msg));
-    }
-    this->do_intra_process_publish(message_seq);
-    if (inter_process_publish_needed) {
-      this->do_inter_process_publish(shared_msg.get());
     }
   }
 
@@ -198,7 +184,7 @@ public:
     // Avoid allocating when not using intra process.
     if (!intra_process_is_enabled_) {
       // In this case we're not using intra process.
-      return this->do_inter_process_publish(&msg);
+      return this->do_inter_process_publish(msg);
     }
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
     // As the message is not const, a copy should be made.
@@ -246,7 +232,7 @@ public:
     } else {
       // we don't release the ownership, let the middleware copy the ros message
       // and thus the destructor of rclcpp::LoanedMessage cleans up the memory.
-      this->do_inter_process_publish(&loaned_msg.get());
+      this->do_inter_process_publish(loaned_msg.get());
     }
   }
 
@@ -258,9 +244,9 @@ public:
 
 protected:
   void
-  do_inter_process_publish(const MessageT * msg)
+  do_inter_process_publish(const MessageT & msg)
   {
-    auto status = rcl_publish(&publisher_handle_, msg, nullptr);
+    auto status = rcl_publish(&publisher_handle_, &msg, nullptr);
 
     if (RCL_RET_PUBLISHER_INVALID == status) {
       rcl_reset_error();  // next call will reset error message if not context
@@ -290,28 +276,6 @@ protected:
     }
   }
 
-  void
-  do_intra_process_publish(uint64_t message_seq)
-  {
-    rcl_interfaces::msg::IntraProcessMessage ipm;
-    ipm.publisher_id = intra_process_publisher_id_;
-    ipm.message_sequence = message_seq;
-    auto status = rcl_publish(&intra_process_publisher_handle_, &ipm, nullptr);
-    if (RCL_RET_PUBLISHER_INVALID == status) {
-      rcl_reset_error();  // next call will reset error message if not context
-      if (rcl_publisher_is_valid_except_context(&intra_process_publisher_handle_)) {
-        rcl_context_t * context = rcl_publisher_get_context(&intra_process_publisher_handle_);
-        if (nullptr != context && !rcl_context_is_valid(context)) {
-          // publisher is invalid due to context being shutdown
-          return;
-        }
-      }
-    }
-    if (RCL_RET_OK != status) {
-      rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish intra process message");
-    }
-  }
-
   void
   do_loaned_message_publish(MessageT * msg)
   {
@@ -332,10 +296,8 @@ protected:
     }
   }
 
-  uint64_t
+  void
-  store_intra_process_message(
+  do_intra_process_publish(std::unique_ptr<MessageT, MessageDeleter> msg)
-    uint64_t publisher_id,
-    std::shared_ptr<const MessageT> msg)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -343,17 +305,17 @@ protected:
               "intra process publish called after destruction of intra process manager");
     }
     if (!msg) {
-      throw std::runtime_error("cannot publisher msg which is a null pointer");
+      throw std::runtime_error("cannot publish msg which is a null pointer");
-    }
-    uint64_t message_seq =
-      ipm->template store_intra_process_message<MessageT, AllocatorT>(publisher_id, msg);
-    return message_seq;
     }
 
-  uint64_t
+    ipm->template do_intra_process_publish<MessageT, AllocatorT>(
-  store_intra_process_message(
+      intra_process_publisher_id_,
-    uint64_t publisher_id,
+      std::move(msg),
-    std::unique_ptr<MessageT, MessageDeleter> msg)
+      message_allocator_);
+  }
+
+  std::shared_ptr<const MessageT>
+  do_intra_process_publish_and_return_shared(std::unique_ptr<MessageT, MessageDeleter> msg)
   {
     auto ipm = weak_ipm_.lock();
     if (!ipm) {
@@ -361,11 +323,13 @@ protected:
               "intra process publish called after destruction of intra process manager");
     }
     if (!msg) {
-      throw std::runtime_error("cannot publisher msg which is a null pointer");
+      throw std::runtime_error("cannot publish msg which is a null pointer");
     }
-    uint64_t message_seq =
+
-      ipm->template store_intra_process_message<MessageT, AllocatorT>(publisher_id, std::move(msg));
+    return ipm->template do_intra_process_publish_and_return_shared<MessageT, AllocatorT>(
-    return message_seq;
+      intra_process_publisher_id_,
+      std::move(msg),
+      message_allocator_);
   }
 
   /// Copy of original options passed during construction.

rclcpp/include/rclcpp/publisher_base.hpp

@@ -28,7 +28,6 @@
 #include "rcl/publisher.h"
 
 #include "rclcpp/macros.hpp"
-#include "rclcpp/mapped_ring_buffer.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
 #include "rclcpp/type_support_decl.hpp"
@@ -42,16 +41,16 @@ namespace node_interfaces
 {
 class NodeBaseInterface;
 class NodeTopicsInterface;
-}
+}  // namespace node_interfaces
 
-namespace intra_process_manager
+namespace experimental
 {
 /**
  * IntraProcessManager is forward declared here, avoiding a circular inclusion between
  * `intra_process_manager.hpp` and `publisher_base.hpp`.
  */
 class IntraProcessManager;
-}
+}  // namespace experimental
 
 class PublisherBase : public std::enable_shared_from_this<PublisherBase>
 {
@@ -97,12 +96,6 @@ public:
   const rmw_gid_t &
   get_gid() const;
 
-  /// Get the global identifier for this publisher used by intra-process communication.
-  /** \return The intra-process gid. */
-  RCLCPP_PUBLIC
-  const rmw_gid_t &
-  get_intra_process_gid() const;
-
   /// Get the rcl publisher handle.
   /** \return The rcl publisher handle. */
   RCLCPP_PUBLIC
@@ -191,21 +184,14 @@ public:
   operator==(const rmw_gid_t * gid) const;
 
   using IntraProcessManagerSharedPtr =
-    std::shared_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
+    std::shared_ptr<rclcpp::experimental::IntraProcessManager>;
-
-  /// Implementation utility function that creates a typed mapped ring buffer.
-  RCLCPP_PUBLIC
-  virtual
-  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-  make_mapped_ring_buffer(size_t size) const;
 
   /// Implementation utility function used to setup intra process publishing after creation.
   RCLCPP_PUBLIC
   void
   setup_intra_process(
     uint64_t intra_process_publisher_id,
-    IntraProcessManagerSharedPtr ipm,
+    IntraProcessManagerSharedPtr ipm);
-    const rcl_publisher_options_t & intra_process_options);
 
 protected:
   template<typename EventCallbackT>
@@ -225,18 +211,16 @@ protected:
   std::shared_ptr<rcl_node_t> rcl_node_handle_;
 
   rcl_publisher_t publisher_handle_ = rcl_get_zero_initialized_publisher();
-  rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();
 
   std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
 
   using IntraProcessManagerWeakPtr =
-    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
+    std::weak_ptr<rclcpp::experimental::IntraProcessManager>;
   bool intra_process_is_enabled_;
   IntraProcessManagerWeakPtr weak_ipm_;
   uint64_t intra_process_publisher_id_;
 
   rmw_gid_t rmw_gid_;
-  rmw_gid_t intra_process_rmw_gid_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/publisher_factory.hpp

@@ -24,9 +24,10 @@
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
 #include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_base.hpp"
 #include "rclcpp/publisher_options.hpp"
-#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -167,12 +167,9 @@ public:
         group->find_subscription_ptrs_if(
           [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
             subscription_handles_.push_back(subscription->get_subscription_handle());
-            if (subscription->get_intra_process_subscription_handle()) {
-              subscription_handles_.push_back(
-                subscription->get_intra_process_subscription_handle());
-            }
             return false;
           });
+
         group->find_service_ptrs_if([this](const rclcpp::ServiceBase::SharedPtr & service) {
             service_handles_.push_back(service->get_service_handle());
             return false;
@@ -262,11 +259,6 @@ public:
     while (it != subscription_handles_.end()) {
       auto subscription = get_subscription_by_handle(*it, weak_nodes);
       if (subscription) {
-        // Figure out if this is for intra-process or not.
-        bool is_intra_process = false;
-        if (subscription->get_intra_process_subscription_handle()) {
-          is_intra_process = subscription->get_intra_process_subscription_handle() == *it;
-        }
         // Find the group for this handle and see if it can be serviced
         auto group = get_group_by_subscription(subscription, weak_nodes);
         if (!group) {
@@ -282,11 +274,7 @@ public:
           continue;
         }
         // Otherwise it is safe to set and return the any_exec
-        if (is_intra_process) {
-          any_exec.subscription_intra_process = subscription;
-        } else {
         any_exec.subscription = subscription;
-        }
         any_exec.callback_group = group;
         any_exec.node_base = get_node_by_group(group, weak_nodes);
         subscription_handles_.erase(it);

