deprecate redundant namespaces (#1083)

* deprecate redundant namespaces, move classes to own files, rename some classes

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

* fixup

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

* address review comments

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

* fix ups since rebase

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

* avoid deprecation warnings from deprecated functions

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

* more fixes

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

* another fixup, after another rebase

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

rclcpp/CMakeLists.txt

@@ -39,7 +39,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/detail/utilities.cpp
   src/rclcpp/duration.cpp
   src/rclcpp/event.cpp
-  src/rclcpp/exceptions.cpp
+  src/rclcpp/exceptions/exceptions.cpp
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
@@ -48,6 +48,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/executors/single_threaded_executor.cpp
   src/rclcpp/executors/static_executor_entities_collector.cpp
   src/rclcpp/executors/static_single_threaded_executor.cpp
+  src/rclcpp/future_return_code.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp
   src/rclcpp/init_options.cpp

rclcpp/include/rclcpp/any_executable.hpp

@@ -29,8 +29,6 @@
 
 namespace rclcpp
 {
-namespace executor
-{
 
 struct AnyExecutable
 {
@@ -47,10 +45,15 @@ struct AnyExecutable
   rclcpp::ClientBase::SharedPtr client;
   rclcpp::Waitable::SharedPtr waitable;
   // These are used to keep the scope on the containing items
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
+  rclcpp::CallbackGroup::SharedPtr callback_group;
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
 };
 
+namespace executor
+{
+
+using AnyExecutable [[deprecated("use rclcpp::AnyExecutable instead")]] = AnyExecutable;
+
 }  // namespace executor
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/callback_group.hpp

@@ -40,9 +40,6 @@ class NodeTopics;
 class NodeWaitables;
 }  // namespace node_interfaces
 
-namespace callback_group
-{
-
 enum class CallbackGroupType
 {
   MutuallyExclusive,
@@ -162,6 +159,12 @@ private:
   }
 };
 
+namespace callback_group
+{
+
+using CallbackGroupType [[deprecated("use rclcpp::CallbackGroupType instead")]] = CallbackGroupType;
+using CallbackGroup [[deprecated("use rclcpp::CallbackGroup instead")]] = CallbackGroup;
+
 }  // namespace callback_group
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/contexts/default_context.hpp

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

rclcpp/include/rclcpp/create_client.hpp

@@ -35,7 +35,7 @@ create_client(
   std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
   const std::string & service_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   rcl_client_options_t options = rcl_client_get_default_options();
   options.qos = qos_profile;

rclcpp/include/rclcpp/create_service.hpp

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

rclcpp/include/rclcpp/create_timer.hpp

@@ -39,7 +39,7 @@ create_timer(
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
   auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
     clock,
@@ -59,7 +59,7 @@ create_timer(
   rclcpp::Clock::SharedPtr clock,
   rclcpp::Duration period,
   CallbackT && callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
   return create_timer(
     rclcpp::node_interfaces::get_node_base_interface(node),
@@ -90,7 +90,7 @@ typename rclcpp::WallTimer<CallbackT>::SharedPtr
 create_wall_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  rclcpp::CallbackGroup::SharedPtr group,
   node_interfaces::NodeBaseInterface * node_base,
   node_interfaces::NodeTimersInterface * node_timers)
 {

rclcpp/include/rclcpp/exceptions.hpp

@@ -15,265 +15,6 @@
 #ifndef RCLCPP__EXCEPTIONS_HPP_
 #define RCLCPP__EXCEPTIONS_HPP_
 
-#include <stdexcept>
+#include "rclcpp/exceptions/exceptions.hpp"
-#include <string>
-#include <vector>
-
-#include "rcl/error_handling.h"
-#include "rcl/types.h"
-#include "rclcpp/visibility_control.hpp"
-
-#include "rcpputils/join.hpp"
-
-namespace rclcpp
-{
-namespace exceptions
-{
-
-/// Thrown when a method is trying to use a node, but it is invalid.
-class InvalidNodeError : public std::runtime_error
-{
-public:
-  InvalidNodeError()
-  : std::runtime_error("node is invalid") {}
-};
-
-/// Thrown when a any kind of name (node, namespace, topic, etc.) is invalid.
-class NameValidationError : public std::invalid_argument
-{
-public:
-  NameValidationError(
-    const char * name_type_,
-    const char * name_,
-    const char * error_msg_,
-    size_t invalid_index_)
-  : std::invalid_argument(format_error(name_type_, name_, error_msg_, invalid_index_)),
-    name_type(name_type_), name(name_), error_msg(error_msg_), invalid_index(invalid_index_)
-  {}
-
-  static std::string
-  format_error(
-    const char * name_type,
-    const char * name,
-    const char * error_msg,
-    size_t invalid_index);
-
-  const std::string name_type;
-  const std::string name;
-  const std::string error_msg;
-  const size_t invalid_index;
-};
-
-/// Thrown when a node name is invalid.
-class InvalidNodeNameError : public NameValidationError
-{
-public:
-  InvalidNodeNameError(const char * node_name, const char * error_msg, size_t invalid_index)
-  : NameValidationError("node name", node_name, error_msg, invalid_index)
-  {}
-};
-
-/// Thrown when a node namespace is invalid.
-class InvalidNamespaceError : public NameValidationError
-{
-public:
-  InvalidNamespaceError(const char * namespace_, const char * error_msg, size_t invalid_index)
-  : NameValidationError("namespace", namespace_, error_msg, invalid_index)
-  {}
-};
-
-/// Thrown when a topic name is invalid.
-class InvalidTopicNameError : public NameValidationError
-{
-public:
-  InvalidTopicNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
-  : NameValidationError("topic name", namespace_, error_msg, invalid_index)
-  {}
-};
-
-/// Thrown when a service name is invalid.
-class InvalidServiceNameError : public NameValidationError
-{
-public:
-  InvalidServiceNameError(const char * namespace_, const char * error_msg, size_t invalid_index)
-  : NameValidationError("service name", namespace_, error_msg, invalid_index)
-  {}
-};
-
-/// Throw a C++ std::exception which was created based on an rcl error.
-/**
- * Passing nullptr for reset_error is safe and will avoid calling any function
- * to reset the error.
- *
- * \param ret the return code for the current error state
- * \param prefix string to prefix to the error if applicable (not all errors have custom messages)
- * \param error_state error state to create exception from, if nullptr rcl_get_error_state is used
- * \param reset_error function to be called before throwing which whill clear the error state
- * \throws std::invalid_argument if ret is RCL_RET_OK
- * \throws std::runtime_error if the rcl_get_error_state returns 0
- * \throws RCLErrorBase some child class exception based on ret
- */
-/* *INDENT-OFF* */  // Uncrustify cannot yet understand [[noreturn]] properly
-RCLCPP_PUBLIC
-void
-throw_from_rcl_error [[noreturn]] (
-  rcl_ret_t ret,
-  const std::string & prefix = "",
-  const rcl_error_state_t * error_state = nullptr,
-  void (* reset_error)() = rcl_reset_error);
-/* *INDENT-ON* */
-
-class RCLErrorBase
-{
-public:
-  RCLCPP_PUBLIC
-  RCLErrorBase(rcl_ret_t ret, const rcl_error_state_t * error_state);
-  virtual ~RCLErrorBase() {}
-
-  rcl_ret_t ret;
-  std::string message;
-  std::string file;
-  size_t line;
-  std::string formatted_message;
-};
-
-/// Created when the return code does not match one of the other specialized exceptions.
-class RCLError : public RCLErrorBase, public std::runtime_error
-{
-public:
-  RCLCPP_PUBLIC
-  RCLError(rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLError(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Created when the ret is RCL_RET_BAD_ALLOC.
-class RCLBadAlloc : public RCLErrorBase, public std::bad_alloc
-{
-public:
-  RCLCPP_PUBLIC
-  RCLBadAlloc(rcl_ret_t ret, const rcl_error_state_t * error_state);
-  RCLCPP_PUBLIC
-  explicit RCLBadAlloc(const RCLErrorBase & base_exc);
-};
-
-/// Created when the ret is RCL_RET_INVALID_ARGUMENT.
-class RCLInvalidArgument : public RCLErrorBase, public std::invalid_argument
-{
-public:
-  RCLCPP_PUBLIC
-  RCLInvalidArgument(
-    rcl_ret_t ret,
-    const rcl_error_state_t * error_state,
-    const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLInvalidArgument(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Created when the ret is RCL_RET_INVALID_ROS_ARGS.
-class RCLInvalidROSArgsError : public RCLErrorBase, public std::runtime_error
-{
-public:
-  RCLCPP_PUBLIC
-  RCLInvalidROSArgsError(
-    rcl_ret_t ret, const rcl_error_state_t * error_state, const std::string & prefix);
-  RCLCPP_PUBLIC
-  RCLInvalidROSArgsError(const RCLErrorBase & base_exc, const std::string & prefix);
-};
-
-/// Thrown when unparsed ROS specific arguments are found.
-class UnknownROSArgsError : public std::runtime_error
-{
-public:
-  explicit UnknownROSArgsError(std::vector<std::string> && unknown_ros_args_in)
-  : std::runtime_error(
-      "found unknown ROS arguments: '" + rcpputils::join(unknown_ros_args_in, "', '") + "'"),
-    unknown_ros_args(unknown_ros_args_in)
-  {
-  }
-
-  const std::vector<std::string> unknown_ros_args;
-};
-
-/// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
-class InvalidEventError : public std::runtime_error
-{
-public:
-  InvalidEventError()
-  : std::runtime_error("event is invalid") {}
-};
-
-/// Thrown when an unregistered rclcpp::Event is encountered where a registered one was expected.
-class EventNotRegisteredError : public std::runtime_error
-{
-public:
-  EventNotRegisteredError()
-  : std::runtime_error("event already registered") {}
-};
-
-/// Thrown if passed parameters are inconsistent or invalid
-class InvalidParametersException : public std::runtime_error
-{
-public:
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if passed parameter value is invalid.
-class InvalidParameterValueException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if requested parameter type is invalid.
-/**
- * Essentially the same as rclcpp::ParameterTypeException, but with parameter
- * name in the error message.
- */
-class InvalidParameterTypeException : public std::runtime_error
-{
-public:
-  /// Construct an instance.
-  /**
-   * \param[in] name the name of the parameter.
-   * \param[in] message custom exception message.
-   */
-  RCLCPP_PUBLIC
-  InvalidParameterTypeException(const std::string & name, const std::string message)
-  : std::runtime_error("parameter '" + name + "' has invalid type: " + message)
-  {}
-};
-
-/// Thrown if parameter is already declared.
-class ParameterAlreadyDeclaredException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if parameter is not declared, e.g. either set or get was called without first declaring.
-class ParameterNotDeclaredException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if parameter is immutable and therefore cannot be undeclared.
-class ParameterImmutableException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-/// Thrown if parameter is modified while in a set callback.
-class ParameterModifiedInCallbackException : public std::runtime_error
-{
-  // Inherit constructors from runtime_error.
-  using std::runtime_error::runtime_error;
-};
-
-}  // namespace exceptions
-}  // namespace rclcpp
 
