ros2 · ahcorde · Jun 19, 2026
diff --git a/rclcpp/include/rclcpp/any_executable.hpp b/rclcpp/include/rclcpp/any_executable.hpp
@@ -22,7 +22,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/service.hpp"
-#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/waitable.hpp"

diff --git a/rclcpp/include/rclcpp/any_service_callback.hpp b/rclcpp/include/rclcpp/any_service_callback.hpp
@@ -23,7 +23,6 @@
 #include <utility>
 
 #include "rclcpp/function_traits.hpp"
-#include "rclcpp/visibility_control.hpp"
 #include "rmw/types.h"
 #include "tracetools/tracetools.h"
 #include "tracetools/utils.hpp"

diff --git a/rclcpp/include/rclcpp/any_subscription_callback.hpp b/rclcpp/include/rclcpp/any_subscription_callback.hpp
@@ -24,7 +24,6 @@
 #include <utility>
 #include <variant>
 
-#include "rosidl_runtime_cpp/traits.hpp"
 #include "tracetools/tracetools.h"
 #include "tracetools/utils.hpp"
 

diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
@@ -44,7 +44,6 @@
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/type_support_decl.hpp"
-#include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 #include "rmw/error_handling.h"

diff --git a/rclcpp/include/rclcpp/context.hpp b/rclcpp/include/rclcpp/context.hpp
@@ -23,7 +23,6 @@
 #include <typeindex>
 #include <typeinfo>
 #include <unordered_map>
-#include <unordered_set>
 #include <utility>
 #include <vector>
 #include <stdexcept>

diff --git a/rclcpp/include/rclcpp/create_publisher.hpp b/rclcpp/include/rclcpp/create_publisher.hpp
@@ -21,7 +21,6 @@
 
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
-#include "rclcpp/node_options.hpp"
 #include "rclcpp/publisher_factory.hpp"
 #include "rclcpp/publisher_options.hpp"
 #include "rclcpp/qos.hpp"

diff --git a/rclcpp/include/rclcpp/create_subscription.hpp b/rclcpp/include/rclcpp/create_subscription.hpp
@@ -30,7 +30,6 @@
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
 #include "rclcpp/create_publisher.hpp"
-#include "rclcpp/create_timer.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/subscription_factory.hpp"
 #include "rclcpp/subscription_options.hpp"

diff --git a/rclcpp/include/rclcpp/create_timer.hpp b/rclcpp/include/rclcpp/create_timer.hpp
@@ -23,7 +23,6 @@
 
 #include "rclcpp/duration.hpp"
 #include "rclcpp/node_interfaces/get_node_base_interface.hpp"
-#include "rclcpp/node_interfaces/get_node_clock_interface.hpp"
 #include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_clock_interface.hpp"

diff --git a/rclcpp/include/rclcpp/detail/utilities.hpp b/rclcpp/include/rclcpp/detail/utilities.hpp
@@ -15,7 +15,6 @@
 #ifndef RCLCPP__DETAIL__UTILITIES_HPP_
 #define RCLCPP__DETAIL__UTILITIES_HPP_
 
-#include "rclcpp/detail/utilities.hpp"
 
 #include <string>
 #include <vector>

diff --git a/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp b/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp
@@ -22,7 +22,6 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
 #include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"

diff --git a/rclcpp/include/rclcpp/event_handler.hpp b/rclcpp/include/rclcpp/event_handler.hpp
@@ -33,7 +33,6 @@
 #include "rclcpp/detail/cpp_callback_trampoline.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/function_traits.hpp"
-#include "rclcpp/logging.hpp"
 #include "rclcpp/waitable.hpp"
 
 namespace rclcpp

diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
@@ -20,7 +20,6 @@
 #include <chrono>
 #include <cstdlib>
 #include <iostream>
-#include <list>
 #include <map>
 #include <memory>
 #include <mutex>

diff --git a/rclcpp/include/rclcpp/executor_options.hpp b/rclcpp/include/rclcpp/executor_options.hpp
@@ -18,7 +18,6 @@
 #include <memory>
 