rclcpp/include/rclcpp/subscription.hpp

@@ -29,13 +29,13 @@
 #include "rcl/error_handling.h"
 #include "rcl/subscription.h"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
-
 #include "rclcpp/any_subscription_callback.hpp"
 #include "rclcpp/detail/resolve_use_intra_process.hpp"
+#include "rclcpp/detail/resolve_intra_process_buffer_type.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
-#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/experimental/intra_process_manager.hpp"
+#include "rclcpp/experimental/subscription_intra_process.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
@@ -118,6 +118,48 @@ public:
         options.event_callbacks.liveliness_callback,
         RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
     }
+
+    // Setup intra process publishing if requested.
+    if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {
+      using rclcpp::detail::resolve_intra_process_buffer_type;
+
+      // Check if the QoS is compatible with intra-process.
+      if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
+        throw std::invalid_argument(
+                "intraprocess communication is not allowed with keep all history qos policy");
+      }
+      if (qos.get_rmw_qos_profile().depth == 0) {
+        throw std::invalid_argument(
+                "intraprocess communication is not allowed with 0 depth qos policy");
+      }
+      if (qos.get_rmw_qos_profile().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
+        throw std::invalid_argument(
+                "intraprocess communication allowed only with volatile durability");
+      }
+
+      // First create a SubscriptionIntraProcess which will be given to the intra-process manager.
+      auto context = node_base->get_context();
+      auto subscription_intra_process = std::make_shared<
+        rclcpp::experimental::SubscriptionIntraProcess<
+          CallbackMessageT,
+          AllocatorT,
+          typename MessageUniquePtr::deleter_type
+        >>(
+        callback,
+        options.get_allocator(),
+        context,
+        this->get_topic_name(),    // important to get like this, as it has the fully-qualified name
+        qos.get_rmw_qos_profile(),
+        resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback)
+        );
+
+      // Add it to the intra process manager.
+      using rclcpp::experimental::IntraProcessManager;
+      auto ipm = context->get_sub_context<IntraProcessManager>();
+      uint64_t intra_process_subscription_id = ipm->add_subscription(subscription_intra_process);
+      this->setup_intra_process(intra_process_subscription_id, ipm);
+    }
+
     TRACEPOINT(
       rclcpp_subscription_callback_added,
       (const void *)get_subscription_handle().get(),
@@ -129,23 +171,14 @@ public:
   }
 
   /// Called after construction to continue setup that requires shared_from_this().
-  void
+  void post_init_setup(
-  post_init_setup(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const rclcpp::QoS & qos,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
   {
-    // Setup intra process publishing if requested.
+    (void)node_base;
-    if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {
+    (void)qos;
-      auto context = node_base->get_context();
+    (void)options;
-      using rclcpp::intra_process_manager::IntraProcessManager;
-      auto ipm = context->get_sub_context<IntraProcessManager>();
-      uint64_t intra_process_subscription_id = ipm->add_subscription(this->shared_from_this());
-      this->setup_intra_process(
-        intra_process_subscription_id,
-        ipm,
-        options.template to_rcl_subscription_options<CallbackMessageT>(qos));
-    }
   }
 
   /// Support dynamically setting the message memory strategy.
@@ -210,117 +243,12 @@ public:
     message_memory_strategy_->return_serialized_message(message);
   }
 
-  void handle_intra_process_message(
+  bool use_take_shared_method() const
-    rcl_interfaces::msg::IntraProcessMessage & ipm,
-    const rmw_message_info_t & message_info) override
   {
-    if (!use_intra_process_) {
+    return any_callback_.use_take_shared_method();
-      // throw std::runtime_error(
-      //   "handle_intra_process_message called before setup_intra_process");
-      // TODO(wjwwood): for now, this could mean that intra process was just not enabled.
-      // However, this can only really happen if this node has it disabled, but the other doesn't.
-      return;
-    }
-
-    if (!matches_any_intra_process_publishers(&message_info.publisher_gid)) {
-      // This intra-process message has not been created by a publisher from this context.
-      // we should ignore this copy of the message.
-      return;
-    }
-
-    if (any_callback_.use_take_shared_method()) {
-      ConstMessageSharedPtr msg;
-      take_intra_process_message(
-        ipm.publisher_id,
-        ipm.message_sequence,
-        intra_process_subscription_id_,
-        msg);
-      if (!msg) {
-        // This can happen when having two nodes in different process both using intraprocess
-        // communication. It could happen too if the publisher no longer exists or the requested
-        // message is not longer being stored.
-        // TODO(ivanpauno): Print a warn message in the last two cases described above,
-        // but not in the first one.
-        return;
-      }
-      any_callback_.dispatch_intra_process(msg, message_info);
-    } else {
-      MessageUniquePtr msg;
-      take_intra_process_message(
-        ipm.publisher_id,
-        ipm.message_sequence,
-        intra_process_subscription_id_,
-        msg);
-      if (!msg) {
-        // This can happen when having two nodes in different process both using intraprocess
-        // communication. It could happen too if the publisher no longer exists or the requested
-        // message is not longer being stored.
-        // TODO(ivanpauno): Print a warn message in the last two cases described above,
-        // but not in the first one.
-        return;
-      }
-      any_callback_.dispatch_intra_process(std::move(msg), message_info);
-    }
-  }
-
-  /// Implemenation detail.
-  const std::shared_ptr<rcl_subscription_t>
-  get_intra_process_subscription_handle() const override
-  {
-    if (!use_intra_process_) {
-      return nullptr;
-    }
-    return intra_process_subscription_handle_;
   }
 
 private:
-  void
-  take_intra_process_message(
-    uint64_t publisher_id,
-    uint64_t message_sequence,
-    uint64_t subscription_id,
-    MessageUniquePtr & message)
-  {
-    auto ipm = weak_ipm_.lock();
-    if (!ipm) {
-      throw std::runtime_error(
-              "intra process take called after destruction of intra process manager");
-    }
-    ipm->template take_intra_process_message<CallbackMessageT, AllocatorT>(
-      publisher_id, message_sequence, subscription_id, message);
-  }
-
-  void
-  take_intra_process_message(
-    uint64_t publisher_id,
-    uint64_t message_sequence,
-    uint64_t subscription_id,
-    ConstMessageSharedPtr & message)
-  {
-    auto ipm = weak_ipm_.lock();
-    if (!ipm) {
-      throw std::runtime_error(
-              "intra process take called after destruction of intra process manager");
-    }
-    ipm->template take_intra_process_message<CallbackMessageT, AllocatorT>(
-      publisher_id, message_sequence, subscription_id, message);
-  }
-
-  bool
-  matches_any_intra_process_publishers(const rmw_gid_t * sender_gid)
-  {
-    if (!use_intra_process_) {
-      return false;
-    }
-    auto ipm = weak_ipm_.lock();
-    if (!ipm) {
-      throw std::runtime_error(
-              "intra process publisher check called "
-              "after destruction of intra process manager");
-    }
-    return ipm->matches_any_publishers(sender_gid);
-  }
-
   RCLCPP_DISABLE_COPY(Subscription)
 
   AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_callback_;

rclcpp/include/rclcpp/subscription_base.hpp

@@ -21,11 +21,11 @@
 
 #include "rcl/subscription.h"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
-
 #include "rmw/rmw.h"
 
 #include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/experimental/intra_process_manager.hpp"
+#include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
@@ -40,14 +40,14 @@ namespace node_interfaces
 class NodeBaseInterface;
 }  // namespace node_interfaces
 
-namespace intra_process_manager
+namespace experimental
 {
 /**
  * IntraProcessManager is forward declared here, avoiding a circular inclusion between
  * `intra_process_manager.hpp` and `subscription_base.hpp`.
  */
 class IntraProcessManager;
-}
+}  // namespace experimental
 
 /// Virtual base class for subscriptions. This pattern allows us to iterate over different template
 /// specializations of Subscription, among other things.
@@ -89,10 +89,6 @@ public:
   const std::shared_ptr<rcl_subscription_t>
   get_subscription_handle() const;
 
