From eacfc8543ff11ea3f9bf5e30246c6793c5e352d2 Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Fri, 31 May 2024 08:49:07 +0200
Subject: [PATCH] micro-ROS Jazzy patch

---
 .github/workflows/fork_checker.yml            | 36 ++++++++++
 .vscode/settings.json                         |  6 ++
 rcl/CMakeLists.txt                            | 69 +++++++++++++++----
 rcl/include/rcl/arguments.h                   |  4 ++
 rcl/include/rcl/context.h                     | 11 ++-
 rcl/include/rcl/node.h                        |  2 +
 rcl/include/rcl/node_options.h                |  5 ++
 rcl/src/rcl/arguments_impl.h                  |  4 ++
 rcl/src/rcl/client.c                          | 10 ++-
 rcl/src/rcl/context.c                         | 16 ++---
 rcl/src/rcl/init.c                            | 28 +++++---
 rcl/src/rcl/logging.c                         | 10 ++-
 rcl/src/rcl/node.c                            | 26 ++++++-
 rcl/src/rcl/node_impl.h                       |  2 +
 rcl/src/rcl/node_options.c                    | 15 ++++
 rcl/src/rcl/node_resolve_name.c               |  8 +++
 rcl/src/rcl/publisher.c                       |  7 +-
 rcl/src/rcl/publisher_impl.h                  |  2 +
 rcl/src/rcl/service.c                         | 11 ++-
 rcl/src/rcl/subscription.c                    | 11 ++-
 rcl/src/rcl/subscription_impl.h               |  2 +
 rcl/src/rcl/type_hash.c                       | 16 +++++
 rcl_action/src/rcl_action/action_client.c     | 10 ++-
 .../src/rcl_action/action_client_impl.h       |  2 +
 rcl_action/src/rcl_action/action_server.c     | 11 ++-
 .../src/rcl_action/action_server_impl.h       |  2 +
 rcl_yaml_param_parser/COLCON_IGNORE           |  0
 27 files changed, 271 insertions(+), 55 deletions(-)
 create mode 100644 .github/workflows/fork_checker.yml
 create mode 100644 .vscode/settings.json
 create mode 100644 rcl_yaml_param_parser/COLCON_IGNORE

diff --git a/.github/workflows/fork_checker.yml b/.github/workflows/fork_checker.yml
new file mode 100644
index 000000000..eb5f512c8
--- /dev/null
+++ b/.github/workflows/fork_checker.yml
@@ -0,0 +1,36 @@
+name: micro-ROS fork Update Checker
+on:
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
+  schedule:
+    - cron:  '0 4 * * *'
+
+jobs:
+    micro_ros_fork_update_check:
+        runs-on: ubuntu-latest
+        container: ubuntu:20.04
+        strategy:
+          fail-fast: false
+          matrix:
+            branches: [galactic, humble, jazzy, rolling]
+        steps:
+          - name: Check
+            id: check
+            shell: bash
+            run: |
+              apt update; apt install -y git
+              REPO=$(echo ${{ github.repository }} | awk '{split($0,a,"/"); print a[2]}')
+              git clone -b ${{ matrix.branches }} https://github.com/micro-ros/$REPO
+              cd $REPO
+              git remote add ros2 https://github.com/ros2/$REPO
+              git fetch ros2
+              git fetch origin
+              echo "::set-output name=merge_required::true"
+              CMP=$(git rev-list --left-right --count ros2/${{ matrix.branches }}...origin/${{ matrix.branches }} | awk '{print $1}')
+              if [ $CMP = "0" ]; then echo "::set-output name=merge_required::false"; fi
+
+          - name: Alert
+            if: ${{ steps.check.outputs.merge_required  == 'true' }}
+            run: exit 1
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 000000000..ce8dc02ec
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+    "files.associations": {
+        "*.uml": "plantuml",
+        "service_event_publisher.h": "c"
+    }
+}
\ No newline at end of file
diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
index f32797648..e748c51c7 100644
--- a/rcl/CMakeLists.txt
+++ b/rcl/CMakeLists.txt
@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rcl)
 
+option(RCL_MICROROS "micro-ROS build mode" ON)
+
 find_package(ament_cmake_ros REQUIRED)
 find_package(ament_cmake_gen_version_h REQUIRED)
 
-find_package(libyaml_vendor REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rcl_logging_interface REQUIRED)
-find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
@@ -16,11 +16,19 @@ find_package(rosidl_runtime_c REQUIRED)
 find_package(service_msgs REQUIRED)
 find_package(tracetools REQUIRED)
 find_package(type_description_interfaces REQUIRED)
-find_package(yaml REQUIRED)
+
+if(NOT RCL_MICROROS)
+  find_package(libyaml_vendor REQUIRED)
+  find_package(yaml REQUIRED)
+  find_package(rcl_yaml_param_parser REQUIRED)
+endif()
 
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
-include(cmake/get_default_rcl_logging_implementation.cmake)
-get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+
+if(NOT RCL_MICROROS)
+  include(cmake/get_default_rcl_logging_implementation.cmake)
+  get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+endif()
 