 #endif  // RCLCPP__EXCEPTIONS_HPP_

rclcpp/include/rclcpp/exceptions/exceptions.hpp

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

rclcpp/include/rclcpp/executor.hpp

@@ -30,6 +30,8 @@
 #include "rcl/wait.h"
 
 #include "rclcpp/contexts/default_context.hpp"
+#include "rclcpp/executor_options.hpp"
+#include "rclcpp/future_return_code.hpp"
 #include "rclcpp/memory_strategies.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
@@ -42,48 +44,6 @@ namespace rclcpp
 // Forward declaration is used in convenience method signature.
 class Node;
 
-namespace executor
-{
-
-/// Return codes to be used with spin_until_future_complete.
-/**
- * SUCCESS: The future is complete and can be accessed with "get" without blocking.
- *          This does not indicate that the operation succeeded; "get" may still throw an exception.
- * INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error.
- * TIMEOUT: Spinning timed out.
- */
-enum class FutureReturnCode {SUCCESS, INTERRUPTED, TIMEOUT};
-
-RCLCPP_PUBLIC
-std::ostream &
-operator<<(std::ostream & os, const FutureReturnCode & future_return_code);
-
-RCLCPP_PUBLIC
-std::string
-to_string(const FutureReturnCode & future_return_code);
-
-///
-/**
- * Options to be passed to the executor constructor.
- */
-struct ExecutorArgs
-{
-  ExecutorArgs()
-  : memory_strategy(memory_strategies::create_default_strategy()),
-    context(rclcpp::contexts::default_context::get_global_default_context()),
-    max_conditions(0)
-  {}
-
-  memory_strategy::MemoryStrategy::SharedPtr memory_strategy;
-  std::shared_ptr<rclcpp::Context> context;
-  size_t max_conditions;
-};
-
-static inline ExecutorArgs create_default_executor_arguments()
-{
-  return ExecutorArgs();
-}
-
 /// Coordinate the order and timing of available communication tasks.
 /**
  * Executor provides spin functions (including spin_node_once and spin_some).
@@ -100,9 +60,11 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Executor)
 
   /// Default constructor.
-  // \param[in] ms The memory strategy to be used with this executor.
+  /**
+   * \param[in] options Options used to configure the executor.
+   */
   RCLCPP_PUBLIC
-  explicit Executor(const ExecutorArgs & args = ExecutorArgs());
+  explicit Executor(const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
 
   /// Default destructor.
   RCLCPP_PUBLIC
@@ -323,10 +285,10 @@ protected:
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-  get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group);
+  get_node_by_group(rclcpp::CallbackGroup::SharedPtr group);
 
   RCLCPP_PUBLIC
-  rclcpp::callback_group::CallbackGroup::SharedPtr
+  rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
 
   RCLCPP_PUBLIC
@@ -363,6 +325,11 @@ protected:
   std::list<const rcl_guard_condition_t *> guard_conditions_;
 };
 
+namespace executor
+{
+
+using Executor [[deprecated("use rclcpp::Executor instead")]] = rclcpp::Executor;
+
 }  // namespace executor
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/executor_options.hpp

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

rclcpp/include/rclcpp/executors.hpp

@@ -67,9 +67,9 @@ using rclcpp::executors::SingleThreadedExecutor;
  * \return The return code, one of `SUCCESS`, `INTERRUPTED`, or `TIMEOUT`.
  */
 template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::executor::FutureReturnCode
+rclcpp::FutureReturnCode
 spin_node_until_future_complete(
-  rclcpp::executor::Executor & executor,
+  rclcpp::Executor & executor,
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
   const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
@@ -84,9 +84,9 @@ spin_node_until_future_complete(
 
 template<typename NodeT = rclcpp::Node, typename ResponseT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
-rclcpp::executor::FutureReturnCode
+rclcpp::FutureReturnCode
 spin_node_until_future_complete(
-  rclcpp::executor::Executor & executor,
+  rclcpp::Executor & executor,
   std::shared_ptr<NodeT> node_ptr,
   const std::shared_future<ResponseT> & future,
   std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
@@ -101,7 +101,7 @@ spin_node_until_future_complete(
 }  // namespace executors
 
 template<typename FutureT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-rclcpp::executor::FutureReturnCode
+rclcpp::FutureReturnCode
 spin_until_future_complete(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
   const std::shared_future<FutureT> & future,
@@ -113,7 +113,7 @@ spin_until_future_complete(
 
 template<typename NodeT = rclcpp::Node, typename FutureT, typename TimeRepT = int64_t,
   typename TimeT = std::milli>
-rclcpp::executor::FutureReturnCode
+rclcpp::FutureReturnCode
 spin_until_future_complete(
   std::shared_ptr<NodeT> node_ptr,
   const std::shared_future<FutureT> & future,

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -32,7 +32,7 @@ namespace rclcpp
 namespace executors
 {
 
-class MultiThreadedExecutor : public executor::Executor
+class MultiThreadedExecutor : public rclcpp::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(MultiThreadedExecutor)
@@ -45,14 +45,14 @@ public:
    * This is useful for reproducing some bugs related to taking work more than
    * once.
    *
-   * \param args common arguments for all executors
+   * \param options common options for all executors
    * \param number_of_threads number of threads to have in the thread pool,
    *   the default 0 will use the number of cpu cores found instead
    * \param yield_before_execute if true std::this_thread::yield() is called
    */
   RCLCPP_PUBLIC
   MultiThreadedExecutor(
-    const executor::ExecutorArgs & args = executor::ExecutorArgs(),
+    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions(),
     size_t number_of_threads = 0,
     bool yield_before_execute = false,
     std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));

rclcpp/include/rclcpp/executors/single_threaded_executor.hpp

@@ -35,25 +35,31 @@ namespace rclcpp
 namespace executors
 {
 
-/// Single-threaded executor implementation
+/// Single-threaded executor implementation.
-// This is the default executor created by rclcpp::spin.
+/**
-class SingleThreadedExecutor : public executor::Executor
+ * This is the default executor created by rclcpp::spin.
+ */
+class SingleThreadedExecutor : public rclcpp::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(SingleThreadedExecutor)
 
