Feature: new asyncio executor

rclpy/CMakeLists.txt

@@ -227,6 +227,7 @@ if(BUILD_TESTING)
       test/test_validate_topic_name.py
       test/test_waitable.py
       test/test_wait_for_message.py
+      test/test_asyncio_executor.py
     )
 
     foreach(_test_path ${_rclpy_pytest_tests})

rclpy/rclpy/client.py

@@ -14,7 +14,9 @@
 
 import threading
 import time
+import traceback
 from types import TracebackType
+from typing import Callable
 from typing import Dict
 from typing import Generic
 from typing import Optional
@@ -25,6 +27,7 @@
 from rclpy.clock import Clock
 from rclpy.context import Context
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+from rclpy.logging import get_logger
 from rclpy.qos import QoSProfile
 from rclpy.service_introspection import ServiceIntrospectionState
 from rclpy.task import Future
@@ -243,3 +246,24 @@ def __exit__(
         exc_tb: Optional[TracebackType],
     ) -> None:
         self.destroy()
+
+    def get_logger_name(self) -> str:
+        with self.handle:
+            return self.__client.get_logger_name()
+
+    def set_on_new_response_callback(self, callback: Callable[[int], None]) -> None:
+        logger = get_logger(self.get_logger_name())
+
+        def safe_callback(number_of_events: int):
+            try:
+                callback(number_of_events)
+            except Exception:
+                logger.error(
+                    f'Caught exception in on response callback for client: {self.service_name}'
+                )
+                logger.error(traceback.format_exc())
+
+        self.__client.set_on_new_response_callback(safe_callback)
+
+    def clear_on_new_response_callback(self) -> None:
+        self.__client.clear_on_new_response_callback()

rclpy/rclpy/clock.py

@@ -161,7 +161,7 @@ def __new__(cls, *,
                 clock_type: ClockType = ClockType.SYSTEM_TIME) -> 'Clock':
         if not isinstance(clock_type, ClockType):
             raise TypeError('Clock type must be a ClockType enum')
-        if clock_type is ClockType.ROS_TIME:
+        if clock_type is ClockType.ROS_TIME and cls is Clock:
             self: 'Clock' = super().__new__(ROSClock)
         else:
             self = super().__new__(cls)
@@ -316,9 +316,7 @@ def sleep_for(self, rel_time: Duration, context: Optional[Context] = None) -> bo
 class ROSClock(Clock):
 
     def __new__(cls) -> 'ROSClock':
-        self = super().__new__(Clock, clock_type=ClockType.ROS_TIME)
-        assert isinstance(self, ROSClock)
-        return self
+        return super().__new__(cls, clock_type=ClockType.ROS_TIME)
 
     @property
     def ros_time_is_active(self) -> bool: