Deprecate the experimental EventsExecutor (backport #3192)

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

@@ -57,7 +57,11 @@ namespace executors
  * executor.spin();
  * executor.remove_node(node);
  */
-class EventsExecutor : public rclcpp::Executor
+class
+[[deprecated(
+    "rclcpp::experimental::executors::EventsExecutor is deprecated and will be removed in "
+    "m-turtle. use rclcpp::executors::EventsCBGExecutor in single-threaded mode instead")]]
+EventsExecutor : public rclcpp::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutor)

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

@@ -18,10 +18,14 @@
 #include <utility>
 #include <vector>
 
+#include "rcpputils/compile_warnings.hpp"
 #include "rcpputils/scope_exit.hpp"
 
 using namespace std::chrono_literals;
 
+// Disable deprecation warnings while maintaining the EventsExecutor
+RCPPUTILS_DEPRECATION_WARNING_OFF_START
+
 using rclcpp::experimental::executors::EventsExecutor;
 
 EventsExecutor::EventsExecutor(
@@ -454,3 +458,5 @@ EventsExecutor::add_notify_waitable_to_collection(
     {this->notify_waitable_, weak_group_ptr}
   });
 }
+
+RCPPUTILS_DEPRECATION_WARNING_OFF_STOP

rclcpp/test/rclcpp/executors/executor_types.hpp

@@ -20,11 +20,16 @@
 #include <string>
 #include <type_traits>
 
+#include "rcpputils/compile_warnings.hpp"
+
 #include "rclcpp/executors/events_cbg_executor/events_cbg_executor.hpp"
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/executors/multi_threaded_executor.hpp"
 
+// Disable deprecation warnings while maintaining the EventsExecutor
+RCPPUTILS_DEPRECATION_WARNING_OFF_START
+
 using ExecutorTypes =
   ::testing::Types<
   rclcpp::executors::SingleThreadedExecutor,
@@ -65,4 +70,6 @@ using StandardExecutors =
   rclcpp::executors::EventsCBGExecutor,
   rclcpp::experimental::executors::EventsExecutor>;
 
+RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
+
 #endif  // RCLCPP__EXECUTORS__EXECUTOR_TYPES_HPP_

rclcpp/test/rclcpp/executors/test_events_executor.cpp

@@ -20,9 +20,14 @@
 
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 
+#include "rcpputils/compile_warnings.hpp"
+
 #include "test_msgs/srv/empty.hpp"
 #include "test_msgs/msg/empty.hpp"
 
+// Disable deprecation warnings while maintaining the EventsExecutor
+RCPPUTILS_DEPRECATION_WARNING_OFF_START
+
 using namespace std::chrono_literals;
 
 using rclcpp::experimental::executors::EventsExecutor;
@@ -615,3 +620,64 @@ TEST_F(TestEventsExecutor, waitable_with_timer)
 
   EXPECT_TRUE(waitable->timerTriggeredWaitable());
 }
+<<<<<<< HEAD
+=======
+
+// Regression test for https://github.com/ros2/rmw_cyclonedds/pull/584
+// EventsExecutor must receive transient-local cached messages
+// when the subscriber uses KEEP_ALL history.
+//
+// Bug: rmw_cyclonedds reports depth=0 for KEEP_ALL, and
+// rmw_subscription_set_on_new_message_callback clips unread_count to depth
+// via std::min(unread_count, 0) == 0, causing the executor to never take the
+// cached message.
+//
+// This test publishes before the subscriber exists (transient-local caching),
+// then subscribes with KEEP_ALL + transient-local via EventsExecutor and
+// verifies the cached message is delivered.
+TEST_F(TestEventsExecutor, keep_all_transient_local_receives_cached_message)
+{
+  // Publisher node: transient-local, reliable, depth=1 (standard /tf_static pattern)
+  auto pub_node = std::make_shared<rclcpp::Node>("pub_node");
+  rclcpp::QoS pub_qos(1);
+  pub_qos.transient_local().reliable();
+  auto publisher = pub_node->create_publisher<test_msgs::msg::Empty>("tl_test_topic", pub_qos);
+
+  // Publish BEFORE subscriber exists — DDS caches this for late joiners
+  publisher->publish(test_msgs::msg::Empty{});
+  std::this_thread::sleep_for(500ms);
+
+  // Subscriber node: KEEP_ALL + transient-local (what rosbag2 adapt_request_to_offers produces)
+  auto sub_node = std::make_shared<rclcpp::Node>("sub_node");
+  rclcpp::QoS sub_qos(rclcpp::KeepAll{});
+  sub_qos.transient_local().reliable();
+
+  std::atomic<int> received{0};
+  auto subscription = sub_node->create_subscription<test_msgs::msg::Empty>(
+    "tl_test_topic", sub_qos,
+    [&received](test_msgs::msg::Empty::ConstSharedPtr) {
+      received.fetch_add(1);
+    });
+
+  EventsExecutor executor;
+  executor.add_node(sub_node);
+
+  auto start = std::chrono::steady_clock::now();
+  while (received.load() == 0 &&
+    (std::chrono::steady_clock::now() - start) < 5s)
+  {
+    executor.spin_some(100ms);
+  }
+  executor.remove_node(sub_node);
+
+  // With the rmw fix, the cached message must be received.
+  // Without the fix, received == 0 because the callback fires with 0 events.
+  EXPECT_GE(received.load(), 1)
+    << "EventsExecutor did not receive the transient-local cached message "
+       "with KEEP_ALL QoS. This indicates a regression in "
+       "rmw_subscription_set_on_new_message_callback where unread_count "
+       "is incorrectly clipped to depth=0 for KEEP_ALL history.";
+}
+
+RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
+>>>>>>> 5272750 (Deprecate the experimental EventsExecutor (#3192))