-  RCLCPP_PUBLIC
-  virtual const std::shared_ptr<rcl_subscription_t>
-  get_intra_process_subscription_handle() const;
-
   /// Get all the QoS event handlers associated with this subscription.
   /** \return The vector of QoS event handlers. */
   RCLCPP_PUBLIC
@@ -158,13 +154,6 @@ public:
   void
   return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) = 0;
 
-  RCLCPP_PUBLIC
-  virtual
-  void
-  handle_intra_process_message(
-    rcl_interfaces::msg::IntraProcessMessage & ipm,
-    const rmw_message_info_t & message_info) = 0;
-
   RCLCPP_PUBLIC
   const rosidl_message_type_support_t &
   get_message_type_support_handle() const;
@@ -191,15 +180,19 @@ public:
   can_loan_messages() const;
 
   using IntraProcessManagerWeakPtr =
-    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
+    std::weak_ptr<rclcpp::experimental::IntraProcessManager>;
 
   /// Implemenation detail.
   RCLCPP_PUBLIC
   void
   setup_intra_process(
     uint64_t intra_process_subscription_id,
-    IntraProcessManagerWeakPtr weak_ipm,
+    IntraProcessManagerWeakPtr weak_ipm);
-    const rcl_subscription_options_t & intra_process_options);
+
+  /// Return the waitable for intra-process, or nullptr if intra-process is not setup.
+  RCLCPP_PUBLIC
+  rclcpp::Waitable::SharedPtr
+  get_intra_process_waitable() const;
 
 protected:
   template<typename EventCallbackT>
@@ -216,6 +209,12 @@ protected:
     event_handlers_.emplace_back(handler);
   }
 
+  RCLCPP_PUBLIC
+  bool
+  matches_any_intra_process_publishers(const rmw_gid_t * sender_gid) const;
+
+  rclcpp::node_interfaces::NodeBaseInterface * const node_base_;
+
   std::shared_ptr<rcl_node_t> node_handle_;
   std::shared_ptr<rcl_subscription_t> subscription_handle_;
   std::shared_ptr<rcl_subscription_t> intra_process_subscription_handle_;

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -24,19 +24,22 @@
 
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
-#include "rclcpp/subscription.hpp"
+#include "rclcpp/any_subscription_callback.hpp"
-#include "rclcpp/subscription_traits.hpp"
+#include "rclcpp/intra_process_buffer_type.hpp"
-#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/subscription_traits.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
 
-/// Factory with functions used to create a Subscription<MessageT>.
+/// Factory containing a function used to create a Subscription<MessageT>.
 /**
- * This factory class is used to encapsulate the template generated functions
+ * This factory class is used to encapsulate the template generated function
- * which are used during the creation of a Message type specific subscription
+ * which is used during the creation of a Message type specific subscription
  * within a non-templated class.
  *
  * It is created using the create_subscription_factory function, which is
@@ -59,7 +62,7 @@ struct SubscriptionFactory
   const SubscriptionFactoryFunction create_typed_subscription;
 };
 
-/// Return a SubscriptionFactory with functions for creating a SubscriptionT<MessageT, Alloc>.
+/// Return a SubscriptionFactory setup to create a SubscriptionT<MessageT, AllocatorT>.
 template<
   typename MessageT,
   typename CallbackT,

rclcpp/include/rclcpp/subscription_options.hpp

@@ -21,6 +21,7 @@
 
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/detail/rmw_implementation_specific_subscription_payload.hpp"
+#include "rclcpp/intra_process_buffer_type.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
@@ -44,6 +45,9 @@ struct SubscriptionOptionsBase
   /// Setting to explicitly set intraprocess communications.
   IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;
 
+  /// Setting the data-type stored in the intraprocess buffer
+  IntraProcessBufferType intra_process_buffer_type = IntraProcessBufferType::CallbackDefault;
+
   /// Optional RMW implementation specific payload to be used during creation of the subscription.
   std::shared_ptr<rclcpp::detail::RMWImplementationSpecificSubscriptionPayload>
   rmw_implementation_payload = nullptr;

rclcpp/src/rclcpp/any_executable.cpp

@@ -18,7 +18,6 @@ using rclcpp::executor::AnyExecutable;
 
 AnyExecutable::AnyExecutable()
 : subscription(nullptr),
-  subscription_intra_process(nullptr),
   timer(nullptr),
   service(nullptr),
   client(nullptr),

rclcpp/src/rclcpp/executor.cpp

@@ -287,9 +287,6 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
   if (any_exec.subscription) {
     execute_subscription(any_exec.subscription);
   }
-  if (any_exec.subscription_intra_process) {
-    execute_intra_process_subscription(any_exec.subscription_intra_process);
-  }
   if (any_exec.service) {
     execute_service(any_exec.service);
   }
@@ -375,30 +372,6 @@ Executor::execute_subscription(
   }
 }
 
-void
-Executor::execute_intra_process_subscription(
-  rclcpp::SubscriptionBase::SharedPtr subscription)
-{
-  rcl_interfaces::msg::IntraProcessMessage ipm;
-  rmw_message_info_t message_info;
-  rcl_ret_t status = rcl_take(
-    subscription->get_intra_process_subscription_handle().get(),
-    &ipm,
-    &message_info,
-    nullptr);
-
-  if (status == RCL_RET_OK) {
-    message_info.from_intra_process = true;
-    subscription->handle_intra_process_message(ipm, message_info);
-  } else if (status != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "rclcpp",
-      "take failed for intra process subscription on topic '%s': %s",
-      subscription->get_topic_name(), rcl_get_error_string().str);
-    rcl_reset_error();
-  }
-}
-
 void
 Executor::execute_timer(
   rclcpp::TimerBase::SharedPtr timer)
@@ -565,7 +538,7 @@ Executor::get_next_ready_executable(AnyExecutable & any_executable)
   }
   // Check the subscriptions to see if there are any that are ready
   memory_strategy_->get_next_subscription(any_executable, weak_nodes_);
-  if (any_executable.subscription || any_executable.subscription_intra_process) {
+  if (any_executable.subscription) {
     return true;
   }
   // Check the services to see if there are any that are ready

rclcpp/src/rclcpp/intra_process_manager.cpp

@@ -12,69 +12,153 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/experimental/intra_process_manager.hpp"
+
+#include <atomic>
+#include <memory>
+#include <mutex>
 
 namespace rclcpp
 {
-namespace intra_process_manager
+namespace experimental
 {
 
 static std::atomic<uint64_t> _next_unique_id {1};
 
-IntraProcessManager::IntraProcessManager(
+IntraProcessManager::IntraProcessManager()
-  rclcpp::intra_process_manager::IntraProcessManagerImplBase::SharedPtr impl)
-: impl_(impl)
 {}
 
 IntraProcessManager::~IntraProcessManager()
 {}
 
 uint64_t
-IntraProcessManager::add_publisher(
+IntraProcessManager::add_publisher(rclcpp::PublisherBase::SharedPtr publisher)
-  rclcpp::PublisherBase::SharedPtr publisher,
-  size_t buffer_size)
 {
+  std::unique_lock<std::shared_timed_mutex> lock(mutex_);
+
   auto id = IntraProcessManager::get_next_unique_id();
-  size_t size = buffer_size > 0 ? buffer_size : publisher->get_queue_size();
+
-  auto mrb = publisher->make_mapped_ring_buffer(size);
+  publishers_[id].publisher = publisher;
-  impl_->add_publisher(id, publisher, mrb, size);
+  publishers_[id].topic_name = publisher->get_topic_name();
-  if (!mrb) {
+  publishers_[id].qos = publisher->get_actual_qos().get_rmw_qos_profile();
-    throw std::runtime_error("failed to create a mapped ring buffer");
+
+  // Initialize the subscriptions storage for this publisher.
+  pub_to_subs_[id] = SplittedSubscriptions();
+
+  // create an entry for the publisher id and populate with already existing subscriptions
+  for (auto & pair : subscriptions_) {
+    if (can_communicate(publishers_[id], pair.second)) {
+      insert_sub_id_for_pub(pair.first, id, pair.second.use_take_shared_method);
     }
+  }
+
   return id;
 }
 
 uint64_t
-IntraProcessManager::add_subscription(
+IntraProcessManager::add_subscription(SubscriptionIntraProcessBase::SharedPtr subscription)
-  rclcpp::SubscriptionBase::SharedPtr subscription)
 {
+  std::unique_lock<std::shared_timed_mutex> lock(mutex_);
+
   auto id = IntraProcessManager::get_next_unique_id();
-  impl_->add_subscription(id, subscription);
+
+  subscriptions_[id].subscription = subscription;
+  subscriptions_[id].topic_name = subscription->get_topic_name();
+  subscriptions_[id].qos = subscription->get_actual_qos();
+  subscriptions_[id].use_take_shared_method = subscription->use_take_shared_method();
+
+  // adds the subscription id to all the matchable publishers
+  for (auto & pair : publishers_) {
+    if (can_communicate(pair.second, subscriptions_[id])) {
+      insert_sub_id_for_pub(id, pair.first, subscriptions_[id].use_take_shared_method);
+    }
+  }
+
   return id;
 }
 