   /// Default constructor. See the default constructor for Executor.
   RCLCPP_PUBLIC
-  SingleThreadedExecutor(
+  explicit SingleThreadedExecutor(
-    const executor::ExecutorArgs & args = executor::ExecutorArgs());
+    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
 
-  /// Default destrcutor.
+  /// Default destructor.
   RCLCPP_PUBLIC
   virtual ~SingleThreadedExecutor();
 
   /// Single-threaded implementation of spin.
-  // This function will block until work comes in, execute it, and keep blocking.
+  /**
-  // It will only be interrupt by a CTRL-C (managed by the global signal handler).
+   * This function will block until work comes in, execute it, and then repeat
+   * the process until canceled.
+   * It may be interrupt by a call to rclcpp::Executor::cancel() or by ctrl-c
+   * if the associated context is configured to shutdown on SIGINT.
+   */
   RCLCPP_PUBLIC
   void
   spin() override;

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -22,7 +22,7 @@
 #include "rcl/guard_condition.h"
 #include "rcl/wait.h"
 
-#include "rclcpp/executable_list.hpp"
+#include "rclcpp/experimental/executable_list.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -159,7 +159,7 @@ private:
   rcl_wait_set_t * p_wait_set_ = nullptr;
 
   /// Executable list: timers, subscribers, clients, services and waitables
-  rclcpp::executor::ExecutableList exec_list_;
+  rclcpp::experimental::ExecutableList exec_list_;
 };
 
 }  // namespace executors

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -23,9 +23,9 @@
 
 #include "rmw/rmw.h"
 
-#include "rclcpp/executable_list.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/executors/static_executor_entities_collector.hpp"
+#include "rclcpp/experimental/executable_list.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/memory_strategies.hpp"
 #include "rclcpp/node.hpp"
@@ -54,7 +54,7 @@ namespace executors
  * exec.spin();
  * exec.remove_node(node);
  */
-class StaticSingleThreadedExecutor : public executor::Executor
+class StaticSingleThreadedExecutor : public rclcpp::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(StaticSingleThreadedExecutor)
@@ -62,7 +62,7 @@ public:
   /// Default constructor. See the default constructor for Executor.
   RCLCPP_PUBLIC
   explicit StaticSingleThreadedExecutor(
-    const executor::ExecutorArgs & args = executor::ExecutorArgs());
+    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
 
   /// Default destrcutor.
   RCLCPP_PUBLIC
@@ -131,14 +131,14 @@ public:
    *  exec.spin_until_future_complete(future);
    */
   template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-  rclcpp::executor::FutureReturnCode
+  rclcpp::FutureReturnCode
   spin_until_future_complete(
     std::shared_future<ResponseT> & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
   {
     std::future_status status = future.wait_for(std::chrono::seconds(0));
     if (status == std::future_status::ready) {
-      return rclcpp::executor::FutureReturnCode::SUCCESS;
+      return rclcpp::FutureReturnCode::SUCCESS;
     }
 
     auto end_time = std::chrono::steady_clock::now();
@@ -159,7 +159,7 @@ public:
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
-        return rclcpp::executor::FutureReturnCode::SUCCESS;
+        return rclcpp::FutureReturnCode::SUCCESS;
       }
       // If the original timeout is < 0, then this is blocking, never TIMEOUT.
       if (timeout_ns < std::chrono::nanoseconds::zero()) {
@@ -168,14 +168,14 @@ public:
       // Otherwise check if we still have time to wait, return TIMEOUT if not.
       auto now = std::chrono::steady_clock::now();
       if (now >= end_time) {
-        return rclcpp::executor::FutureReturnCode::TIMEOUT;
+        return rclcpp::FutureReturnCode::TIMEOUT;
       }
       // Subtract the elapsed time from the original timeout.
       timeout_left = std::chrono::duration_cast<std::chrono::nanoseconds>(end_time - now);
     }
 
     // The future did not complete before ok() returned false, return INTERRUPTED.
-    return rclcpp::executor::FutureReturnCode::INTERRUPTED;
+    return rclcpp::FutureReturnCode::INTERRUPTED;
   }
 
 protected:

rclcpp/include/rclcpp/experimental/executable_list.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__EXECUTABLE_LIST_HPP_
+#ifndef RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_
-#define RCLCPP__EXECUTABLE_LIST_HPP_
+#define RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_
 
 #include <memory>
 #include <vector>
@@ -27,7 +27,7 @@
 
 namespace rclcpp
 {
-namespace executor
+namespace experimental
 {
 
 /// This class contains subscriptionbase, timerbase, etc. which can be used to run callbacks.
@@ -86,7 +86,7 @@ public:
   size_t number_of_waitables;
 };
 
-}  // namespace executor
+}  // namespace experimental
 }  // namespace rclcpp
 
-#endif  // RCLCPP__EXECUTABLE_LIST_HPP_
+#endif  // RCLCPP__EXPERIMENTAL__EXECUTABLE_LIST_HPP_

rclcpp/include/rclcpp/future_return_code.hpp

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

rclcpp/include/rclcpp/guard_condition.hpp

@@ -47,7 +47,7 @@ public:
   RCLCPP_PUBLIC
   explicit GuardCondition(
     rclcpp::Context::SharedPtr context =
-    rclcpp::contexts::default_context::get_global_default_context());
+    rclcpp::contexts::get_global_default_context());
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/memory_strategy.hpp

@@ -67,27 +67,27 @@ public:
 
   virtual void
   get_next_subscription(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_service(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_client(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_timer(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual void
   get_next_waitable(
-    rclcpp::executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) = 0;
 
   virtual rcl_allocator_t
@@ -115,30 +115,30 @@ public:
 
   static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
-    rclcpp::callback_group::CallbackGroup::SharedPtr group,
+    rclcpp::CallbackGroup::SharedPtr group,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_service(
     rclcpp::ServiceBase::SharedPtr service,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_client(
     rclcpp::ClientBase::SharedPtr client,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(
     rclcpp::TimerBase::SharedPtr timer,
     const WeakNodeList & weak_nodes);
 
-  static rclcpp::callback_group::CallbackGroup::SharedPtr
+  static rclcpp::CallbackGroup::SharedPtr
   get_group_by_waitable(
     rclcpp::Waitable::SharedPtr waitable,
     const WeakNodeList & weak_nodes);

rclcpp/include/rclcpp/node.hpp

@@ -135,12 +135,12 @@ public:
 
   /// Create and return a callback group.
   RCLCPP_PUBLIC
-  rclcpp::callback_group::CallbackGroup::SharedPtr
+  rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
+  create_callback_group(rclcpp::CallbackGroupType group_type);
 
   /// Return the list of callback groups in the node.
   RCLCPP_PUBLIC
-  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
   get_callback_groups() const;
 
   /// Create and return a Publisher.
@@ -227,7 +227,7 @@ public:
   create_wall_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /* Create and return a Client. */
   template<typename ServiceT>
@@ -235,7 +235,7 @@ public:
   create_client(
     const std::string & service_name,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /* Create and return a Service. */
   template<typename ServiceT, typename CallbackT>
@@ -244,7 +244,7 @@ public:
     const std::string & service_name,
     CallbackT && callback,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Declare and initialize a parameter, return the effective value.
   /**
@@ -1142,7 +1142,7 @@ private:
 
   RCLCPP_PUBLIC
   bool
-  group_in_node(callback_group::CallbackGroup::SharedPtr group);
+  group_in_node(CallbackGroup::SharedPtr group);
 
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;

rclcpp/include/rclcpp/node_impl.hpp

@@ -109,7 +109,7 @@ typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_wall_timer(
     period,
@@ -124,7 +124,7 @@ typename Client<ServiceT>::SharedPtr
 Node::create_client(
   const std::string & service_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_client<ServiceT>(
     node_base_,
@@ -141,7 +141,7 @@ Node::create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_service<ServiceT, CallbackT>(
     node_base_,

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -96,22 +96,22 @@ public:
 
   RCLCPP_PUBLIC
 
-  rclcpp::callback_group::CallbackGroup::SharedPtr
+  rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type) override;
+  create_callback_group(rclcpp::CallbackGroupType group_type) override;
 
   RCLCPP_PUBLIC
 
-  rclcpp::callback_group::CallbackGroup::SharedPtr
+  rclcpp::CallbackGroup::SharedPtr
   get_default_callback_group() override;
 