 #include "rclcpp/context.hpp"
-#include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

diff --git a/rclcpp/include/rclcpp/executors/single_threaded_executor.hpp b/rclcpp/include/rclcpp/executors/single_threaded_executor.hpp
@@ -24,7 +24,6 @@
 
 #include "rclcpp/executor.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/rate.hpp"
 #include "rclcpp/visibility_control.hpp"

diff --git a/rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor.hpp b/rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor.hpp
@@ -27,7 +27,6 @@
 #include "rclcpp/experimental/executors/events_executor/events_queue.hpp"
 #include "rclcpp/experimental/executors/events_executor/simple_events_queue.hpp"
 #include "rclcpp/experimental/timers_manager.hpp"
-#include "rclcpp/node.hpp"
 
 namespace rclcpp
 {

diff --git a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
@@ -31,7 +31,6 @@
 #include "rclcpp/allocator/allocator_deleter.hpp"
 #include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
 #include "rclcpp/experimental/ros_message_intra_process_buffer.hpp"
-#include "rclcpp/experimental/subscription_intra_process.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/experimental/subscription_intra_process_buffer.hpp"
 #include "rclcpp/logger.hpp"

diff --git a/rclcpp/include/rclcpp/experimental/subscription_intra_process_buffer.hpp b/rclcpp/include/rclcpp/experimental/subscription_intra_process_buffer.hpp
@@ -29,7 +29,6 @@
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/experimental/ros_message_intra_process_buffer.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp"
 
 #include "tracetools/tracetools.h"

diff --git a/rclcpp/include/rclcpp/future_return_code.hpp b/rclcpp/include/rclcpp/future_return_code.hpp
@@ -15,7 +15,7 @@
 #ifndef RCLCPP__FUTURE_RETURN_CODE_HPP_
 #define RCLCPP__FUTURE_RETURN_CODE_HPP_
 
-#include <iostream>
+#include <iosfwd>
 #include <string>
 
 #include "rclcpp/visibility_control.hpp"

diff --git a/rclcpp/include/rclcpp/get_message_type_support_handle.hpp b/rclcpp/include/rclcpp/get_message_type_support_handle.hpp
@@ -18,7 +18,6 @@
 #include <type_traits>
 
 #include "rosidl_runtime_cpp/traits.hpp"
-#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
 #include "rclcpp/type_adapter.hpp"

diff --git a/rclcpp/include/rclcpp/logger.hpp b/rclcpp/include/rclcpp/logger.hpp
@@ -24,7 +24,6 @@
 
 #include "rcl/node.h"
 #include "rcutils/logging.h"
-#include "rcpputils/filesystem_helper.hpp"
 
 /**
  * \def RCLCPP_LOGGING_ENABLED

diff --git a/rclcpp/include/rclcpp/memory_strategy.hpp b/rclcpp/include/rclcpp/memory_strategy.hpp
@@ -15,7 +15,6 @@
 #ifndef RCLCPP__MEMORY_STRATEGY_HPP_
 #define RCLCPP__MEMORY_STRATEGY_HPP_
 
-#include <list>
 #include <map>
 #include <memory>
 

diff --git a/rclcpp/include/rclcpp/message_memory_strategy.hpp b/rclcpp/include/rclcpp/message_memory_strategy.hpp
@@ -22,7 +22,6 @@
 #include "rcl/types.h"
 
 #include "rclcpp/allocator/allocator_common.hpp"
-#include "rclcpp/exceptions.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/serialized_message.hpp"
 #include "rclcpp/visibility_control.hpp"

diff --git a/rclcpp/include/rclcpp/network_flow_endpoint.hpp b/rclcpp/include/rclcpp/network_flow_endpoint.hpp
@@ -15,9 +15,8 @@
 #ifndef RCLCPP__NETWORK_FLOW_ENDPOINT_HPP_
 #define RCLCPP__NETWORK_FLOW_ENDPOINT_HPP_
 
-#include <cstdint>
 #include <string>
-#include <iostream>
+#include <iosfwd>
 
 #include "rcl/network_flow_endpoints.h"
 