 void
 IntraProcessManager::remove_subscription(uint64_t intra_process_subscription_id)
 {
-  impl_->remove_subscription(intra_process_subscription_id);
+  std::unique_lock<std::shared_timed_mutex> lock(mutex_);
+
+  subscriptions_.erase(intra_process_subscription_id);
+
+  for (auto & pair : pub_to_subs_) {
+    pair.second.take_shared_subscriptions.erase(
+      std::remove(
+        pair.second.take_shared_subscriptions.begin(),
+        pair.second.take_shared_subscriptions.end(),
+        intra_process_subscription_id),
+      pair.second.take_shared_subscriptions.end());
+
+    pair.second.take_ownership_subscriptions.erase(
+      std::remove(
+        pair.second.take_ownership_subscriptions.begin(),
+        pair.second.take_ownership_subscriptions.end(),
+        intra_process_subscription_id),
+      pair.second.take_ownership_subscriptions.end());
+  }
 }
 
 void
 IntraProcessManager::remove_publisher(uint64_t intra_process_publisher_id)
 {
-  impl_->remove_publisher(intra_process_publisher_id);
+  std::unique_lock<std::shared_timed_mutex> lock(mutex_);
+
+  publishers_.erase(intra_process_publisher_id);
+  pub_to_subs_.erase(intra_process_publisher_id);
 }
 
 bool
 IntraProcessManager::matches_any_publishers(const rmw_gid_t * id) const
 {
-  return impl_->matches_any_publishers(id);
+  std::shared_lock<std::shared_timed_mutex> lock(mutex_);
+
+  for (auto & publisher_pair : publishers_) {
+    auto publisher = publisher_pair.second.publisher.lock();
+    if (!publisher) {
+      continue;
+    }
+    if (*publisher.get() == id) {
+      return true;
+    }
+  }
+  return false;
 }
 
 size_t
 IntraProcessManager::get_subscription_count(uint64_t intra_process_publisher_id) const
 {
-  return impl_->get_subscription_count(intra_process_publisher_id);
+  std::shared_lock<std::shared_timed_mutex> lock(mutex_);
+
+  auto publisher_it = pub_to_subs_.find(intra_process_publisher_id);
+  if (publisher_it == pub_to_subs_.end()) {
+    // Publisher is either invalid or no longer exists.
+    RCLCPP_WARN(
+      rclcpp::get_logger("rclcpp"),
+      "Calling get_subscription_count for invalid or no longer existing publisher id");
+    return 0;
+  }
+
+  auto count =
+    publisher_it->second.take_shared_subscriptions.size() +
+    publisher_it->second.take_ownership_subscriptions.size();
+
+  return count;
+}
+
+SubscriptionIntraProcessBase::SharedPtr
+IntraProcessManager::get_subscription_intra_process(uint64_t intra_process_subscription_id)
+{
+  std::shared_lock<std::shared_timed_mutex> lock(mutex_);
+
+  auto subscription_it = subscriptions_.find(intra_process_subscription_id);
+  if (subscription_it == subscriptions_.end()) {
+    return nullptr;
+  } else {
+    return subscription_it->second.subscription;
+  }
 }
 
 uint64_t
@@ -99,5 +183,45 @@ IntraProcessManager::get_next_unique_id()
   return next_id;
 }
 
-}  // namespace intra_process_manager
+void
+IntraProcessManager::insert_sub_id_for_pub(
+  uint64_t sub_id,
+  uint64_t pub_id,
+  bool use_take_shared_method)
+{
+  if (use_take_shared_method) {
+    pub_to_subs_[pub_id].take_shared_subscriptions.push_back(sub_id);
+  } else {
+    pub_to_subs_[pub_id].take_ownership_subscriptions.push_back(sub_id);
+  }
+}
+
+bool
+IntraProcessManager::can_communicate(
+  PublisherInfo pub_info,
+  SubscriptionInfo sub_info) const
+{
+  // publisher and subscription must be on the same topic
+  if (strcmp(pub_info.topic_name, sub_info.topic_name) != 0) {
+    return false;
+  }
+
+  // TODO(alsora): the following checks for qos compatibility should be provided by the RMW
+  // a reliable subscription can't be connected with a best effort publisher
+  if (
+    sub_info.qos.reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE &&
+    pub_info.qos.reliability == RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT)
+  {
+    return false;
+  }
+
+  // a publisher and a subscription with different durability can't communicate
+  if (sub_info.qos.durability != pub_info.qos.durability) {
+    return false;
+  }
+
+  return true;
+}
+
+}  // namespace experimental
 }  // namespace rclcpp

rclcpp/src/rclcpp/intra_process_manager_impl.cpp

@@ -1,23 +0,0 @@
-// Copyright 2015 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "rclcpp/intra_process_manager_impl.hpp"
-
-#include <memory>
-
-rclcpp::intra_process_manager::IntraProcessManagerImplBase::SharedPtr
-rclcpp::intra_process_manager::create_default_impl()
-{
-  return std::make_shared<IntraProcessManagerImpl<>>();
-}

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -34,9 +34,7 @@ MemoryStrategy::get_subscription_by_handle(
       }
       auto match_subscription = group->find_subscription_ptrs_if(
         [&subscriber_handle](const rclcpp::SubscriptionBase::SharedPtr & subscription) -> bool {
-          return
+          return subscription->get_subscription_handle() == subscriber_handle;
-          (subscription->get_subscription_handle() == subscriber_handle) ||
-          (subscription->get_intra_process_subscription_handle() == subscriber_handle);
         });
       if (match_subscription) {
         return match_subscription;

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -16,7 +16,6 @@
 
 #include <string>
 
-#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/exceptions.hpp"
 
 using rclcpp::exceptions::throw_from_rcl_error;
@@ -95,18 +94,24 @@ NodeTopics::add_subscription(
   }
 
   callback_group->add_subscription(subscription);
+
   for (auto & subscription_event : subscription->get_event_handlers()) {
     callback_group->add_waitable(subscription_event);
   }
 
+  auto intra_process_waitable = subscription->get_intra_process_waitable();
+  if (nullptr != intra_process_waitable) {
+    // Add to the callback group to be notified about intra-process msgs.
+    callback_group->add_waitable(intra_process_waitable);
+  }
+
   // Notify the executor that a new subscription was created using the parent Node.
   {
     auto notify_guard_condition_lock = node_base_->acquire_notify_guard_condition_lock();
-    if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
+    auto ret = rcl_trigger_guard_condition(node_base_->get_notify_guard_condition());
-      throw std::runtime_error(
+    if (ret != RCL_RET_OK) {
-              std::string("Failed to notify wait set on subscription creation: ") +
+      using rclcpp::exceptions::throw_from_rcl_error;
-              rmw_get_error_string().str
+      throw_from_rcl_error(ret, "failed to notify wait set on subscription creation");
-      );
     }
   }
 }

rclcpp/src/rclcpp/publisher_base.cpp

@@ -32,7 +32,7 @@
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
-#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 
@@ -84,14 +84,6 @@ PublisherBase::~PublisherBase()
   // must fini the events before fini-ing the publisher
   event_handlers_.clear();
 
-  if (rcl_publisher_fini(&intra_process_publisher_handle_, rcl_node_handle_.get()) != RCL_RET_OK) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "rclcpp",
-      "Error in destruction of intra process rcl publisher handle: %s",
-      rcl_get_error_string().str);
-    rcl_reset_error();
-  }
-
   if (rcl_publisher_fini(&publisher_handle_, rcl_node_handle_.get()) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
@@ -139,12 +131,6 @@ PublisherBase::get_gid() const
   return rmw_gid_;
 }
 
-const rmw_gid_t &
-PublisherBase::get_intra_process_gid() const
-{
-  return intra_process_rmw_gid_;
-}
-
 rcl_publisher_t *
 PublisherBase::get_publisher_handle()
 {
@@ -246,81 +232,15 @@ PublisherBase::operator==(const rmw_gid_t * gid) const
     rmw_reset_error();
     throw std::runtime_error(msg);
   }
-  if (!result) {
-    ret = rmw_compare_gids_equal(gid, &this->get_intra_process_gid(), &result);
-    if (ret != RMW_RET_OK) {
-      auto msg = std::string("failed to compare gids: ") + rmw_get_error_string().str;
-      rmw_reset_error();
-      throw std::runtime_error(msg);
-    }
-  }
   return result;
 }
 