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
@@ -38,7 +46,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(${PROJECT_NAME}_sources
-  src/rcl/arguments.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/arguments.c>
   src/rcl/client.c
   src/rcl/common.c
   src/rcl/context.c
@@ -54,13 +62,13 @@ set(${PROJECT_NAME}_sources
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
   src/rcl/localhost.c
-  src/rcl/logging_rosout.c
-  src/rcl/logging.c
-  src/rcl/log_level.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/logging_rosout.c>
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/logging.c>
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/log_level.c>
   src/rcl/network_flow_endpoints.c
   src/rcl/node.c
   src/rcl/node_options.c
-  src/rcl/node_type_cache.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/node_type_cache.c>
   src/rcl/publisher.c
   src/rcl/remap.c
   src/rcl/node_resolve_name.c
@@ -72,7 +80,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/time.c
   src/rcl/timer.c
   src/rcl/type_hash.c
-  src/rcl/type_description_conversions.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/type_description_conversions.c>
   src/rcl/validate_enclave_name.c
   src/rcl/validate_topic_name.c
   src/rcl/wait.c
@@ -88,7 +96,6 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   ${rcl_interfaces_TARGETS}
   # TODO(clalancette): rcl_logging_interface should be PRIVATE, but downstream depends on it for now
   rcl_logging_interface::rcl_logging_interface
-  rcl_yaml_param_parser::rcl_yaml_param_parser
   rcutils::rcutils
   rmw::rmw
   # TODO(clalancette): rmw_implementation should be PRIVATE, but downstream depends on it for now
@@ -96,12 +103,37 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   rosidl_runtime_c::rosidl_runtime_c
   ${type_description_interfaces_TARGETS}
 )
+
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  tracetools::tracetools
+)
+
+if(NOT RCL_MICROROS)
 target_link_libraries(${PROJECT_NAME} PRIVATE
   ${RCL_LOGGING_IMPL}::${RCL_LOGGING_IMPL}
   ${service_msgs_TARGETS}
-  tracetools::tracetools
   yaml
 )
+endif()
+
+if(NOT RCL_MICROROS)
+  ament_target_dependencies(${PROJECT_NAME}
+    "rcl_yaml_param_parser"
+  )
+endif()
+
+if(NOT RCL_MICROROS)
+  ament_target_dependencies(${PROJECT_NAME}
+    ${RCL_LOGGING_IMPL}
+  )
+endif()
+
+if(NOT RCL_MICROROS)
+target_compile_definitions(${PROJECT_NAME}
+  PUBLIC
+    RCL_MICROROS_COMPLETE_IMPL
+  )
+endif()
 
 # Allow configuring the default discovery range
 if(DEFINED RCL_DEFAULT_DISCOVERY_RANGE)
@@ -141,14 +173,21 @@ ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
 # TODO(clalancette): rcl_logging_interface shouldn't be exported, but downstream depends on it for now
 ament_export_dependencies(rcl_logging_interface)
-ament_export_dependencies(rcl_yaml_param_parser)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
 # TODO(clalancette): rmw_implementation shouldn't be exported, but downstream depends on it for now
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(type_description_interfaces)
-ament_generate_version_header(${PROJECT_NAME})
+ament_export_dependencies(tracetools)
+
+if(NOT RCL_MICROROS)
+  ament_export_dependencies(rcl_yaml_param_parser)
+endif()
+
+if(NOT RCL_MICROROS)
+  ament_export_dependencies(${RCL_LOGGING_IMPL})
+endif()
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
index d37363999..b0289899d 100644
--- a/rcl/include/rcl/arguments.h
+++ b/rcl/include/rcl/arguments.h
@@ -22,7 +22,11 @@
 #include "rcl/macros.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
 #ifdef __cplusplus
 extern "C"
diff --git a/rcl/include/rcl/context.h b/rcl/include/rcl/context.h
index 68500da81..06d1ca334 100644
--- a/rcl/include/rcl/context.h
+++ b/rcl/include/rcl/context.h
@@ -25,7 +25,9 @@ extern "C"
 #include "rmw/init.h"
 
 #include "rcl/allocator.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/arguments.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/init_options.h"
 #include "rcl/macros.h"
 #include "rcl/types.h"
@@ -112,9 +114,11 @@ typedef struct rcl_context_impl_s rcl_context_impl_t;
  */
 typedef struct rcl_context_s
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   /// Global arguments for all nodes which share this context.
   /** Typically generated by the parsing of argc/argv in rcl_init(). */
   rcl_arguments_t global_arguments;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   /// Implementation specific pointer.
   rcl_context_impl_t * impl;
@@ -122,11 +126,6 @@ typedef struct rcl_context_s
   // The assumption that this is big enough for an atomic_uint_least64_t is
   // ensured with a static_assert in the context.c file.
   // In most cases it should just be a plain uint64_t.
-/// @cond Doxygen_Suppress
-#if !defined(RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE)
-#define RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE sizeof(uint_least64_t)
-#endif
-/// @endcond
   /// Private storage for instance ID atomic.
   /**
    * Accessing the instance id should be done using the function
@@ -146,7 +145,7 @@ typedef struct rcl_context_s
    * See this paper for an effort to make this possible in the future:
    *   http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2018/p0943r1.html
    */
-  RCL_ALIGNAS(8) uint8_t instance_id_storage[RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE];
+  uint32_t instance_id_storage;
 } rcl_context_t;
 