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
@@ -18,7 +18,6 @@
 #include <atomic>
 #include <condition_variable>
 #include <functional>
-#include <list>
 #include <map>
 #include <memory>
 #include <mutex>
@@ -34,7 +33,6 @@
 
 #include "rcl_interfaces/msg/list_parameters_result.hpp"
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
-#include "rcl_interfaces/msg/parameter_event.hpp"
 #include "rcl_interfaces/msg/set_parameters_result.hpp"
 
 #include "rclcpp/callback_group.hpp"

diff --git a/rclcpp/include/rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp b/rclcpp/include/rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp
@@ -20,7 +20,6 @@
 #include <type_traits>
 #include <utility>
 
-#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {

diff --git a/rclcpp/include/rclcpp/node_interfaces/node_type_descriptions.hpp b/rclcpp/include/rclcpp/node_interfaces/node_type_descriptions.hpp
@@ -22,7 +22,6 @@
 #include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
-#include "rclcpp/node_interfaces/node_topics_interface.hpp"
 #include "rclcpp/node_interfaces/node_type_descriptions_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
 

diff --git a/rclcpp/include/rclcpp/node_options.hpp b/rclcpp/include/rclcpp/node_options.hpp
@@ -23,6 +23,7 @@
 #include "rcl/node_options.h"
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
+#include "rclcpp/logger.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/publisher_options.hpp"
 #include "rclcpp/qos.hpp"

diff --git a/rclcpp/include/rclcpp/parameter_descriptor_wrapper.hpp b/rclcpp/include/rclcpp/parameter_descriptor_wrapper.hpp
@@ -24,7 +24,6 @@
 // Additional ROS libraries needed
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
 
-#include "rclcpp/node.hpp"
 #include "rclcpp/parameter_value.hpp"
 #include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
 #include "rclcpp/visibility_control.hpp"

diff --git a/rclcpp/include/rclcpp/parameter_events_filter.hpp b/rclcpp/include/rclcpp/parameter_events_filter.hpp
@@ -26,7 +26,6 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rmw/rmw.h"
 
 namespace rclcpp
 {

diff --git a/rclcpp/include/rclcpp/parameter_map.hpp b/rclcpp/include/rclcpp/parameter_map.hpp
@@ -15,7 +15,6 @@
 #ifndef RCLCPP__PARAMETER_MAP_HPP_
 #define RCLCPP__PARAMETER_MAP_HPP_
 
-#include <rcl_yaml_param_parser/parser.h>
 #include <rcl_yaml_param_parser/types.h>
 
 #include <string>

diff --git a/rclcpp/include/rclcpp/parameter_service.hpp b/rclcpp/include/rclcpp/parameter_service.hpp
@@ -24,7 +24,6 @@
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters_atomically.hpp"
-#include "rclcpp/executors.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/parameter.hpp"

diff --git a/rclcpp/include/rclcpp/parameter_value.hpp b/rclcpp/include/rclcpp/parameter_value.hpp
@@ -24,7 +24,6 @@
 
 #include "rcl_interfaces/msg/parameter_type.hpp"
 #include "rcl_interfaces/msg/parameter_value.hpp"
-#include "rclcpp/exceptions/exceptions.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

diff --git a/rclcpp/include/rclcpp/publisher_base.hpp b/rclcpp/include/rclcpp/publisher_base.hpp
@@ -34,7 +34,6 @@
 #include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/event_handler.hpp"
-#include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rcpputils/time.hpp"
 

diff --git a/rclcpp/include/rclcpp/qos.hpp b/rclcpp/include/rclcpp/qos.hpp
@@ -18,9 +18,7 @@
 #include <string>
 
 #include "rclcpp/duration.hpp"
-#include "rclcpp/exceptions.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rcl/logging_rosout.h"
 #include "rmw/incompatible_qos_events_statuses.h"
 #include "rmw/qos_profiles.h"
 #include "rmw/types.h"

diff --git a/rclcpp/include/rclcpp/rate.hpp b/rclcpp/include/rclcpp/rate.hpp
@@ -17,12 +17,10 @@
 