-rclcpp::mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-PublisherBase::make_mapped_ring_buffer(size_t size) const
-{
-  (void)size;
-  return nullptr;
-}
-
 void
 PublisherBase::setup_intra_process(
   uint64_t intra_process_publisher_id,
-  IntraProcessManagerSharedPtr ipm,
+  IntraProcessManagerSharedPtr ipm)
-  const rcl_publisher_options_t & intra_process_options)
 {
-  // Intraprocess configuration is not allowed with "durability" qos policy non "volatile".
-  auto actual_durability = this->get_actual_qos().get_rmw_qos_profile().durability;
-  if (actual_durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
-    throw std::invalid_argument(
-            "intraprocess communication is not allowed with durability qos policy non-volatile");
-  }
-  const char * topic_name = this->get_topic_name();
-  if (!topic_name) {
-    throw std::runtime_error("failed to get topic name");
-  }
-
-  auto intra_process_topic_name = std::string(topic_name) + "/_intra";
-
-  rcl_ret_t ret = rcl_publisher_init(
-    &intra_process_publisher_handle_,
-    rcl_node_handle_.get(),
-    rclcpp::type_support::get_intra_process_message_msg_type_support(),
-    intra_process_topic_name.c_str(),
-    &intra_process_options);
-  if (ret != RCL_RET_OK) {
-    if (ret == RCL_RET_TOPIC_NAME_INVALID) {
-      auto rcl_node_handle = rcl_node_handle_.get();
-      // this will throw on any validation problem
-      rcl_reset_error();
-      expand_topic_or_service_name(
-        intra_process_topic_name,
-        rcl_node_get_name(rcl_node_handle),
-        rcl_node_get_namespace(rcl_node_handle));
-    }
-
-    rclcpp::exceptions::throw_from_rcl_error(ret, "could not create intra process publisher");
-  }
-
   intra_process_publisher_id_ = intra_process_publisher_id;
   weak_ipm_ = ipm;
   intra_process_is_enabled_ = true;
-
-  // Life time of this object is tied to the publisher handle.
-  rmw_publisher_t * publisher_rmw_handle = rcl_publisher_get_rmw_handle(
-    &intra_process_publisher_handle_);
-  if (publisher_rmw_handle == nullptr) {
-    auto msg = std::string("Failed to get rmw publisher handle") + rcl_get_error_string().str;
-    rcl_reset_error();
-    throw std::runtime_error(msg);
-  }
-  auto rmw_ret = rmw_get_gid_for_publisher(
-    publisher_rmw_handle, &intra_process_rmw_gid_);
-  if (rmw_ret != RMW_RET_OK) {
-    auto msg =
-      std::string("failed to create intra process publisher gid: ") + rmw_get_error_string().str;
-    rmw_reset_error();
-    throw std::runtime_error(msg);
-  }
 }

rclcpp/src/rclcpp/subscription_base.cpp

@@ -21,7 +21,7 @@
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
-#include "rclcpp/intra_process_manager.hpp"
+#include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 
@@ -36,7 +36,8 @@ SubscriptionBase::SubscriptionBase(
   const std::string & topic_name,
   const rcl_subscription_options_t & subscription_options,
   bool is_serialized)
-: node_handle_(node_base->get_shared_rcl_node_handle()),
+: node_base_(node_base),
+  node_handle_(node_base_->get_shared_rcl_node_handle()),
   use_intra_process_(false),
   intra_process_subscription_id_(0),
   type_support_(type_support_handle),
@@ -58,10 +59,6 @@ SubscriptionBase::SubscriptionBase(
     new rcl_subscription_t, custom_deletor);
   *subscription_handle_.get() = rcl_get_zero_initialized_subscription();
 
-  intra_process_subscription_handle_ = std::shared_ptr<rcl_subscription_t>(
-    new rcl_subscription_t, custom_deletor);
-  *intra_process_subscription_handle_.get() = rcl_get_zero_initialized_subscription();
-
   rcl_ret_t ret = rcl_subscription_init(
     subscription_handle_.get(),
     node_handle_.get(),
@@ -117,12 +114,6 @@ SubscriptionBase::get_subscription_handle() const
   return subscription_handle_;
 }
 
-const std::shared_ptr<rcl_subscription_t>
-SubscriptionBase::get_intra_process_subscription_handle() const
-{
-  return intra_process_subscription_handle_;
-}
-
 const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
 SubscriptionBase::get_event_handlers() const
 {
@@ -172,30 +163,8 @@ SubscriptionBase::get_publisher_count() const
 void
 SubscriptionBase::setup_intra_process(
   uint64_t intra_process_subscription_id,
-  IntraProcessManagerWeakPtr weak_ipm,
+  IntraProcessManagerWeakPtr weak_ipm)
-  const rcl_subscription_options_t & intra_process_options)
 {
-  std::string intra_process_topic_name = std::string(get_topic_name()) + "/_intra";
-  rcl_ret_t ret = rcl_subscription_init(
-    intra_process_subscription_handle_.get(),
-    node_handle_.get(),
-    rclcpp::type_support::get_intra_process_message_msg_type_support(),
-    intra_process_topic_name.c_str(),
-    &intra_process_options);
-  if (ret != RCL_RET_OK) {
-    if (ret == RCL_RET_TOPIC_NAME_INVALID) {
-      auto rcl_node_handle = node_handle_.get();
-      // this will throw on any validation problem
-      rcl_reset_error();
-      expand_topic_or_service_name(
-        intra_process_topic_name,
-        rcl_node_get_name(rcl_node_handle),
-        rcl_node_get_namespace(rcl_node_handle));
-    }
-
-    rclcpp::exceptions::throw_from_rcl_error(ret, "could not create intra process subscription");
-  }
-
   intra_process_subscription_id_ = intra_process_subscription_id;
   weak_ipm_ = weak_ipm;
   use_intra_process_ = true;
@@ -206,3 +175,37 @@ SubscriptionBase::can_loan_messages() const
 {
   return rcl_subscription_can_loan_messages(subscription_handle_.get());
 }
+
+rclcpp::Waitable::SharedPtr
+SubscriptionBase::get_intra_process_waitable() const
+{
+  // If not using intra process, shortcut to nullptr.
+  if (!use_intra_process_) {
+    return nullptr;
+  }
+  // Get the intra process manager.
+  auto ipm = weak_ipm_.lock();
+  if (!ipm) {
+    throw std::runtime_error(
+            "SubscriptionBase::get_intra_process_waitable() called "
+            "after destruction of intra process manager");
+  }
+
+  // Use the id to retrieve the subscription intra-process from the intra-process manager.
+  return ipm->get_subscription_intra_process(intra_process_subscription_id_);
+}
+
+bool
+SubscriptionBase::matches_any_intra_process_publishers(const rmw_gid_t * sender_gid) const
+{
+  if (!use_intra_process_) {
+    return false;
+  }
+  auto ipm = weak_ipm_.lock();
+  if (!ipm) {
+    throw std::runtime_error(
+            "intra process publisher check called "
+            "after destruction of intra process manager");
+  }
+  return ipm->matches_any_publishers(sender_gid);
+}

rclcpp/src/rclcpp/subscription_intra_process_base.cpp

@@ -0,0 +1,38 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/experimental/subscription_intra_process_base.hpp"
+
+using rclcpp::experimental::SubscriptionIntraProcessBase;
+
+bool
+SubscriptionIntraProcessBase::add_to_wait_set(rcl_wait_set_t * wait_set)
+{
+  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
+
+  rcl_ret_t ret = rcl_wait_set_add_guard_condition(wait_set, &gc_, NULL);
+  return RCL_RET_OK == ret;
+}
+
+const char *
+SubscriptionIntraProcessBase::get_topic_name() const
+{
+  return topic_name_.c_str();
+}
+
+rmw_qos_profile_t
+SubscriptionIntraProcessBase::get_actual_qos() const
+{
+  return qos_profile_;
+}