 /// Return a zero initialization context object.
diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
index 58a2163ec..e58df8d9f 100644
--- a/rcl/include/rcl/node.h
+++ b/rcl/include/rcl/node.h
@@ -25,7 +25,9 @@ extern "C"
 #include <stdint.h>
 
 #include "rcl/allocator.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/arguments.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/context.h"
 #include "rcl/guard_condition.h"
 #include "rcl/macros.h"
diff --git a/rcl/include/rcl/node_options.h b/rcl/include/rcl/node_options.h
index 551d79437..a3eae90a6 100644
--- a/rcl/include/rcl/node_options.h
+++ b/rcl/include/rcl/node_options.h
@@ -23,7 +23,10 @@ extern "C"
 #endif
 
 #include "rcl/allocator.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/arguments.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
+#include "rcl/macros.h"
 
 #include "rcl/domain_id.h"
 
@@ -46,8 +49,10 @@ typedef struct rcl_node_options_s
   /// If false then only use arguments in this struct, otherwise use global arguments also.
   bool use_global_arguments;
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   /// Command line arguments that apply only to this node.
   rcl_arguments_t arguments;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   /// Flag to enable rosout for this node
   bool enable_rosout;
diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h
index e8d73b585..042819802 100644
--- a/rcl/src/rcl/arguments_impl.h
+++ b/rcl/src/rcl/arguments_impl.h
@@ -17,7 +17,11 @@
 
 #include "rcl/arguments.h"
 #include "rcl/log_level.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "./remap_impl.h"
 
 #ifdef __cplusplus
diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
index 1b8088505..83bfdbebe 100644
--- a/rcl/src/rcl/client.c
+++ b/rcl/src/rcl/client.c
@@ -24,7 +24,9 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/publisher.h"
 #include "rcl/time.h"
 #include "rcutils/logging_macros.h"
@@ -49,7 +51,9 @@ struct rcl_client_impl_s
   atomic_int_least64_t sequence_number;
   rcl_service_event_publisher_t * service_event_publisher;
   char * remapped_service_name;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 };
 
 rcl_client_t
@@ -178,6 +182,7 @@ rcl_client_init(
   client->impl->options = *options;
   atomic_init(&client->impl->sequence_number, 0);
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   const rosidl_type_hash_t * hash = type_support->get_type_hash_func(type_support);
   if (hash == NULL) {
     RCL_SET_ERROR_MSG("Failed to get the type hash");
@@ -195,6 +200,7 @@ rcl_client_init(
     goto destroy_client;
   }
   client->impl->type_hash = *hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client initialized");
   TRACETOOLS_TRACEPOINT(
@@ -256,7 +262,7 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != client->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &client->impl->type_hash))
@@ -264,7 +270,7 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
       RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#endif // RCL_MICROROS_COMPLETE_IMPL
     allocator.deallocate(client->impl->remapped_service_name, allocator.state);
     client->impl->remapped_service_name = NULL;
 
diff --git a/rcl/src/rcl/context.c b/rcl/src/rcl/context.c
index 5414cc5e9..495cae549 100644
--- a/rcl/src/rcl/context.c
+++ b/rcl/src/rcl/context.c
@@ -30,16 +30,12 @@ rcl_get_zero_initialized_context(void)
 {
   static rcl_context_t context = {
     .impl = NULL,
-    .instance_id_storage = {0},
+    .instance_id_storage = 0,
   };
   // this is not constexpr so it cannot be in the struct initialization
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   context.global_arguments = rcl_get_zero_initialized_arguments();
-  // ensure assumption about static storage
-  static_assert(
-    sizeof(context.instance_id_storage) >= sizeof(atomic_uint_least64_t),
-    "expected rcl_context_t's instance id storage to be >= size of atomic_uint_least64_t");
-  // initialize atomic
-  atomic_init((atomic_uint_least64_t *)(&context.instance_id_storage), 0);
+#endif // RCL_MICROROS_COMPLETE_IMPL
   return context;
 }
 
@@ -76,7 +72,7 @@ rcl_context_instance_id_t
 rcl_context_get_instance_id(const rcl_context_t * context)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(context, 0);
-  return rcutils_atomic_load_uint64_t((atomic_uint_least64_t *)(&context->instance_id_storage));
+  return context->instance_id_storage;
 }
 
 rcl_ret_t
@@ -110,8 +106,9 @@ __cleanup_context(rcl_context_t * context)
 {
   rcl_ret_t ret = RCL_RET_OK;
   // reset the instance id to 0 to indicate "invalid" (should already be 0, but this is defensive)
-  rcutils_atomic_store((atomic_uint_least64_t *)(&context->instance_id_storage), 0);
+  context->instance_id_storage = 0;
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   // clean up global_arguments if initialized
   if (NULL != context->global_arguments.impl) {
     ret = rcl_arguments_fini(&(context->global_arguments));
@@ -124,6 +121,7 @@ __cleanup_context(rcl_context_t * context)
       rcl_reset_error();
     }
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   // if impl is null, nothing else can be cleaned up
   if (NULL != context->impl) {
diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
index ec05b2d62..068d68187 100644
--- a/rcl/src/rcl/init.c
+++ b/rcl/src/rcl/init.c
@@ -27,22 +27,26 @@ extern "C"
 