rclcpp/test/rclcpp/executors/test_executors_warmup.cpp

@@ -26,6 +26,8 @@
 #include <type_traits>
 #include <utility>
 
+#include "rcpputils/compile_warnings.hpp"
+
 #include "rclcpp/rclcpp.hpp"
 
 #include "test_msgs/msg/empty.hpp"
@@ -146,11 +148,13 @@ TYPED_TEST(TestExecutorsWarmup, spin_some_doesnt_require_warmup)
   // TODO(alsora): currently only the events-executor passes this test.
   // Enable single-threaded and multi-threaded executors
   // when https://github.com/ros2/rclcpp/pull/2595 gets merged
+  RCPPUTILS_DEPRECATION_WARNING_OFF_START
   if (
     !std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>())
   {
     GTEST_SKIP();
   }
+  RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
 
   ExecutorType executor;
 
@@ -191,11 +195,13 @@ TYPED_TEST(TestExecutorsWarmup, spin_some_doesnt_require_warmup_with_cbgroup)
   // TODO(alsora): currently only the events-executor passes this test.
   // Enable single-threaded and multi-threaded executors
   // when https://github.com/ros2/rclcpp/pull/2595 gets merged
+  RCPPUTILS_DEPRECATION_WARNING_OFF_START
   if (
     !std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>())
   {
     GTEST_SKIP();
   }
+  RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
 
   ExecutorType executor;
 

rclcpp_action/test/test_server.cpp

@@ -46,10 +46,11 @@ class TestServer : public ::testing::Test
     rclcpp::shutdown();
   }
 
+  template<typename ExecutorType>
   std::shared_ptr<Fibonacci::Impl::SendGoalService::Request>
   send_goal_request(
     rclcpp::Node::SharedPtr node, GoalUUID uuid,
-    rclcpp::Executor & executor,
+    ExecutorType & executor,
     std::chrono::milliseconds timeout = std::chrono::milliseconds(-1),
     bool executor_owns_node = false)
   {
@@ -1067,7 +1068,7 @@ TEST_F(TestServer, goals_expired_with_events_executor)
   rclcpp::ExecutorOptions opts;
   opts.context = node->get_node_base_interface()->get_context();
 
-  rclcpp::experimental::executors::EventsExecutor executor(opts);
+  rclcpp::executors::EventsCBGExecutor executor(opts, 1);
   executor.add_node(node);
   const std::vector<GoalUUID> uuids{
     {{1, 2, 3, 40, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 15, 160}},
@@ -1132,7 +1133,7 @@ TEST_F(TestServer, goals_expired_with_events_executor)
     // Wait for the result request to be received
     ASSERT_EQ(
       rclcpp::FutureReturnCode::SUCCESS,
-      executor.spin_until_future_complete(future));
+      executor.spin_until_future_complete(future, std::chrono::seconds(20)));
 
     auto response = future.get();
     EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, response->status);

rclcpp_components/src/component_container_event.cpp

@@ -14,6 +14,7 @@
 
 #include <memory>
 
+#include "rcpputils/compile_warnings.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 
@@ -27,7 +28,12 @@ int main(int argc, char * argv[])
 
   /// Component container with an events executor.
   rclcpp::init(argc, argv);
+
+  // Disable deprecation warnings while maintaining the EventsExecutor
+  RCPPUTILS_DEPRECATION_WARNING_OFF_START
   auto exec = std::make_shared<rclcpp::experimental::executors::EventsExecutor>();
+  RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
+
   auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
   exec->add_node(node);
   exec->spin();