rclcpp/src/rclcpp/time_source.cpp

@@ -249,6 +249,10 @@ void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::S
     {rclcpp::ParameterEventsFilter::EventType::NEW,
       rclcpp::ParameterEventsFilter::EventType::CHANGED});
   for (auto & it : filter.get_events()) {
+    if (it.second->value.type != ParameterType::PARAMETER_BOOL) {
+      RCLCPP_ERROR(logger_, "use_sim_time parameter cannot be set to anything but a bool");
+      continue;
+    }
     if (it.second->value.bool_value) {
       parameter_state_ = SET_TRUE;
       enable_ros_time();

rclcpp/test/test_intra_process_buffer.cpp

@@ -0,0 +1,240 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+#include <memory>
+#include <utility>
+
+#include "gtest/gtest.h"
+
+#include "rclcpp/rclcpp.hpp"
+
+/*
+   Construtctor
+ */
+TEST(TestIntraProcessBuffer, constructor) {
+  using MessageT = char;
+  using Alloc = std::allocator<void>;
+  using Deleter = std::default_delete<MessageT>;
+  using SharedMessageT = std::shared_ptr<const MessageT>;
+  using UniqueMessageT = std::unique_ptr<MessageT, Deleter>;
+  using SharedIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
+    MessageT, Alloc, Deleter, SharedMessageT>;
+  using UniqueIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
+    MessageT, Alloc, Deleter, UniqueMessageT>;
+
+  auto shared_buffer_impl =
+    std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<SharedMessageT>>(2);
+
+  SharedIntraProcessBufferT shared_intra_process_buffer(std::move(shared_buffer_impl));
+
+  EXPECT_EQ(true, shared_intra_process_buffer.use_take_shared_method());
+
+  auto unique_buffer_impl =
+    std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<UniqueMessageT>>(2);
+
+  UniqueIntraProcessBufferT unique_intra_process_buffer(std::move(unique_buffer_impl));
+
+  EXPECT_EQ(false, unique_intra_process_buffer.use_take_shared_method());
+}
+
+/*
+  Add data to an intra-process buffer with an implementations that stores shared_ptr
+  Messages are extracted using the same data as the implementation, i.e. shared_ptr
+  - Add shared_ptr no copies are expected
+  - Add unique_ptr no copies are expected
+ */
+TEST(TestIntraProcessBuffer, shared_buffer_add) {
+  using MessageT = char;
+  using Alloc = std::allocator<void>;
+  using Deleter = std::default_delete<MessageT>;
+  using SharedMessageT = std::shared_ptr<const MessageT>;
+  using SharedIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
+    MessageT, Alloc, Deleter, SharedMessageT>;
+
+  auto buffer_impl =
+    std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<SharedMessageT>>(2);
+
+  SharedIntraProcessBufferT intra_process_buffer(std::move(buffer_impl));
+
+  auto original_shared_msg = std::make_shared<char>('a');
+  auto original_message_pointer = reinterpret_cast<std::uintptr_t>(original_shared_msg.get());
+
+  intra_process_buffer.add_shared(original_shared_msg);
+
+  EXPECT_EQ(2u, original_shared_msg.use_count());
+
+  SharedMessageT popped_shared_msg;
+  popped_shared_msg = intra_process_buffer.consume_shared();
+  auto popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_shared_msg.get());
+
+  EXPECT_EQ(original_shared_msg.use_count(), popped_shared_msg.use_count());
+  EXPECT_EQ(*original_shared_msg, *popped_shared_msg);
+  EXPECT_EQ(original_message_pointer, popped_message_pointer);
+
+  auto original_unique_msg = std::make_unique<char>('b');
+  original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
+  auto original_value = *original_unique_msg;
+
+  intra_process_buffer.add_unique(std::move(original_unique_msg));
+
+  popped_shared_msg = intra_process_buffer.consume_shared();
+  popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_shared_msg.get());
+
+  EXPECT_EQ(1u, popped_shared_msg.use_count());
+  EXPECT_EQ(original_value, *popped_shared_msg);
+  EXPECT_EQ(original_message_pointer, popped_message_pointer);
+}
+
+/*
+  Add data to an intra-process buffer with an implementations that stores unique_ptr
+  Messages are extracted using the same data as the implementation, i.e. unique_ptr
+  - Add shared_ptr a copy is expected
+  - Add unique_ptr no copies are expected
+ */
+TEST(TestIntraProcessBuffer, unique_buffer_add) {
+  using MessageT = char;
+  using Alloc = std::allocator<void>;
+  using Deleter = std::default_delete<MessageT>;
+  using UniqueMessageT = std::unique_ptr<MessageT, Deleter>;
+  using UniqueIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
+    MessageT, Alloc, Deleter, UniqueMessageT>;
+
+  auto buffer_impl =
+    std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<UniqueMessageT>>(2);
+
+  UniqueIntraProcessBufferT intra_process_buffer(std::move(buffer_impl));
+
+  auto original_shared_msg = std::make_shared<char>('a');
+  auto original_message_pointer = reinterpret_cast<std::uintptr_t>(original_shared_msg.get());
+
+  intra_process_buffer.add_shared(original_shared_msg);
+
+  EXPECT_EQ(1u, original_shared_msg.use_count());
+
+  UniqueMessageT popped_unique_msg;
+  popped_unique_msg = intra_process_buffer.consume_unique();
+  auto popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
+
+  EXPECT_EQ(*original_shared_msg, *popped_unique_msg);
+  EXPECT_NE(original_message_pointer, popped_message_pointer);
+
+  auto original_unique_msg = std::make_unique<char>('b');
+  original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
+  auto original_value = *original_unique_msg;
+
+  intra_process_buffer.add_unique(std::move(original_unique_msg));
+
+  popped_unique_msg = intra_process_buffer.consume_unique();
+  popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
+
+  EXPECT_EQ(original_value, *popped_unique_msg);
+  EXPECT_EQ(original_message_pointer, popped_message_pointer);
+}
+
+/*
+  Consume data from an intra-process buffer with an implementations that stores shared_ptr
+  Messages are inserted using the same data as the implementation, i.e. shared_ptr
+  - Request shared_ptr no copies are expected
+  - Request unique_ptr a copy is expected
+ */
+TEST(TestIntraProcessBuffer, shared_buffer_consume) {
+  using MessageT = char;
+  using Alloc = std::allocator<void>;
+  using Deleter = std::default_delete<MessageT>;
+  using SharedMessageT = std::shared_ptr<const MessageT>;
+  using UniqueMessageT = std::unique_ptr<MessageT, Deleter>;
+  using SharedIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
+    MessageT, Alloc, Deleter, SharedMessageT>;
+
+  auto buffer_impl =
+    std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<SharedMessageT>>(2);
+
+  SharedIntraProcessBufferT intra_process_buffer(std::move(buffer_impl));
+
+  auto original_shared_msg = std::make_shared<char>('a');
+  auto original_message_pointer = reinterpret_cast<std::uintptr_t>(original_shared_msg.get());
+
+  intra_process_buffer.add_shared(original_shared_msg);
+
+  EXPECT_EQ(2u, original_shared_msg.use_count());
+
+  SharedMessageT popped_shared_msg;
+  popped_shared_msg = intra_process_buffer.consume_shared();
+  auto popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_shared_msg.get());
+
+  EXPECT_EQ(original_shared_msg.use_count(), popped_shared_msg.use_count());
+  EXPECT_EQ(*original_shared_msg, *popped_shared_msg);
+  EXPECT_EQ(original_message_pointer, popped_message_pointer);
+
+  original_shared_msg = std::make_shared<char>('b');
+  original_message_pointer = reinterpret_cast<std::uintptr_t>(original_shared_msg.get());
+
+  intra_process_buffer.add_shared(original_shared_msg);
+
+  UniqueMessageT popped_unique_msg;
+  popped_unique_msg = intra_process_buffer.consume_unique();
+  popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
+
+  EXPECT_EQ(1u, original_shared_msg.use_count());
+  EXPECT_EQ(*original_shared_msg, *popped_unique_msg);
+  EXPECT_NE(original_message_pointer, popped_message_pointer);
+}
+
+/*
+  Consume data from an intra-process buffer with an implementations that stores unique_ptr
+  Messages are inserted using the same data as the implementation, i.e. unique_ptr
+  - Request shared_ptr no copies are expected
+  - Request unique_ptr no copies are expected
+ */
+TEST(TestIntraProcessBuffer, unique_buffer_consume) {
+  using MessageT = char;
+  using Alloc = std::allocator<void>;
+  using Deleter = std::default_delete<MessageT>;
+  using SharedMessageT = std::shared_ptr<const MessageT>;
+  using UniqueMessageT = std::unique_ptr<MessageT, Deleter>;
+  using UniqueIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
+    MessageT, Alloc, Deleter, UniqueMessageT>;
+
+  auto buffer_impl =
+    std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<UniqueMessageT>>(2);
+
+  UniqueIntraProcessBufferT intra_process_buffer(std::move(buffer_impl));
+
+  auto original_unique_msg = std::make_unique<char>('a');
+  auto original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
+  auto original_value = *original_unique_msg;
+
+  intra_process_buffer.add_unique(std::move(original_unique_msg));
+
+  SharedMessageT popped_shared_msg;
+  popped_shared_msg = intra_process_buffer.consume_shared();
+  auto popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_shared_msg.get());
+
+  EXPECT_EQ(original_value, *popped_shared_msg);
+  EXPECT_EQ(original_message_pointer, popped_message_pointer);
+
+  original_unique_msg = std::make_unique<char>('b');
+  original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
+  original_value = *original_unique_msg;
+
+  intra_process_buffer.add_unique(std::move(original_unique_msg));
+
+  UniqueMessageT popped_unique_msg;
+  popped_unique_msg = intra_process_buffer.consume_unique();
+  popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
+
+  EXPECT_EQ(original_value, *popped_unique_msg);
+  EXPECT_EQ(original_message_pointer, popped_message_pointer);
+}

rclcpp/test/test_mapped_ring_buffer.cpp

@@ -1,334 +0,0 @@
-// Copyright 2015 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-#include <utility>
-
-#include "gtest/gtest.h"
-
-#define RCLCPP_BUILDING_LIBRARY 1  // Prevent including unavailable symbols
-#include "rclcpp/mapped_ring_buffer.hpp"
-
-/*
-   Tests get_copy and pop on an empty mrb.
- */
-TEST(TestMappedRingBuffer, empty) {
-  // Cannot create a buffer of size zero.
-  EXPECT_THROW(rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(0), std::invalid_argument);
-  // Getting or popping an empty buffer should result in a nullptr.
-  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(1);
-
-  std::unique_ptr<char> unique;
-  mrb.get(1, unique);
-  EXPECT_EQ(nullptr, unique);
-
-  mrb.pop(1, unique);
-  EXPECT_EQ(nullptr, unique);
-
-  std::shared_ptr<const char> shared;
-  mrb.get(1, shared);
-  EXPECT_EQ(nullptr, shared);
-
-  mrb.pop(1, shared);
-  EXPECT_EQ(nullptr, shared);
-}
-
-/*
-   Tests push_and_replace with a temporary object, and using
-   get and pop methods with shared_ptr signature.
- */
-TEST(TestMappedRingBuffer, temporary_l_value_with_shared_get_pop) {
-  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
-  // Pass in value with temporary object
-  mrb.push_and_replace(1, std::shared_ptr<const char>(new char('a')));
-
-  std::shared_ptr<const char> actual;
-  mrb.get(1, actual);
-  EXPECT_EQ('a', *actual);
-
-  mrb.pop(1, actual);
-  EXPECT_EQ('a', *actual);
-
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-}
-
-/*
-   Tests push_and_replace with a temporary object, and using
-   get and pop methods with unique_ptr signature.
- */
-TEST(TestMappedRingBuffer, temporary_l_value_with_unique_get_pop) {
-  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
-  // Pass in value with temporary object
-  mrb.push_and_replace(1, std::shared_ptr<const char>(new char('a')));
-
-  std::unique_ptr<char> actual;
-  mrb.get(1, actual);
-  EXPECT_EQ('a', *actual);
-
-  mrb.pop(1, actual);
-  EXPECT_EQ('a', *actual);
-
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-}
-
-/*
-   Tests normal usage of the mrb.
-   Using shared push_and_replace, get and pop methods.
- */
-TEST(TestMappedRingBuffer, nominal_push_shared_get_pop_shared) {
-  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
-  std::shared_ptr<const char> expected(new char('a'));
-
-  EXPECT_FALSE(mrb.push_and_replace(1, expected));
-  EXPECT_EQ(2, expected.use_count());
-
-  std::shared_ptr<const char> actual;
-  mrb.get(1, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-  EXPECT_EQ(expected, actual);
-  EXPECT_EQ(3, actual.use_count());
-
-  mrb.pop(1, actual);
-  EXPECT_EQ(expected, actual);
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-  expected.reset();
-  EXPECT_TRUE(actual.unique());
-
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-
-  expected.reset(new char('a'));
-  EXPECT_FALSE(mrb.push_and_replace(1, expected));
-
-  expected.reset(new char('b'));
-  EXPECT_FALSE(mrb.push_and_replace(2, expected));
-
-  expected.reset(new char('c'));
-  EXPECT_TRUE(mrb.push_and_replace(3, expected));
-
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-
-  mrb.get(2, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('b', *actual);
-  }
-
-  mrb.get(3, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('c', *actual);
-  }
-}
-
-/*
-   Tests normal usage of the mrb.
-   Using shared push_and_replace, unique get and pop methods.
- */
-TEST(TestMappedRingBuffer, nominal_push_shared_get_pop_unique) {
-  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
-  std::shared_ptr<const char> expected(new char('a'));
-  const char * expected_orig = expected.get();
-
-  EXPECT_FALSE(mrb.push_and_replace(1, expected));
-  EXPECT_EQ(2, expected.use_count());
-
-  std::unique_ptr<char> actual;
-  mrb.get(1, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-  EXPECT_NE(expected_orig, actual.get());
-  mrb.pop(1, actual);
-  EXPECT_NE(expected_orig, actual.get());
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-
-  EXPECT_FALSE(mrb.push_and_replace(1, expected));
-  expected.reset();
-  mrb.pop(1, actual);
-  EXPECT_NE(expected_orig, actual.get());
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-
-  expected.reset(new char('a'));
-  EXPECT_FALSE(mrb.push_and_replace(1, expected));
-
-  expected.reset(new char('b'));
-  EXPECT_FALSE(mrb.push_and_replace(2, expected));
-
-  expected.reset(new char('c'));
-  EXPECT_TRUE(mrb.push_and_replace(3, expected));
-
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-
-  mrb.get(2, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('b', *actual);
-  }
-
-  mrb.get(3, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('c', *actual);
-  }
-}
-
-/*
-   Tests normal usage of the mrb.
-   Using unique push_and_replace, get and pop methods.
- */
-TEST(TestMappedRingBuffer, nominal_push_unique_get_pop_unique) {
-  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
-  std::unique_ptr<char> expected(new char('a'));
-  const char * expected_orig = expected.get();
-
-  EXPECT_FALSE(mrb.push_and_replace(1, std::move(expected)));
-
-  std::unique_ptr<char> actual;
-  mrb.get(1, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-  EXPECT_NE(expected_orig, actual.get());
-  mrb.pop(1, actual);
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-  EXPECT_EQ(expected_orig, actual.get());
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-
-  expected.reset(new char('a'));
-  EXPECT_FALSE(mrb.push_and_replace(1, std::move(expected)));
-
-  expected.reset(new char('b'));
-  EXPECT_FALSE(mrb.push_and_replace(2, std::move(expected)));
-
-  expected.reset(new char('c'));
-  EXPECT_TRUE(mrb.push_and_replace(3, std::move(expected)));
-
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-
-  mrb.get(2, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('b', *actual);
-  }
-
-  mrb.get(3, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('c', *actual);
-  }
-}
-
-/*
-   Tests normal usage of the mrb.
-   Using unique push_and_replace, shared get and pop methods.
- */
-TEST(TestMappedRingBuffer, nominal_push_unique_get_pop_shared) {
-  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
-  std::unique_ptr<char> expected(new char('a'));
-  const char * expected_orig = expected.get();
-
-  EXPECT_FALSE(mrb.push_and_replace(1, std::move(expected)));
-
-  std::shared_ptr<const char> actual;
-  mrb.get(1, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-  EXPECT_EQ(expected_orig, actual.get());
-  mrb.pop(1, actual);
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-  EXPECT_EQ(expected_orig, actual.get());
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-
-  expected.reset(new char('a'));
-  EXPECT_FALSE(mrb.push_and_replace(1, std::move(expected)));
-
-  expected.reset(new char('b'));
-  EXPECT_FALSE(mrb.push_and_replace(2, std::move(expected)));
-
-  expected.reset(new char('c'));
-  EXPECT_TRUE(mrb.push_and_replace(3, std::move(expected)));
-
-  mrb.get(1, actual);
-  EXPECT_EQ(nullptr, actual);
-
-  mrb.get(2, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('b', *actual);
-  }
-
-  mrb.get(3, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('c', *actual);
-  }
-}
-
-/*
-   Tests the affect of reusing keys (non-unique keys) in a mrb.
- */
-TEST(TestMappedRingBuffer, non_unique_keys) {
-  rclcpp::mapped_ring_buffer::MappedRingBuffer<char> mrb(2);
-
-  std::shared_ptr<const char> input(new char('a'));
-  mrb.push_and_replace(1, input);
-  input.reset(new char('b'));
-
-  // Different value, same key.
-  mrb.push_and_replace(1, input);
-  input.reset();
-
-  std::unique_ptr<char> actual;
-  mrb.pop(1, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('a', *actual);
-  }
-
-  actual = nullptr;
-  mrb.pop(1, actual);
-  EXPECT_NE(nullptr, actual);
-  if (actual) {
-    EXPECT_EQ('b', *actual);
-  }
-}