 #include "tracetools/tracetools.h"
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/arguments.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/discovery_options.h"
 #include "rcl/domain_id.h"
 #include "rcl/error_handling.h"
 #include "rcl/localhost.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/logging.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/security.h"
 #include "rcl/validate_enclave_name.h"
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "./arguments_impl.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "./common.h"
 #include "./context_impl.h"
 #include "./init_options_impl.h"
 
-static atomic_uint_least64_t __rcl_next_unique_id = ATOMIC_VAR_INIT(1);
-
 rcl_ret_t
 rcl_init(
   int argc,
@@ -81,8 +85,10 @@ rcl_init(
     return RCL_RET_ALREADY_INIT;
   }
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   // Zero initialize global arguments.
   context->global_arguments = rcl_get_zero_initialized_arguments();
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   // Setup impl for context.
   // use zero_allocate so the cleanup function will not try to clean up uninitialized parts later
@@ -124,6 +130,7 @@ rcl_init(
     }
   }
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   // Parse the ROS specific arguments.
   ret = rcl_parse_arguments(argc, argv, allocator, &context->global_arguments);
   if (RCL_RET_OK != ret) {
@@ -131,17 +138,16 @@ rcl_init(
     RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to parse global arguments");
     goto fail;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   // Set the instance id.
-  uint64_t next_instance_id = rcutils_atomic_fetch_add_uint64_t(&__rcl_next_unique_id, 1);
+  static uint32_t next_instance_id = 0;
+  next_instance_id++;
   if (0 == next_instance_id) {
-    // Roll over occurred, this is an extremely unlikely occurrence.
-    RCL_SET_ERROR_MSG("unique rcl instance ids exhausted");
-    // Roll back to try to avoid the next call succeeding, but there's a data race here.
-    rcutils_atomic_store(&__rcl_next_unique_id, -1);
-    goto fail;
+    // Avoid invalid value on roll over
+    next_instance_id++;
   }
-  rcutils_atomic_store((atomic_uint_least64_t *)(&context->instance_id_storage), next_instance_id);
+  context->instance_id_storage = next_instance_id;
   context->impl->init_options.impl->rmw_init_options.instance_id = next_instance_id;
 
   size_t * domain_id = &context->impl->init_options.impl->rmw_init_options.domain_id;
@@ -256,6 +262,7 @@ rcl_init(
       "\t%s", discovery_options->static_peers[ii].peer_address);
   }
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (context->global_arguments.impl->enclave) {
     context->impl->init_options.impl->rmw_init_options.enclave = rcutils_strdup(
       context->global_arguments.impl->enclave,
@@ -270,6 +277,7 @@ rcl_init(
     fail_ret = RCL_RET_BAD_ALLOC;
     goto fail;
   }
+#endif //RCL_MICROROS
 
   int validation_result;
   size_t invalid_index;
@@ -341,7 +349,7 @@ rcl_shutdown(rcl_context_t * context)
   }
 
   // reset the instance id to 0 to indicate "invalid"
-  rcutils_atomic_store((atomic_uint_least64_t *)(&context->instance_id_storage), 0);
+  context->instance_id_storage = 0;
 
   return RCL_RET_OK;
 }
diff --git a/rcl/src/rcl/logging.c b/rcl/src/rcl/logging.c
index 636a90d50..0fe882402 100644
--- a/rcl/src/rcl/logging.c
+++ b/rcl/src/rcl/logging.c
@@ -68,9 +68,13 @@ rcl_logging_configure_with_output_handler(
   rcl_log_levels_t * log_levels = &global_args->impl->log_levels;
   const char * file_name_prefix = global_args->impl->external_log_file_name_prefix;
   const char * config_file = global_args->impl->external_log_config_file;
-  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled;
-  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled;
-  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled;
+  bool global_disable = false;
+  #ifdef RCUTILS_NO_LOGGING
+    global_disable = true;
+  #endif
+  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled && !global_disable;
+  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled && !global_disable;
+  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled && !global_disable;
   rcl_ret_t status = RCL_RET_OK;
   g_rcl_logging_num_out_handlers = 0;
 
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index 998ce1ab6..0a1c6c666 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -19,13 +19,17 @@
 #include <stdlib.h>
 #include <string.h>
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/arguments.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/error_handling.h"
 #include "rcl/init_options.h"
 #include "rcl/localhost.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/logging.h"
 #include "rcl/logging_rosout.h"
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/rcl.h"
 #include "rcl/remap.h"
 #include "rcl/security.h"
@@ -193,7 +197,9 @@ rcl_node_init(
   RCL_CHECK_FOR_NULL_WITH_MSG(
     node->impl, "allocating memory failed", ret = RCL_RET_BAD_ALLOC; goto fail);
   node->impl->options = rcl_node_get_default_options();
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   node->impl->registered_types_by_type_hash = rcutils_get_zero_initialized_hash_map();
+#endif // RCL_MICROROS_COMPLETE_IMPL
   node->context = context;
   // Initialize node impl.
   ret = rcl_node_options_copy(options, &(node->impl->options));
@@ -201,6 +207,7 @@ rcl_node_init(
     goto fail;
   }
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   // Remap the node name and namespace if remap rules are given
   rcl_arguments_t * global_args = NULL;
   if (node->impl->options.use_global_arguments) {
@@ -227,6 +234,7 @@ rcl_node_init(
     allocator->deallocate((char *)local_namespace_, allocator->state);
     local_namespace_ = remapped_namespace;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   // compute fully qualfied name of the node.
   if ('/' == local_namespace_[strlen(local_namespace_) - 1]) {
@@ -239,9 +247,11 @@ rcl_node_init(
     ret = RCL_RET_BAD_ALLOC; goto fail);
 