   RCLCPP_PUBLIC
 
   bool
-  callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group) override;
+  callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override;
 
   RCLCPP_PUBLIC
 
-  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
   get_callback_groups() const override;
 
   RCLCPP_PUBLIC
@@ -146,8 +146,8 @@ private:
 
   std::shared_ptr<rcl_node_t> node_handle_;
 
-  rclcpp::callback_group::CallbackGroup::SharedPtr default_callback_group_;
+  rclcpp::CallbackGroup::SharedPtr default_callback_group_;
-  std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> callback_groups_;
+  std::vector<rclcpp::CallbackGroup::WeakPtr> callback_groups_;
 
   std::atomic_bool associated_with_executor_;
 

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_services.hpp

@@ -46,14 +46,14 @@ public:
   void
   add_client(
     rclcpp::ClientBase::SharedPtr client_base_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) override;
+    rclcpp::CallbackGroup::SharedPtr group) override;
 
   RCLCPP_PUBLIC
 
   void
   add_service(
     rclcpp::ServiceBase::SharedPtr service_base_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) override;
+    rclcpp::CallbackGroup::SharedPtr group) override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeServices)

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_timers.hpp

@@ -46,7 +46,7 @@ public:
   void
   add_timer(
     rclcpp::TimerBase::SharedPtr timer,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
+    rclcpp::CallbackGroup::SharedPtr callback_group) override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeTimers)

rclcpp/include/rclcpp/node_interfaces/node_timers_interface.hpp

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

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -58,7 +58,7 @@ public:
   void
   add_publisher(
     rclcpp::PublisherBase::SharedPtr publisher,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
+    rclcpp::CallbackGroup::SharedPtr callback_group) override;
 
   RCLCPP_PUBLIC
   rclcpp::SubscriptionBase::SharedPtr
@@ -71,7 +71,7 @@ public:
   void
   add_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) override;
+    rclcpp::CallbackGroup::SharedPtr callback_group) override;
 
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface *

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -60,7 +60,7 @@ public:
   void
   add_publisher(
     rclcpp::PublisherBase::SharedPtr publisher,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
+    rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
 
   RCLCPP_PUBLIC
   virtual
@@ -75,7 +75,7 @@ public:
   void
   add_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription,
-    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
+    rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_waitables.hpp

@@ -45,14 +45,14 @@ public:
   void
   add_waitable(
     rclcpp::Waitable::SharedPtr waitable_base_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) override;
+    rclcpp::CallbackGroup::SharedPtr group) override;
 
   RCLCPP_PUBLIC
 
   void
   remove_waitable(
     rclcpp::Waitable::SharedPtr waitable_ptr,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group) noexcept override;
+    rclcpp::CallbackGroup::SharedPtr group) noexcept override;
 
 private:
   RCLCPP_DISABLE_COPY(NodeWaitables)

rclcpp/include/rclcpp/node_interfaces/node_waitables_interface.hpp

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

rclcpp/include/rclcpp/node_options.hpp

@@ -38,7 +38,7 @@ public:
   /**
    * Default values for the node options:
    *
-   *   - context = rclcpp::contexts::default_context::get_global_default_context()
+   *   - context = rclcpp::contexts::get_global_default_context()
    *   - arguments = {}
    *   - parameter_overrides = {}
    *   - use_global_arguments = true
@@ -338,7 +338,7 @@ private:
   // documentation in this class.
 
   rclcpp::Context::SharedPtr context_ {
-    rclcpp::contexts::default_context::get_global_default_context()};
+    rclcpp::contexts::get_global_default_context()};
 
   std::vector<std::string> arguments_ {};
 

rclcpp/include/rclcpp/parameter_client.hpp

@@ -54,21 +54,21 @@ public:
     const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   AsyncParametersClient(
     const rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   AsyncParametersClient(
     rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC
   std::shared_future<std::vector<rclcpp::Parameter>>
@@ -205,7 +205,7 @@ public:
 
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::executor::Executor::SharedPtr executor,
+    rclcpp::Executor::SharedPtr executor,
     rclcpp::Node::SharedPtr node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
@@ -218,14 +218,14 @@ public:
 
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::executor::Executor::SharedPtr executor,
+    rclcpp::Executor::SharedPtr executor,
     rclcpp::Node * node,
     const std::string & remote_node_name = "",
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_parameters);
 
   RCLCPP_PUBLIC
   SyncParametersClient(
-    rclcpp::executor::Executor::SharedPtr executor,
+    rclcpp::Executor::SharedPtr executor,
     const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
     const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
     const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
@@ -339,7 +339,7 @@ public:
   }
 
 private:
-  rclcpp::executor::Executor::SharedPtr executor_;
+  rclcpp::Executor::SharedPtr executor_;
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
   AsyncParametersClient::SharedPtr async_parameters_client_;
 };

rclcpp/include/rclcpp/publisher_options.hpp

@@ -30,10 +30,7 @@
 namespace rclcpp
 {
 
-namespace callback_group
-{
 class CallbackGroup;
-}  // namespace callback_group
 
 /// Non-templated part of PublisherOptionsWithAllocator<Allocator>.
 struct PublisherOptionsBase
@@ -48,7 +45,7 @@ struct PublisherOptionsBase
   bool use_default_callbacks = true;
 
   /// Callback group in which the waitable items from the publisher should be placed.
-  std::shared_ptr<rclcpp::callback_group::CallbackGroup> callback_group;
+  std::shared_ptr<rclcpp::CallbackGroup> callback_group;
 
   /// Optional RMW implementation specific payload to be used during creation of the publisher.
   std::shared_ptr<rclcpp::detail::RMWImplementationSpecificPublisherPayload>

rclcpp/include/rclcpp/rclcpp.hpp

@@ -81,7 +81,7 @@
  *   - rclcpp/executors/multi_threaded_executor.hpp
  * - CallbackGroups (mechanism for enforcing concurrency rules for callbacks):
  *   - rclcpp::Node::create_callback_group()
- *   - rclcpp::callback_group::CallbackGroup
+ *   - rclcpp::CallbackGroup
  *   - rclcpp/callback_group.hpp
  *
  * Additionally, there are some methods for introspecting the ROS graph:

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -263,7 +263,7 @@ public:
 
   void
   get_next_subscription(
-    executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) override
   {
     auto it = subscription_handles_.begin();
@@ -298,7 +298,7 @@ public:
 
   void
   get_next_service(
-    executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) override
   {
     auto it = service_handles_.begin();
@@ -332,7 +332,7 @@ public:
   }
 
   void
-  get_next_client(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
+  get_next_client(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = client_handles_.begin();
     while (it != client_handles_.end()) {
@@ -366,7 +366,7 @@ public:
 
   void
   get_next_timer(
-    executor::AnyExecutable & any_exec,
+    rclcpp::AnyExecutable & any_exec,
     const WeakNodeList & weak_nodes) override
   {
     auto it = timer_handles_.begin();
@@ -400,7 +400,7 @@ public:
   }
 
   void
-  get_next_waitable(executor::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
+  get_next_waitable(rclcpp::AnyExecutable & any_exec, const WeakNodeList & weak_nodes) override
   {
     auto it = waitable_handles_.begin();
     while (it != waitable_handles_.end()) {

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

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

rclcpp/include/rclcpp/subscription_options.hpp

@@ -45,7 +45,7 @@ struct SubscriptionOptionsBase
   bool ignore_local_publications = false;
 
   /// The callback group for this subscription. NULL to use the default callback group.
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group = nullptr;
+  rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
 
   /// Setting to explicitly set intraprocess communications.
   IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;

rclcpp/include/rclcpp/utilities.hpp

@@ -45,7 +45,7 @@ namespace rclcpp
 /// Initialize communications via the rmw implementation and set up a global signal handler.
 /**
  * Initializes the global context which is accessible via the function
- * rclcpp::contexts::default_context::get_global_default_context().
+ * rclcpp::contexts::get_global_default_context().
  * Also, installs the global signal handlers with the function
  * rclcpp::install_signal_handlers().
  *

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -74,7 +74,7 @@ public:
     const typename StoragePolicy::ServicesIterable & services = {},
     const typename StoragePolicy::WaitablesIterable & waitables = {},
     rclcpp::Context::SharedPtr context =
-    rclcpp::contexts::default_context::get_global_default_context())
+    rclcpp::contexts::get_global_default_context())
   : SynchronizationPolicy(context),
     StoragePolicy(
       subscriptions,

rclcpp/src/rclcpp/any_executable.cpp

@@ -14,7 +14,7 @@
 
 #include "rclcpp/any_executable.hpp"
 
-using rclcpp::executor::AnyExecutable;
+using rclcpp::AnyExecutable;
 
 AnyExecutable::AnyExecutable()
 : subscription(nullptr),

rclcpp/src/rclcpp/callback_group.cpp

@@ -16,8 +16,8 @@
 
 #include <vector>
 
-using rclcpp::callback_group::CallbackGroup;
+using rclcpp::CallbackGroup;
-using rclcpp::callback_group::CallbackGroupType;
+using rclcpp::CallbackGroupType;
 
 CallbackGroup::CallbackGroup(CallbackGroupType group_type)
 : type_(group_type), can_be_taken_from_(true)

rclcpp/src/rclcpp/contexts/default_context.cpp

@@ -14,13 +14,13 @@
 
 #include "rclcpp/contexts/default_context.hpp"
 
-using rclcpp::contexts::default_context::DefaultContext;
+using rclcpp::contexts::DefaultContext;
 
 DefaultContext::DefaultContext()
 {}
 
 DefaultContext::SharedPtr
-rclcpp::contexts::default_context::get_global_default_context()
+rclcpp::contexts::get_global_default_context()
 {
   static DefaultContext::SharedPtr default_context = DefaultContext::make_shared();
   return default_context;

rclcpp/src/rclcpp/executable_list.cpp

@@ -14,9 +14,9 @@
 
 #include <utility>
 
-#include "rclcpp/executable_list.hpp"
+#include "rclcpp/experimental/executable_list.hpp"
 
-using rclcpp::executor::ExecutableList;
+using rclcpp::experimental::ExecutableList;
 
 ExecutableList::ExecutableList()
 : number_of_subscriptions(0),

rclcpp/src/rclcpp/executor.cpp

@@ -29,18 +29,18 @@
 #include "rcutils/logging_macros.h"
 
 using rclcpp::exceptions::throw_from_rcl_error;
-using rclcpp::executor::AnyExecutable;
+using rclcpp::AnyExecutable;
-using rclcpp::executor::Executor;
+using rclcpp::Executor;
-using rclcpp::executor::ExecutorArgs;
+using rclcpp::ExecutorOptions;
-using rclcpp::executor::FutureReturnCode;
+using rclcpp::FutureReturnCode;
 
-Executor::Executor(const ExecutorArgs & args)
+Executor::Executor(const rclcpp::ExecutorOptions & options)
 : spinning(false),
-  memory_strategy_(args.memory_strategy)
+  memory_strategy_(options.memory_strategy)
 {
   rcl_guard_condition_options_t guard_condition_options = rcl_guard_condition_get_default_options();
   rcl_ret_t ret = rcl_guard_condition_init(
-    &interrupt_guard_condition_, args.context->get_rcl_context().get(), guard_condition_options);
+    &interrupt_guard_condition_, options.context->get_rcl_context().get(), guard_condition_options);
   if (RCL_RET_OK != ret) {
     throw_from_rcl_error(ret, "Failed to create interrupt guard condition in Executor constructor");
   }
@@ -49,14 +49,14 @@ Executor::Executor(const ExecutorArgs & args)
   // and one for the executor's guard cond (interrupt_guard_condition_)
 
   // Put the global ctrl-c guard condition in
-  memory_strategy_->add_guard_condition(args.context->get_interrupt_guard_condition(&wait_set_));
+  memory_strategy_->add_guard_condition(options.context->get_interrupt_guard_condition(&wait_set_));
 
   // Put the executor's guard condition in
   memory_strategy_->add_guard_condition(&interrupt_guard_condition_);
   rcl_allocator_t allocator = memory_strategy_->get_allocator();
 
   // Store the context for later use.
-  context_ = args.context;
+  context_ = options.context;
 
   ret = rcl_wait_set_init(
     &wait_set_,
@@ -502,7 +502,7 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-Executor::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+Executor::get_node_by_group(rclcpp::CallbackGroup::SharedPtr group)
 {
   if (!group) {
     return nullptr;
@@ -522,7 +522,7 @@ Executor::get_node_by_group(rclcpp::callback_group::CallbackGroup::SharedPtr gro
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
 {
   for (auto & weak_node : weak_nodes_) {
@@ -544,7 +544,7 @@ Executor::get_group_by_timer(rclcpp::TimerBase::SharedPtr timer)
       }
     }
   }
-  return rclcpp::callback_group::CallbackGroup::SharedPtr();
+  return rclcpp::CallbackGroup::SharedPtr();
 }
 
 bool
@@ -625,29 +625,3 @@ Executor::get_next_executable(AnyExecutable & any_executable, std::chrono::nanos
   }
   return success;
 }
-
-std::ostream &
-rclcpp::executor::operator<<(std::ostream & os, const FutureReturnCode & future_return_code)
-{
-  return os << to_string(future_return_code);
-}
-
-std::string
-rclcpp::executor::to_string(const FutureReturnCode & future_return_code)
-{
-  using enum_type = std::underlying_type<FutureReturnCode>::type;
-  std::string prefix = "Unknown enum value (";
-  std::string ret_as_string = std::to_string(static_cast<enum_type>(future_return_code));
-  switch (future_return_code) {
-    case FutureReturnCode::SUCCESS:
-      prefix = "SUCCESS (";
-      break;
-    case FutureReturnCode::INTERRUPTED:
-      prefix = "INTERRUPTED (";
-      break;
-    case FutureReturnCode::TIMEOUT:
-      prefix = "TIMEOUT (";
-      break;
-  }
-  return prefix + ret_as_string + ")";
-}

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -25,11 +25,11 @@
 using rclcpp::executors::MultiThreadedExecutor;
 
 MultiThreadedExecutor::MultiThreadedExecutor(
-  const rclcpp::executor::ExecutorArgs & args,
+  const rclcpp::ExecutorOptions & options,
   size_t number_of_threads,
   bool yield_before_execute,
   std::chrono::nanoseconds next_exec_timeout)
-: executor::Executor(args),
+: rclcpp::Executor(options),
   yield_before_execute_(yield_before_execute),
   next_exec_timeout_(next_exec_timeout)
 {
@@ -74,7 +74,7 @@ void
 MultiThreadedExecutor::run(size_t)
 {
   while (rclcpp::ok(this->context_) && spinning.load()) {
-    executor::AnyExecutable any_exec;
+    rclcpp::AnyExecutable any_exec;
     {
       std::lock_guard<std::mutex> wait_lock(wait_mutex_);
       if (!rclcpp::ok(this->context_) || !spinning.load()) {

rclcpp/src/rclcpp/executors/single_threaded_executor.cpp

@@ -18,8 +18,8 @@
 
 using rclcpp::executors::SingleThreadedExecutor;
 
-SingleThreadedExecutor::SingleThreadedExecutor(const rclcpp::executor::ExecutorArgs & args)
+SingleThreadedExecutor::SingleThreadedExecutor(const rclcpp::ExecutorOptions & options)
-: executor::Executor(args) {}
+: rclcpp::Executor(options) {}
 
 SingleThreadedExecutor::~SingleThreadedExecutor() {}
 
@@ -31,7 +31,7 @@ SingleThreadedExecutor::spin()
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
   while (rclcpp::ok(this->context_) && spinning.load()) {
-    rclcpp::executor::AnyExecutable any_executable;
+    rclcpp::AnyExecutable any_executable;
     if (get_next_executable(any_executable)) {
       execute_any_executable(any_executable);
     }

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -46,7 +46,7 @@ StaticExecutorEntitiesCollector::init(
   rcl_guard_condition_t * executor_guard_condition)
 {
   // Empty initialize executable list
-  exec_list_ = executor::ExecutableList();
+  exec_list_ = rclcpp::experimental::ExecutableList();
   // Get executor's wait_set_ pointer
   p_wait_set_ = p_wait_set;
   // Get executor's memory strategy ptr

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -19,11 +19,11 @@
 #include "rclcpp/scope_exit.hpp"
 
 using rclcpp::executors::StaticSingleThreadedExecutor;
-using rclcpp::executor::ExecutableList;
+using rclcpp::experimental::ExecutableList;
 