rclcpp/test/test_publisher.cpp

@@ -28,8 +28,10 @@ class TestPublisher : public ::testing::Test
 public:
   static void SetUpTestCase()
   {
+    if (!rclcpp::is_initialized()) {
       rclcpp::init(0, nullptr);
     }
+  }
 
 protected:
   void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
@@ -47,7 +49,7 @@ protected:
 
 struct TestParameters
 {
-  TestParameters(rclcpp::QoS qos, std::string description)
+  TestParameters(rclcpp::QoS qos, const std::string & description)
   : qos(qos), description(description) {}
   rclcpp::QoS qos;
   std::string description;
@@ -159,15 +161,11 @@ static std::vector<TestParameters> invalid_qos_profiles()
 {
   std::vector<TestParameters> parameters;
 
-  parameters.reserve(3);
+  parameters.reserve(2);
   parameters.push_back(
     TestParameters(
       rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(),
       "transient_local_qos"));
-  parameters.push_back(
-    TestParameters(
-      rclcpp::QoS(rclcpp::KeepLast(0)),
-      "keep_last_qos_with_zero_history_depth"));
   parameters.push_back(
     TestParameters(
       rclcpp::QoS(rclcpp::KeepAll()),

rclcpp/test/test_ring_buffer_implementation.cpp

@@ -0,0 +1,81 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+#include <memory>
+#include <utility>
+
+#include "gtest/gtest.h"
+
+#include "rclcpp/experimental/buffers/buffer_implementation_base.hpp"
+#include "rclcpp/experimental/buffers/ring_buffer_implementation.hpp"
+
+/*
+   Construtctor
+ */
+TEST(TestRingBufferImplementation, constructor) {
+  // Cannot create a buffer of size zero.
+  EXPECT_THROW(
+    rclcpp::experimental::buffers::RingBufferImplementation<char> rb(0),
+    std::invalid_argument);
+
+  rclcpp::experimental::buffers::RingBufferImplementation<char> rb(1);
+
+  EXPECT_EQ(false, rb.has_data());
+  EXPECT_EQ(false, rb.is_full());
+}
+
+/*
+   Basic usage
+   - insert data and check that it has data
+   - extract data
+   - overwrite old data writing over the buffer capacity
+ */
+TEST(TestRingBufferImplementation, basic_usage) {
+  rclcpp::experimental::buffers::RingBufferImplementation<char> rb(2);
+
+  rb.enqueue('a');
+
+  EXPECT_EQ(true, rb.has_data());
+  EXPECT_EQ(false, rb.is_full());
+
+  char v = rb.dequeue();
+
+  EXPECT_EQ('a', v);
+  EXPECT_EQ(false, rb.has_data());
+  EXPECT_EQ(false, rb.is_full());
+
+  rb.enqueue('b');
+  rb.enqueue('c');
+
+  EXPECT_EQ(true, rb.has_data());
+  EXPECT_EQ(true, rb.is_full());
+
+  rb.enqueue('d');
+
+  EXPECT_EQ(true, rb.has_data());
+  EXPECT_EQ(true, rb.is_full());
+
+  v = rb.dequeue();
+
+  EXPECT_EQ('c', v);
+  EXPECT_EQ(true, rb.has_data());
+  EXPECT_EQ(false, rb.is_full());
+
+  v = rb.dequeue();
+
+  EXPECT_EQ('d', v);
+  EXPECT_EQ(false, rb.has_data());
+  EXPECT_EQ(false, rb.is_full());
+}

rclcpp/test/test_subscription.cpp

@@ -16,6 +16,7 @@
 
 #include <string>
 #include <memory>
+#include <vector>
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -30,15 +31,15 @@ public:
     (void)msg;
   }
 
-protected:
   static void SetUpTestCase()
   {
     rclcpp::init(0, nullptr);
   }
 
-  void SetUp()
+protected:
+  void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
   {
-    node = std::make_shared<rclcpp::Node>("test_subscription", "/ns");
+    node = std::make_shared<rclcpp::Node>("test_subscription", "/ns", node_options);
   }
 
   void TearDown()
@@ -49,6 +50,25 @@ protected:
   rclcpp::Node::SharedPtr node;
 };
 
+struct TestParameters
+{
+  TestParameters(rclcpp::QoS qos, std::string description)
+  : qos(qos), description(description) {}
+  rclcpp::QoS qos;
+  std::string description;
+};
+
+std::ostream & operator<<(std::ostream & out, const TestParameters & params)
+{
+  out << params.description;
+  return out;
+}
+
+class TestSubscriptionInvalidIntraprocessQos
+  : public TestSubscription,
+  public ::testing::WithParamInterface<TestParameters>
+{};
+
 class TestSubscriptionSub : public ::testing::Test
 {
 public:
@@ -120,6 +140,7 @@ public:
    Testing subscription construction and destruction.
  */
 TEST_F(TestSubscription, construction_and_destruction) {
+  initialize();
   using rcl_interfaces::msg::IntraProcessMessage;
   auto callback = [](const IntraProcessMessage::SharedPtr msg) {
       (void)msg;
@@ -173,6 +194,7 @@ TEST_F(TestSubscriptionSub, construction_and_destruction) {
    Testing subscription creation signatures.
  */
 TEST_F(TestSubscription, various_creation_signatures) {
+  initialize();
   using rcl_interfaces::msg::IntraProcessMessage;
   auto cb = [](rcl_interfaces::msg::IntraProcessMessage::SharedPtr) {};
   {
@@ -209,6 +231,7 @@ TEST_F(TestSubscription, various_creation_signatures) {
    Testing subscriptions using std::bind.
  */
 TEST_F(TestSubscription, callback_bind) {
+  initialize();
   using rcl_interfaces::msg::IntraProcessMessage;
   {
     // Member callback for plain class
@@ -228,3 +251,51 @@ TEST_F(TestSubscription, callback_bind) {
     auto sub = node->create_subscription<IntraProcessMessage>("topic", 1, callback);
   }
 }
+
+/*
+   Testing subscription with intraprocess enabled and invalid QoS
+ */
+TEST_P(TestSubscriptionInvalidIntraprocessQos, test_subscription_throws) {
+  initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
+  rclcpp::QoS qos = GetParam().qos;
+  using rcl_interfaces::msg::IntraProcessMessage;
+  {
+    auto callback = std::bind(
+      &TestSubscriptionInvalidIntraprocessQos::OnMessage,
+      this,
+      std::placeholders::_1);
+
+    ASSERT_THROW(
+      {auto subscription = node->create_subscription<IntraProcessMessage>(
+          "topic",
+          qos,
+          callback);},
+      std::invalid_argument);
+  }
+}
+
+static std::vector<TestParameters> invalid_qos_profiles()
+{
+  std::vector<TestParameters> parameters;
+
+  parameters.reserve(3);
+  parameters.push_back(
+    TestParameters(
+      rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(),
+      "transient_local_qos"));
+  parameters.push_back(
+    TestParameters(
+      rclcpp::QoS(rclcpp::KeepAll()),
+      "keep_all_qos"));
+  parameters.push_back(
+    TestParameters(
+      rclcpp::QoS(rclcpp::KeepLast(0)),
+      "keep_last_zero_depth_qos"));
+
+  return parameters;
+}
+
+INSTANTIATE_TEST_CASE_P(
+  TestSubscriptionThrows, TestSubscriptionInvalidIntraprocessQos,
+  ::testing::ValuesIn(invalid_qos_profiles()),
+  ::testing::PrintToStringParamName());

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -22,8 +22,8 @@
 #include <vector>
 
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/event.hpp"
+#include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_service.hpp"