   // node logger name
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   node->impl->logger_name = rcl_create_node_logger_name(name, local_namespace_, allocator);
   RCL_CHECK_FOR_NULL_WITH_MSG(
     node->impl->logger_name, "creating logger name failed", ret = RCL_RET_ERROR; goto fail);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(
     ROS_PACKAGE_NAME, "Using domain ID of '%zu'", context->impl->rmw_context.actual_domain_id);
@@ -274,12 +284,14 @@ rcl_node_init(
     goto fail;
   }
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   // To capture all types from builtin topics and services, the type cache needs to be initialized
   // before any publishers/subscriptions/services/etc can be created
   ret = rcl_node_type_cache_init(node);
   if (ret != RCL_RET_OK) {
     goto fail;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node initialized");
   TRACETOOLS_TRACEPOINT(
@@ -296,12 +308,14 @@ rcl_node_init(
 
 fail:
   if (node->impl) {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (NULL != node->impl->registered_types_by_type_hash.impl) {
       fail_ret = rcl_node_type_cache_fini(node);
       RCUTILS_LOG_ERROR_EXPRESSION_NAMED(
         (fail_ret != RCL_RET_OK),
         ROS_PACKAGE_NAME, "Failed to fini type cache for node: %s", rcl_get_error_string().str);
     }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
     if (node->impl->graph_guard_condition) {
       fail_ret = rcl_guard_condition_fini(node->impl->graph_guard_condition);
@@ -352,11 +366,13 @@ rcl_node_fini(rcl_node_t * node)
   rcl_allocator_t allocator = node->impl->options.allocator;
   rcl_ret_t result = RCL_RET_OK;
   rcl_ret_t rcl_ret = RCL_RET_OK;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rcl_ret = rcl_node_type_cache_fini(node);
   if (rcl_ret != RCL_RET_OK) {
     RCL_SET_ERROR_MSG("Unable to fini type cache for node.");
     result = RCL_RET_ERROR;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   rmw_ret_t rmw_ret = rmw_destroy_node(node->impl->rmw_node_handle);
   if (rmw_ret != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string().str);
@@ -371,12 +387,14 @@ rcl_node_fini(rcl_node_t * node)
   // assuming that allocate and deallocate are ok since they are checked in init
   allocator.deallocate((char *)node->impl->logger_name, allocator.state);
   allocator.deallocate((char *)node->impl->fq_name, allocator.state);
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (NULL != node->impl->options.arguments.impl) {
     rcl_ret_t ret = rcl_arguments_fini(&(node->impl->options.arguments));
     if (ret != RCL_RET_OK) {
       return ret;
     }
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   allocator.deallocate(node->impl, allocator.state);
   node->impl = NULL;
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node finalized");
@@ -519,6 +537,7 @@ void rcl_node_type_description_service_handle_request(
   const type_description_interfaces__srv__GetTypeDescription_Request * request,
   type_description_interfaces__srv__GetTypeDescription_Response * response)
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rcl_type_info_t type_info;
   RCL_CHECK_FOR_NULL_WITH_MSG(node, "invalid node handle", return;);
   RCL_CHECK_FOR_NULL_WITH_MSG(node->impl, "invalid node", return;);
@@ -577,12 +596,14 @@ void rcl_node_type_description_service_handle_request(
   }
 
   response->successful = true;
+#endif //RCL_MICROROS
 }
 
 rcl_ret_t rcl_node_type_description_service_init(
   rcl_service_t * service,
   const rcl_node_t * node)
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   RCL_CHECK_ARGUMENT_FOR_NULL(service, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(node->impl, RCL_RET_NODE_INVALID);
@@ -615,6 +636,9 @@ rcl_ret_t rcl_node_type_description_service_init(
     service, node,
     type_support, service_name, &service_ops);
   allocator.deallocate(service_name, allocator.state);
-
   return ret;
+#else
+  (void)node;
+  return RCL_RET_UNSUPPORTED;
+#endif //RCL_MICROROS
 }
diff --git a/rcl/src/rcl/node_impl.h b/rcl/src/rcl/node_impl.h
index 5445c5aab..42818042e 100644
--- a/rcl/src/rcl/node_impl.h
+++ b/rcl/src/rcl/node_impl.h
@@ -30,7 +30,9 @@ struct rcl_node_impl_s
   rcl_guard_condition_t * graph_guard_condition;
   const char * logger_name;
   const char * fq_name;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rcutils_hash_map_t registered_types_by_type_hash;
+#endif  // RCL_MICROROS_COMPLETE_IMPL
 };
 