 StaticSingleThreadedExecutor::StaticSingleThreadedExecutor(
-  const rclcpp::executor::ExecutorArgs & args)
+  const rclcpp::ExecutorOptions & options)
-: executor::Executor(args)
+: rclcpp::Executor(options)
 {
   entities_collector_ = std::make_shared<StaticExecutorEntitiesCollector>();
 }

rclcpp/src/rclcpp/future_return_code.cpp

@@ -0,0 +1,50 @@
+// 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 <iostream>
+#include <string>
+#include <type_traits>
+
+#include "rclcpp/future_return_code.hpp"
+
+namespace rclcpp
+{
+
+std::ostream &
+operator<<(std::ostream & os, const rclcpp::FutureReturnCode & future_return_code)
+{
+  return os << to_string(future_return_code);
+}
+
+std::string
+to_string(const rclcpp::FutureReturnCode & future_return_code)
+{
+  using enum_type = std::underlying_type<FutureReturnCode>::type;
+  std::string prefix = "Unknown enum value (";
+  std::string ret_as_string = std::to_string(static_cast<enum_type>(future_return_code));
+  switch (future_return_code) {
+    case FutureReturnCode::SUCCESS:
+      prefix = "SUCCESS (";
+      break;
+    case FutureReturnCode::INTERRUPTED:
+      prefix = "INTERRUPTED (";
+      break;
+    case FutureReturnCode::TIMEOUT:
+      prefix = "TIMEOUT (";
+      break;
+  }
+  return prefix + ret_as_string + ")";
+}
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/memory_strategy.cpp

@@ -127,7 +127,7 @@ MemoryStrategy::get_timer_by_handle(
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 MemoryStrategy::get_node_by_group(
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  rclcpp::CallbackGroup::SharedPtr group,
   const WeakNodeList & weak_nodes)
 {
   if (!group) {
@@ -148,7 +148,7 @@ MemoryStrategy::get_node_by_group(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_subscription(
   rclcpp::SubscriptionBase::SharedPtr subscription,
   const WeakNodeList & weak_nodes)
@@ -175,7 +175,7 @@ MemoryStrategy::get_group_by_subscription(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_service(
   rclcpp::ServiceBase::SharedPtr service,
   const WeakNodeList & weak_nodes)
@@ -202,7 +202,7 @@ MemoryStrategy::get_group_by_service(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_client(
   rclcpp::ClientBase::SharedPtr client,
   const WeakNodeList & weak_nodes)
@@ -229,7 +229,7 @@ MemoryStrategy::get_group_by_client(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_timer(
   rclcpp::TimerBase::SharedPtr timer,
   const WeakNodeList & weak_nodes)
@@ -256,7 +256,7 @@ MemoryStrategy::get_group_by_timer(
   return nullptr;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 MemoryStrategy::get_group_by_waitable(
   rclcpp::Waitable::SharedPtr waitable,
   const WeakNodeList & weak_nodes)

rclcpp/src/rclcpp/node.cpp

@@ -210,15 +210,14 @@ Node::get_logger() const
   return node_logging_->get_logger();
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
-Node::create_callback_group(
+Node::create_callback_group(rclcpp::CallbackGroupType group_type)
-  rclcpp::callback_group::CallbackGroupType group_type)
 {
   return node_base_->create_callback_group(group_type);
 }
 
 bool
-Node::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+Node::group_in_node(rclcpp::CallbackGroup::SharedPtr group)
 {
   return node_base_->callback_group_in_node(group);
 }
@@ -377,7 +376,7 @@ Node::get_subscriptions_info_by_topic(const std::string & topic_name, bool no_ma
   return node_graph_->get_subscriptions_info_by_topic(topic_name, no_mangle);
 }
 
-const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+const std::vector<rclcpp::CallbackGroup::WeakPtr> &
 Node::get_callback_groups() const
 {
   return node_base_->get_callback_groups();

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -133,7 +133,7 @@ NodeBase::NodeBase(
     });
 
   // Create the default callback group.
-  using rclcpp::callback_group::CallbackGroupType;
+  using rclcpp::CallbackGroupType;
   default_callback_group_ = create_callback_group(CallbackGroupType::MutuallyExclusive);
 
   // Indicate the notify_guard_condition is now valid.
@@ -208,24 +208,24 @@ NodeBase::assert_liveliness() const
   return RCL_RET_OK == rcl_node_assert_liveliness(get_rcl_node_handle());
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
-NodeBase::create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)
+NodeBase::create_callback_group(rclcpp::CallbackGroupType group_type)
 {
-  using rclcpp::callback_group::CallbackGroup;
+  using rclcpp::CallbackGroup;
-  using rclcpp::callback_group::CallbackGroupType;
+  using rclcpp::CallbackGroupType;
   auto group = CallbackGroup::SharedPtr(new CallbackGroup(group_type));
   callback_groups_.push_back(group);
   return group;
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 NodeBase::get_default_callback_group()
 {
   return default_callback_group_;
 }
 
 bool
-NodeBase::callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+NodeBase::callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group)
 {
   bool group_belongs_to_this_node = false;
   for (auto & weak_group : this->callback_groups_) {
@@ -237,7 +237,7 @@ NodeBase::callback_group_in_node(rclcpp::callback_group::CallbackGroup::SharedPt
   return group_belongs_to_this_node;
 }
 
-const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+const std::vector<rclcpp::CallbackGroup::WeakPtr> &
 NodeBase::get_callback_groups() const
 {
   return callback_groups_;

rclcpp/src/rclcpp/node_interfaces/node_services.cpp

@@ -28,7 +28,7 @@ NodeServices::~NodeServices()
 void
 NodeServices::add_service(
   rclcpp::ServiceBase::SharedPtr service_base_ptr,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {
@@ -55,7 +55,7 @@ NodeServices::add_service(
 void
 NodeServices::add_client(
   rclcpp::ClientBase::SharedPtr client_base_ptr,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -28,7 +28,7 @@ NodeTimers::~NodeTimers()
 void
 NodeTimers::add_timer(
   rclcpp::TimerBase::SharedPtr timer,
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
+  rclcpp::CallbackGroup::SharedPtr callback_group)
 {
   if (callback_group) {
     if (!node_base_->callback_group_in_node(callback_group)) {

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -44,7 +44,7 @@ NodeTopics::create_publisher(
 void
 NodeTopics::add_publisher(
   rclcpp::PublisherBase::SharedPtr publisher,
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
+  rclcpp::CallbackGroup::SharedPtr callback_group)
 {
   // Assign to a group.
   if (callback_group) {
@@ -83,7 +83,7 @@ NodeTopics::create_subscription(
 void
 NodeTopics::add_subscription(
   rclcpp::SubscriptionBase::SharedPtr subscription,
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)
+  rclcpp::CallbackGroup::SharedPtr callback_group)
 {
   // Assign to a group.
   if (callback_group) {

rclcpp/src/rclcpp/node_interfaces/node_waitables.cpp

@@ -28,7 +28,7 @@ NodeWaitables::~NodeWaitables()
 void
 NodeWaitables::add_waitable(
   rclcpp::Waitable::SharedPtr waitable_ptr,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {
@@ -55,7 +55,7 @@ NodeWaitables::add_waitable(
 void
 NodeWaitables::remove_waitable(
   rclcpp::Waitable::SharedPtr waitable_ptr,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group) noexcept
+  rclcpp::CallbackGroup::SharedPtr group) noexcept
 {
   if (group) {
     if (!node_base_->callback_group_in_node(group)) {

rclcpp/src/rclcpp/parameter_client.cpp

@@ -31,7 +31,7 @@ AsyncParametersClient::AsyncParametersClient(
   const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 : node_topics_interface_(node_topics_interface)
 {
   if (remote_node_name != "") {
@@ -103,7 +103,7 @@ AsyncParametersClient::AsyncParametersClient(
   const rclcpp::Node::SharedPtr node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 : AsyncParametersClient(
     node->get_node_base_interface(),
     node->get_node_topics_interface(),
@@ -118,7 +118,7 @@ AsyncParametersClient::AsyncParametersClient(
   rclcpp::Node * node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 : AsyncParametersClient(
     node->get_node_base_interface(),
     node->get_node_topics_interface(),
@@ -349,7 +349,7 @@ SyncParametersClient::SyncParametersClient(
 {}
 
 SyncParametersClient::SyncParametersClient(
-  rclcpp::executor::Executor::SharedPtr executor,
+  rclcpp::Executor::SharedPtr executor,
   rclcpp::Node::SharedPtr node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile)
@@ -375,7 +375,7 @@ SyncParametersClient::SyncParametersClient(
 {}
 
 SyncParametersClient::SyncParametersClient(
-  rclcpp::executor::Executor::SharedPtr executor,
+  rclcpp::Executor::SharedPtr executor,
   rclcpp::Node * node,
   const std::string & remote_node_name,
   const rmw_qos_profile_t & qos_profile)
@@ -390,7 +390,7 @@ SyncParametersClient::SyncParametersClient(
 {}
 