 #include <chrono>
 #include <memory>
-#include <thread>
 
 #include "rclcpp/clock.hpp"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

diff --git a/rclcpp/include/rclcpp/serialization.hpp b/rclcpp/include/rclcpp/serialization.hpp
@@ -15,7 +15,6 @@
 #ifndef RCLCPP__SERIALIZATION_HPP_
 #define RCLCPP__SERIALIZATION_HPP_
 
-#include <memory>
 #include <stdexcept>
 #include <string>
 

diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
@@ -17,7 +17,6 @@
 
 #include <atomic>
 #include <functional>
-#include <iostream>
 #include <memory>
 #include <mutex>
 #include <sstream>

diff --git a/rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp b/rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp
@@ -25,7 +25,6 @@
 #include "rosidl_runtime_cpp/traits.hpp"
 
 #include "rclcpp/logger.hpp"
-#include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"

diff --git a/rclcpp/include/rclcpp/subscription.hpp b/rclcpp/include/rclcpp/subscription.hpp
@@ -43,7 +43,6 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/subscription_base.hpp"
 #include "rclcpp/subscription_options.hpp"
-#include "rclcpp/subscription_traits.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/waitable.hpp"

diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp
@@ -34,6 +34,7 @@
 #include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
+#include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_info.hpp"
 #include "rclcpp/network_flow_endpoint.hpp"

diff --git a/rclcpp/include/rclcpp/time_source.hpp b/rclcpp/include/rclcpp/time_source.hpp
@@ -25,7 +25,6 @@
 #include "rcl_interfaces/msg/parameter_event.hpp"
 
 #include "rclcpp/node.hpp"
-#include "rclcpp/executors.hpp"
 #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 
 

diff --git a/rclcpp/include/rclcpp/timer.hpp b/rclcpp/include/rclcpp/timer.hpp
@@ -29,7 +29,6 @@
 #include "rclcpp/context.hpp"
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/rate.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "tracetools/tracetools.h"
@@ -38,7 +37,6 @@
 #include "rcl/error_handling.h"
 #include "rcl/timer.h"
 
-#include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
 namespace rclcpp

diff --git a/rclcpp/include/rclcpp/typesupport_helpers.hpp b/rclcpp/include/rclcpp/typesupport_helpers.hpp
@@ -22,8 +22,6 @@
 
 #include "rcpputils/shared_library.hpp"
 #include "rosidl_runtime_cpp/action_type_support_decl.hpp"
-#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
-#include "rosidl_runtime_cpp/service_type_support_decl.hpp"
 
 #include "rclcpp/visibility_control.hpp"
 

diff --git a/rclcpp/include/rclcpp/wait_result.hpp b/rclcpp/include/rclcpp/wait_result.hpp
@@ -15,7 +15,6 @@
 #ifndef RCLCPP__WAIT_RESULT_HPP_
 #define RCLCPP__WAIT_RESULT_HPP_
 
-#include <cassert>
 #include <functional>
 #include <iostream>
 #include <memory>

diff --git a/rclcpp/include/rclcpp/wait_set_policies/sequential_synchronization.hpp b/rclcpp/include/rclcpp/wait_set_policies/sequential_synchronization.hpp
@@ -29,7 +29,6 @@
 #include "rclcpp/subscription_wait_set_mask.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
-#include "rclcpp/wait_result.hpp"
 #include "rclcpp/wait_result_kind.hpp"
 #include "rclcpp/wait_set_policies/detail/synchronization_policy_common.hpp"
 #include "rclcpp/waitable.hpp"

diff --git a/rclcpp/include/rclcpp/wait_set_policies/static_storage.hpp b/rclcpp/include/rclcpp/wait_set_policies/static_storage.hpp
@@ -25,7 +25,6 @@
 #include "rclcpp/service.hpp"
 #include "rclcpp/subscription_base.hpp"
 #include "rclcpp/subscription_wait_set_mask.hpp"
-#include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/wait_set_policies/detail/storage_policy_common.hpp"
 #include "rclcpp/waitable.hpp"