 #endif  // RCL__NODE_IMPL_H_
diff --git a/rcl/src/rcl/node_options.c b/rcl/src/rcl/node_options.c
index f2a50df62..9f0a875ff 100644
--- a/rcl/src/rcl/node_options.c
+++ b/rcl/src/rcl/node_options.c
@@ -21,10 +21,14 @@ extern "C"
 
 #include "rcl/node_options.h"
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/arguments.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/domain_id.h"
 #include "rcl/error_handling.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/logging_rosout.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
 rcl_node_options_t
 rcl_node_get_default_options(void)
@@ -33,9 +37,13 @@ rcl_node_get_default_options(void)
   rcl_node_options_t default_options = {
     .allocator = rcl_get_default_allocator(),
     .use_global_arguments = true,
+  #ifdef RCL_MICROROS_COMPLETE_IMPL
     .arguments = rcl_get_zero_initialized_arguments(),
     .enable_rosout = true,
     .rosout_qos = rcl_qos_profile_rosout_default,
+  #else
+    .enable_rosout = false,
+  #endif // RCL_MICROROS_COMPLETE_IMPL
   };
   return default_options;
 }
@@ -53,17 +61,22 @@ rcl_node_options_copy(
     RCL_SET_ERROR_MSG("Attempted to copy options into itself");
     return RCL_RET_INVALID_ARGUMENT;
   }
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (NULL != options_out->arguments.impl) {
     RCL_SET_ERROR_MSG("Options out must be zero initialized");
     return RCL_RET_INVALID_ARGUMENT;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
+
   options_out->allocator = options->allocator;
   options_out->use_global_arguments = options->use_global_arguments;
   options_out->enable_rosout = options->enable_rosout;
   options_out->rosout_qos = options->rosout_qos;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (NULL != options->arguments.impl) {
     return rcl_arguments_copy(&(options->arguments), &(options_out->arguments));
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   return RCL_RET_OK;
 }
 
@@ -75,6 +88,7 @@ rcl_node_options_fini(
   rcl_allocator_t allocator = options->allocator;
   RCL_CHECK_ALLOCATOR(&allocator, return RCL_RET_INVALID_ARGUMENT);
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (options->arguments.impl) {
     rcl_ret_t ret = rcl_arguments_fini(&options->arguments);
     if (RCL_RET_OK != ret) {
@@ -82,6 +96,7 @@ rcl_node_options_fini(
       return ret;
     }
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   return RCL_RET_OK;
 }
diff --git a/rcl/src/rcl/node_resolve_name.c b/rcl/src/rcl/node_resolve_name.c
index 9c2667669..ce71349c5 100644
--- a/rcl/src/rcl/node_resolve_name.c
+++ b/rcl/src/rcl/node_resolve_name.c
@@ -75,6 +75,7 @@ rcl_resolve_name(
     goto cleanup;
   }
   // remap topic name
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (!only_expand) {
     ret = rcl_remap_name(
       local_args, global_args, is_service ? RCL_SERVICE_REMAP : RCL_TOPIC_REMAP,
@@ -84,6 +85,7 @@ rcl_resolve_name(
       goto cleanup;
     }
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   if (NULL == remapped_topic_name) {
     remapped_topic_name = expanded_topic_name;
     expanded_topic_name = NULL;
@@ -145,12 +147,18 @@ rcl_node_resolve_name(
     return RCL_RET_ERROR;
   }
   rcl_arguments_t * global_args = NULL;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (node_options->use_global_arguments) {
     global_args = &(node->context->global_arguments);
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   return rcl_resolve_name(
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     &(node_options->arguments),
+#else
+    NULL,
+#endif // RCL_MICROROS_COMPLETE_IMPL
     global_args,
     input_topic_name,
     rcl_node_get_name(node),
diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
index 60963254b..1a76bddf1 100644
--- a/rcl/src/rcl/publisher.c
+++ b/rcl/src/rcl/publisher.c
@@ -25,7 +25,9 @@ extern "C"
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcutils/logging_macros.h"
 #include "rcutils/macros.h"
 #include "rcl/time.h"
@@ -128,7 +130,7 @@ rcl_publisher_init(
     options->qos.avoid_ros_namespace_conventions;
   // options
   publisher->impl->options = *options;
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -139,6 +141,7 @@ rcl_publisher_init(
     goto fail;
   }
   publisher->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Publisher initialized");
   // context
@@ -201,6 +204,7 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_ERROR;
     }
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != publisher->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &publisher->impl->type_hash))
@@ -208,6 +212,7 @@ rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node)
       RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
       result = RCL_RET_ERROR;
     }
+#endif // RCL_MICROROS_COMPLETE_IMPL
     allocator.deallocate(publisher->impl, allocator.state);
     publisher->impl = NULL;
   }
diff --git a/rcl/src/rcl/publisher_impl.h b/rcl/src/rcl/publisher_impl.h
index 26bbb43da..d9edd4316 100644
--- a/rcl/src/rcl/publisher_impl.h
+++ b/rcl/src/rcl/publisher_impl.h
@@ -25,7 +25,9 @@ struct rcl_publisher_impl_s
   rmw_qos_profile_t actual_qos;
   rcl_context_t * context;
   rmw_publisher_t * rmw_handle;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif  // RCL_MICROROS_COMPLETE_IMPL
 };
 