 SyncParametersClient::SyncParametersClient(
-  rclcpp::executor::Executor::SharedPtr executor,
+  rclcpp::Executor::SharedPtr executor,
   const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
   const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
   const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_interface,
@@ -417,7 +417,7 @@ SyncParametersClient::get_parameters(const std::vector<std::string> & parameter_
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -443,7 +443,7 @@ SyncParametersClient::get_parameter_types(const std::vector<std::string> & param
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -460,7 +460,7 @@ SyncParametersClient::set_parameters(
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -477,7 +477,7 @@ SyncParametersClient::set_parameters_atomically(
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }
@@ -496,7 +496,7 @@ SyncParametersClient::list_parameters(
   if (
     spin_node_until_future_complete(
       *executor_, node_base_interface_,
-      f) == rclcpp::executor::FutureReturnCode::SUCCESS)
+      f) == rclcpp::FutureReturnCode::SUCCESS)
   {
     return f.get();
   }

rclcpp/src/rclcpp/timer.cpp

@@ -33,7 +33,7 @@ TimerBase::TimerBase(
 : clock_(clock), timer_handle_(nullptr)
 {
   if (nullptr == context) {
-    context = rclcpp::contexts::default_context::get_global_default_context();
+    context = rclcpp::contexts::get_global_default_context();
   }
 
   auto rcl_context = context->get_rcl_context();

rclcpp/src/rclcpp/utilities.cpp

@@ -30,7 +30,7 @@ namespace rclcpp
 void
 init(int argc, char const * const argv[], const InitOptions & init_options)
 {
-  using contexts::default_context::get_global_default_context;
+  using rclcpp::contexts::get_global_default_context;
   get_global_default_context()->init(argc, argv, init_options);
   // Install the signal handlers.
   install_signal_handlers();
@@ -125,7 +125,7 @@ remove_ros_arguments(int argc, char const * const argv[])
 bool
 ok(Context::SharedPtr context)
 {
-  using contexts::default_context::get_global_default_context;
+  using rclcpp::contexts::get_global_default_context;
   if (nullptr == context) {
     context = get_global_default_context();
   }
@@ -141,7 +141,7 @@ is_initialized(Context::SharedPtr context)
 bool
 shutdown(Context::SharedPtr context, const std::string & reason)
 {
-  using contexts::default_context::get_global_default_context;
+  using rclcpp::contexts::get_global_default_context;
   auto default_context = get_global_default_context();
   if (nullptr == context) {
     context = default_context;
@@ -156,7 +156,7 @@ shutdown(Context::SharedPtr context, const std::string & reason)
 void
 on_shutdown(std::function<void()> callback, Context::SharedPtr context)
 {
-  using contexts::default_context::get_global_default_context;
+  using rclcpp::contexts::get_global_default_context;
   if (nullptr == context) {
     context = get_global_default_context();
   }
@@ -166,7 +166,7 @@ on_shutdown(std::function<void()> callback, Context::SharedPtr context)
 bool
 sleep_for(const std::chrono::nanoseconds & nanoseconds, Context::SharedPtr context)
 {
-  using contexts::default_context::get_global_default_context;
+  using rclcpp::contexts::get_global_default_context;
   if (nullptr == context) {
     context = get_global_default_context();
   }

rclcpp/test/executors/test_multi_threaded_executor.cpp

@@ -51,14 +51,14 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
   bool yield_before_execute = true;
 
   rclcpp::executors::MultiThreadedExecutor executor(
-    rclcpp::executor::create_default_executor_arguments(), 2u, yield_before_execute);
+    rclcpp::ExecutorOptions(), 2u, yield_before_execute);
 
   ASSERT_GT(executor.get_number_of_threads(), 1u);
 
   std::shared_ptr<rclcpp::Node> node =
     std::make_shared<rclcpp::Node>("test_multi_threaded_executor_timer_over_take");
 
-  auto cbg = node->create_callback_group(rclcpp::callback_group::CallbackGroupType::Reentrant);
+  auto cbg = node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 
   rclcpp::Clock system_clock(RCL_STEADY_TIME);
   std::mutex last_mutex;

rclcpp/test/test_interface_traits.cpp

@@ -31,7 +31,7 @@ public:
     return std::make_shared<rclcpp::node_interfaces::NodeBase>(
       "my_node_name",
       "my_node_namespace",
-      rclcpp::contexts::default_context::get_global_default_context(),
+      rclcpp::contexts::get_global_default_context(),
       *options.get_rcl_node_options(),
       options.use_intra_process_comms(),
       options.enable_topic_statistics());

rclcpp/test/test_utilities.cpp

@@ -52,8 +52,8 @@ TEST(TestUtilities, init_with_args) {
 }
 
 TEST(TestUtilities, multi_init) {
-  auto context1 = std::make_shared<rclcpp::contexts::default_context::DefaultContext>();
+  auto context1 = std::make_shared<rclcpp::contexts::DefaultContext>();
-  auto context2 = std::make_shared<rclcpp::contexts::default_context::DefaultContext>();
+  auto context2 = std::make_shared<rclcpp::contexts::DefaultContext>();
 
   EXPECT_FALSE(rclcpp::ok(context1));
   EXPECT_FALSE(rclcpp::ok(context2));

rclcpp_action/include/rclcpp_action/create_client.hpp

@@ -46,11 +46,11 @@ create_client(
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface,
   const std::string & name,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
   std::weak_ptr<rclcpp::node_interfaces::NodeWaitablesInterface> weak_node =
     node_waitables_interface;
-  std::weak_ptr<rclcpp::callback_group::CallbackGroup> weak_group = group;
+  std::weak_ptr<rclcpp::CallbackGroup> weak_group = group;
   bool group_is_null = (nullptr == group.get());
 
   auto deleter = [weak_node, weak_group, group_is_null](Client<ActionT> * ptr)
@@ -102,9 +102,9 @@ typename Client<ActionT>::SharedPtr
 create_client(
   NodeT node,
   const std::string & name,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
-  return create_client<ActionT>(
+  return rclcpp_action::create_client<ActionT>(
     node->get_node_base_interface(),
     node->get_node_graph_interface(),
     node->get_node_logging_interface(),

rclcpp_action/include/rclcpp_action/create_server.hpp

@@ -65,11 +65,11 @@ create_server(
   typename Server<ActionT>::CancelCallback handle_cancel,
   typename Server<ActionT>::AcceptedCallback handle_accepted,
   const rcl_action_server_options_t & options = rcl_action_server_get_default_options(),
-  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
   std::weak_ptr<rclcpp::node_interfaces::NodeWaitablesInterface> weak_node =
     node_waitables_interface;
-  std::weak_ptr<rclcpp::callback_group::CallbackGroup> weak_group = group;
+  std::weak_ptr<rclcpp::CallbackGroup> weak_group = group;
   bool group_is_null = (nullptr == group.get());
 
   auto deleter = [weak_node, weak_group, group_is_null](Server<ActionT> * ptr)
@@ -137,7 +137,7 @@ create_server(
   typename Server<ActionT>::CancelCallback handle_cancel,
   typename Server<ActionT>::AcceptedCallback handle_accepted,
   const rcl_action_server_options_t & options = rcl_action_server_get_default_options(),
-  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+  rclcpp::CallbackGroup::SharedPtr group = nullptr)
 {
   return create_server<ActionT>(
     node->get_node_base_interface(),

rclcpp_action/test/test_server.cpp

@@ -49,7 +49,7 @@ protected:
     request->goal_id.uuid = uuid;
     auto future = client->async_send_request(request);
     if (
-      rclcpp::executor::FutureReturnCode::SUCCESS !=
+      rclcpp::FutureReturnCode::SUCCESS !=
       rclcpp::spin_until_future_complete(node, future))
     {
       throw std::runtime_error("send goal future didn't complete succesfully");
@@ -69,7 +69,7 @@ protected:
     request->goal_info.goal_id.uuid = uuid;
     auto future = cancel_client->async_send_request(request);
     if (
-      rclcpp::executor::FutureReturnCode::SUCCESS !=
+      rclcpp::FutureReturnCode::SUCCESS !=
       rclcpp::spin_until_future_complete(node, future))
     {
       throw std::runtime_error("cancel goal future didn't complete succesfully");
@@ -132,7 +132,7 @@ TEST_F(TestServer, handle_goal_called)
 
   auto future = client->async_send_request(request);
   ASSERT_EQ(
-    rclcpp::executor::FutureReturnCode::SUCCESS,
+    rclcpp::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, future));
 