 #endif  // RCL__PUBLISHER_IMPL_H_
diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
index 660fc8daf..f8c5b533d 100644
--- a/rcl/src/rcl/service.c
+++ b/rcl/src/rcl/service.c
@@ -24,7 +24,9 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/publisher.h"
 #include "rcl/time.h"
 #include "rcl/types.h"
@@ -48,7 +50,9 @@ struct rcl_service_impl_s
   rmw_service_t * rmw_handle;
   rcl_service_event_publisher_t * service_event_publisher;
   char * remapped_service_name;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 };
 
 rcl_service_t
@@ -188,7 +192,7 @@ rcl_service_init(
 
   // options
   service->impl->options = *options;
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -200,6 +204,7 @@ rcl_service_init(
     goto destroy_service;
   }
   service->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service initialized");
   TRACETOOLS_TRACEPOINT(
@@ -262,7 +267,7 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != service->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &service->impl->type_hash))
@@ -270,7 +275,7 @@ rcl_service_fini(rcl_service_t * service, rcl_node_t * node)
       RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#endif // RCL_MICROROS_COMPLETE_IMPL
     allocator.deallocate(service->impl->remapped_service_name, allocator.state);
     service->impl->remapped_service_name = NULL;
 
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index 8d4ea54aa..1edbdbfa5 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -23,8 +23,10 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
 #include "rcutils/env.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcutils/logging_macros.h"
 #include "rcutils/strdup.h"
 #include "rcutils/types/string_array.h"
@@ -124,7 +126,7 @@ rcl_subscription_init(
     options->qos.avoid_ros_namespace_conventions;
   // options
   subscription->impl->options = *options;
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -135,6 +137,7 @@ rcl_subscription_init(
     goto fail;
   }
   subscription->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription initialized");
   ret = RCL_RET_OK;
@@ -206,7 +209,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
       RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
       result = RCL_RET_ERROR;
     }
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != subscription->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &subscription->impl->type_hash))
@@ -215,7 +218,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
       RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
       result = RCL_RET_ERROR;
     }
-
+#endif // RCL_MICROROS_COMPLETE_IMPL
     allocator.deallocate(subscription->impl, allocator.state);
     subscription->impl = NULL;
   }
@@ -233,6 +236,7 @@ rcl_subscription_get_default_options(void)
   default_options.allocator = rcl_get_default_allocator();
   default_options.rmw_subscription_options = rmw_get_default_subscription_options();
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   // Load disable flag to LoanedMessage via environmental variable.
   // TODO(clalancette): This is kind of a copy of rcl_get_disable_loaned_message(), but we need
   // more information than that function provides.
@@ -248,6 +252,7 @@ rcl_subscription_get_default_options(void)
   } else {
     default_options.disable_loaned_message = !(strcmp(env_val, "0") == 0);
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   return default_options;
 }
diff --git a/rcl/src/rcl/subscription_impl.h b/rcl/src/rcl/subscription_impl.h
index 8193421cf..64c0b75a1 100644
--- a/rcl/src/rcl/subscription_impl.h
+++ b/rcl/src/rcl/subscription_impl.h
@@ -24,7 +24,9 @@ struct rcl_subscription_impl_s
   rcl_subscription_options_t options;
   rmw_qos_profile_t actual_qos;
   rmw_subscription_t * rmw_handle;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif  // RCL_MICROROS_COMPLETE_IMPL
 };
 
 #endif  // RCL__SUBSCRIPTION_IMPL_H_
diff --git a/rcl/src/rcl/type_hash.c b/rcl/src/rcl/type_hash.c
index f05dd9851..f70809c92 100644
--- a/rcl/src/rcl/type_hash.c
+++ b/rcl/src/rcl/type_hash.c
@@ -14,7 +14,9 @@
 
 #include <stdio.h>
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include <yaml.h>
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
@@ -23,6 +25,7 @@
 #include "rcutils/sha256.h"
 #include "type_description_interfaces/msg/type_description.h"
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 static int yaml_write_handler(void * ext, uint8_t * buffer, size_t size)
 {
   rcutils_char_array_t * repr = (rcutils_char_array_t *)ext;
@@ -191,12 +194,14 @@ static int emit_type_description(
   }
   return end_sequence(emitter) && end_mapping(emitter);
 }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
 rcl_ret_t
 rcl_type_description_to_hashable_json(
   const type_description_interfaces__msg__TypeDescription * type_description,
   rcutils_char_array_t * output_repr)
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   RCL_CHECK_ARGUMENT_FOR_NULL(type_description, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(output_repr, RCL_RET_INVALID_ARGUMENT);
 
@@ -238,6 +243,11 @@ rcl_type_description_to_hashable_json(
   rcl_set_error_state(emitter.problem, __FILE__, __LINE__);
   yaml_emitter_delete(&emitter);
   return RCL_RET_ERROR;
+#else
+  (void)type_description;
+  (void)output_repr;
+  return RCL_RET_UNSUPPORTED;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 }
 
 rcl_ret_t
@@ -245,6 +255,7 @@ rcl_calculate_type_hash(
   const type_description_interfaces__msg__TypeDescription * type_description,
   rosidl_type_hash_t * output_hash)
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   RCL_CHECK_ARGUMENT_FOR_NULL(type_description, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(output_hash, RCL_RET_INVALID_ARGUMENT);
 