   ASSERT_EQ(uuid, received_uuid);
@@ -744,7 +744,7 @@ TEST_F(TestServer, get_result)
 
   // Wait for the result request to be received
   ASSERT_EQ(
-    rclcpp::executor::FutureReturnCode::SUCCESS,
+    rclcpp::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, future));
 
   auto response = future.get();

rclcpp_components/include/rclcpp_components/component_manager.hpp

@@ -62,7 +62,7 @@ public:
 
   RCLCPP_COMPONENTS_PUBLIC
   ComponentManager(
-    std::weak_ptr<rclcpp::executor::Executor> executor,
+    std::weak_ptr<rclcpp::Executor> executor,
     std::string node_name = "ComponentManager",
     const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions());
 
@@ -103,7 +103,7 @@ protected:
     std::shared_ptr<ListNodes::Response> response);
 
 private:
-  std::weak_ptr<rclcpp::executor::Executor> executor_;
+  std::weak_ptr<rclcpp::Executor> executor_;
 
   uint64_t unique_id_ {1};
   std::map<std::string, std::unique_ptr<class_loader::ClassLoader>> loaders_;

rclcpp_components/src/component_manager.cpp

@@ -31,7 +31,7 @@ namespace rclcpp_components
 {
 
 ComponentManager::ComponentManager(
-  std::weak_ptr<rclcpp::executor::Executor> executor,
+  std::weak_ptr<rclcpp::Executor> executor,
   std::string node_name,
   const rclcpp::NodeOptions & node_options)
 : Node(std::move(node_name), node_options),

rclcpp_components/test/test_component_manager_api.cpp

@@ -59,7 +59,7 @@ TEST_F(TestComponentManager, components_api)
 
     auto result = client->async_send_request(request);
     auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+    EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
     EXPECT_EQ(result.get()->success, true);
     EXPECT_EQ(result.get()->error_message, "");
     EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
@@ -73,7 +73,7 @@ TEST_F(TestComponentManager, components_api)
 
     auto result = client->async_send_request(request);
     auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+    EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
     EXPECT_EQ(result.get()->success, true);
     EXPECT_EQ(result.get()->error_message, "");
     EXPECT_EQ(result.get()->full_node_name, "/test_component_bar");
@@ -89,7 +89,7 @@ TEST_F(TestComponentManager, components_api)
 
     auto result = client->async_send_request(request);
     auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+    EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
     EXPECT_EQ(result.get()->success, true);
     EXPECT_EQ(result.get()->error_message, "");
     EXPECT_EQ(result.get()->full_node_name, "/test_component_baz");
@@ -106,7 +106,7 @@ TEST_F(TestComponentManager, components_api)
 
     auto result = client->async_send_request(request);
     auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+    EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
     EXPECT_EQ(result.get()->success, true);
     EXPECT_EQ(result.get()->error_message, "");
     EXPECT_EQ(result.get()->full_node_name, "/ns/test_component_bing");
@@ -121,7 +121,7 @@ TEST_F(TestComponentManager, components_api)
 
     auto result = client->async_send_request(request);
     auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+    EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
     EXPECT_EQ(result.get()->success, false);
     EXPECT_EQ(result.get()->error_message, "Failed to find class with the requested plugin name.");
     EXPECT_EQ(result.get()->full_node_name, "");
@@ -136,7 +136,7 @@ TEST_F(TestComponentManager, components_api)
 
     auto result = client->async_send_request(request);
     auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+    EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
     EXPECT_EQ(result.get()->success, false);
     EXPECT_EQ(result.get()->error_message, "Could not find requested resource in ament index");
     EXPECT_EQ(result.get()->full_node_name, "");
@@ -166,7 +166,7 @@ TEST_F(TestComponentManager, components_api)
       auto request = std::make_shared<composition_interfaces::srv::ListNodes::Request>();
       auto result = client->async_send_request(request);
       auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-      EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+      EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
       auto node_names = result.get()->full_node_names;
       auto unique_ids = result.get()->unique_ids;
 
@@ -197,7 +197,7 @@ TEST_F(TestComponentManager, components_api)
 
       auto result = client->async_send_request(request);
       auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-      EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+      EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
       EXPECT_EQ(result.get()->success, true);
       EXPECT_EQ(result.get()->error_message, "");
     }
@@ -208,7 +208,7 @@ TEST_F(TestComponentManager, components_api)
 
       auto result = client->async_send_request(request);
       auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-      EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+      EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
       EXPECT_EQ(result.get()->success, false);
       EXPECT_EQ(result.get()->error_message, "No node found with unique_id: 1");
     }
@@ -226,7 +226,7 @@ TEST_F(TestComponentManager, components_api)
       auto request = std::make_shared<composition_interfaces::srv::ListNodes::Request>();
       auto result = client->async_send_request(request);
       auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
-      EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
+      EXPECT_EQ(ret, rclcpp::FutureReturnCode::SUCCESS);
       auto node_names = result.get()->full_node_names;
       auto unique_ids = result.get()->unique_ids;
 

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -146,12 +146,12 @@ public:
 
   /// Create and return a callback group.
   RCLCPP_LIFECYCLE_PUBLIC
-  rclcpp::callback_group::CallbackGroup::SharedPtr
+  rclcpp::CallbackGroup::SharedPtr
-  create_callback_group(rclcpp::callback_group::CallbackGroupType group_type);
+  create_callback_group(rclcpp::CallbackGroupType group_type);
 
   /// Return the list of callback groups in the node.
   RCLCPP_LIFECYCLE_PUBLIC
-  const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
   get_callback_groups() const;
 
   /// Create and return a Publisher.
@@ -214,7 +214,7 @@ public:
   create_wall_timer(
     std::chrono::duration<DurationRepT, DurationT> period,
     CallbackT callback,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /* Create and return a Client. */
   template<typename ServiceT>
@@ -222,7 +222,7 @@ public:
   create_client(
     const std::string & service_name,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /* Create and return a Service. */
   template<typename ServiceT, typename CallbackT>
@@ -231,7 +231,7 @@ public:
     const std::string & service_name,
     CallbackT && callback,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
+    rclcpp::CallbackGroup::SharedPtr group = nullptr);
 
   /// Declare and initialize a parameter, return the effective value.
   /**
@@ -659,7 +659,7 @@ private:
 
   RCLCPP_LIFECYCLE_PUBLIC
   bool
-  group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group);
+  group_in_node(rclcpp::CallbackGroup::SharedPtr group);
 
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -84,7 +84,7 @@ typename rclcpp::WallTimer<CallbackT>::SharedPtr
 LifecycleNode::create_wall_timer(
   std::chrono::duration<DurationRepT, DurationT> period,
   CallbackT callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
     std::chrono::duration_cast<std::chrono::nanoseconds>(period),
@@ -98,7 +98,7 @@ typename rclcpp::Client<ServiceT>::SharedPtr
 LifecycleNode::create_client(
   const std::string & service_name,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   rcl_client_options_t options = rcl_client_get_default_options();
   options.qos = qos_profile;
@@ -123,7 +123,7 @@ LifecycleNode::create_service(
   const std::string & service_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+  rclcpp::CallbackGroup::SharedPtr group)
 {
   return rclcpp::create_service<ServiceT, CallbackT>(
     node_base_, node_services_,

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -146,9 +146,9 @@ LifecycleNode::get_logger() const
   return node_logging_->get_logger();
 }
 
-rclcpp::callback_group::CallbackGroup::SharedPtr
+rclcpp::CallbackGroup::SharedPtr
 LifecycleNode::create_callback_group(
-  rclcpp::callback_group::CallbackGroupType group_type)
+  rclcpp::CallbackGroupType group_type)
 {
   return node_base_->create_callback_group(group_type);
 }
@@ -181,7 +181,7 @@ LifecycleNode::set_parameter(const rclcpp::Parameter & parameter)
 }
 
 bool
-LifecycleNode::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
+LifecycleNode::group_in_node(rclcpp::CallbackGroup::SharedPtr group)
 {
   return node_base_->callback_group_in_node(group);
 }
@@ -303,7 +303,7 @@ LifecycleNode::get_subscriptions_info_by_topic(const std::string & topic_name, b
   return node_graph_->get_subscriptions_info_by_topic(topic_name, no_mangle);
 }
 
-const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
+const std::vector<rclcpp::CallbackGroup::WeakPtr> &
 LifecycleNode::get_callback_groups() const
 {
   return node_base_->get_callback_groups();