@@ -263,4 +274,9 @@ rcl_calculate_type_hash(
   }
   result = rcutils_char_array_fini(&msg_repr);
   return result;
+#else
+  (void)type_description;
+  (void)output_hash;
+  return RCL_RET_UNSUPPORTED;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 }
diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
index a173200cc..bc6d779da 100644
--- a/rcl_action/src/rcl_action/action_client.c
+++ b/rcl_action/src/rcl_action/action_client.c
@@ -25,10 +25,12 @@ extern "C"
 #include "rcl_action/types.h"
 #include "rcl_action/wait.h"
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
+#include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/client.h"
 #include "rcl/error_handling.h"
 #include "rcl/graph.h"
-#include "rcl/node_type_cache.h"
 #include "rcl/subscription.h"
 #include "rcl/types.h"
 #include "rcl/wait.h"
@@ -65,7 +67,9 @@ _rcl_action_get_zero_initialized_client_impl(void)
     0,
     0,
     0,
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     rosidl_get_zero_initialized_type_hash()
+#endif // RCL_MICROROS_COMPLETE_IMPL
   };
   return null_action_client;
 }
@@ -93,12 +97,14 @@ _rcl_action_client_fini_impl(
   if (RCL_RET_OK != rcl_subscription_fini(&action_client->impl->status_subscription, node)) {
     ret = RCL_RET_ERROR;
   }
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (
     ROSIDL_TYPE_HASH_VERSION_UNSET != action_client->impl->type_hash.version &&
     RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &action_client->impl->type_hash))
   {
     ret = RCL_RET_ERROR;
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
   allocator.deallocate(action_client->impl->action_name, allocator.state);
   allocator.deallocate(action_client->impl, allocator.state);
   action_client->impl = NULL;
@@ -230,6 +236,7 @@ rcl_action_client_init(
   SUBSCRIPTION_INIT(feedback);
   SUBSCRIPTION_INIT(status);
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
       type_support->get_type_description_func(type_support),
@@ -240,6 +247,7 @@ rcl_action_client_init(
     goto fail;
   }
   action_client->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Action client initialized");
   return ret;
diff --git a/rcl_action/src/rcl_action/action_client_impl.h b/rcl_action/src/rcl_action/action_client_impl.h
index f1d430a8d..ad1098609 100644
--- a/rcl_action/src/rcl_action/action_client_impl.h
+++ b/rcl_action/src/rcl_action/action_client_impl.h
@@ -33,7 +33,9 @@ typedef struct rcl_action_client_impl_s
   size_t wait_set_result_client_index;
   size_t wait_set_feedback_subscription_index;
   size_t wait_set_status_subscription_index;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 } rcl_action_client_impl_t;
 
 
diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c
index db48096ed..d75d24af7 100644
--- a/rcl_action/src/rcl_action/action_server.c
+++ b/rcl_action/src/rcl_action/action_server.c
@@ -26,8 +26,10 @@ extern "C"
 #include "rcl_action/types.h"
 #include "rcl_action/wait.h"
 
-#include "rcl/error_handling.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
+#include "rcl/error_handling.h"
 #include "rcl/rcl.h"
 #include "rcl/time.h"
 
@@ -160,7 +162,9 @@ rcl_action_server_init(
   action_server->impl->goal_handles = NULL;
   action_server->impl->num_goal_handles = 0u;
   action_server->impl->clock = NULL;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   action_server->impl->type_hash = rosidl_get_zero_initialized_type_hash();
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   rcl_ret_t ret = RCL_RET_OK;
   // Initialize services
@@ -195,6 +199,7 @@ rcl_action_server_init(
     goto fail;
   }
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   // Store type hash
   if (RCL_RET_OK != rcl_node_type_cache_register_type(
       node, type_support->get_type_hash_func(type_support),
@@ -206,6 +211,7 @@ rcl_action_server_init(
     goto fail;
   }
   action_server->impl->type_hash = *type_support->get_type_hash_func(type_support);
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   return ret;
 fail:
@@ -264,12 +270,15 @@ rcl_action_server_fini(rcl_action_server_t * action_server, rcl_node_t * node)
     }
     allocator.deallocate(action_server->impl->goal_handles, allocator.state);
     action_server->impl->goal_handles = NULL;
+
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != action_server->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &action_server->impl->type_hash))
     {
       ret = RCL_RET_ERROR;
     }
+#endif // RCL_MICROROS_COMPLETE_IMPL
     // Deallocate struct
     allocator.deallocate(action_server->impl, allocator.state);
     action_server->impl = NULL;
diff --git a/rcl_action/src/rcl_action/action_server_impl.h b/rcl_action/src/rcl_action/action_server_impl.h
index 572f799f6..f3eaed24c 100644
--- a/rcl_action/src/rcl_action/action_server_impl.h
+++ b/rcl_action/src/rcl_action/action_server_impl.h
@@ -39,7 +39,9 @@ typedef struct rcl_action_server_impl_s
   size_t wait_set_cancel_service_index;
   size_t wait_set_result_service_index;
   size_t wait_set_expire_timer_index;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 } rcl_action_server_impl_t;
 
 
diff --git a/rcl_yaml_param_parser/COLCON_IGNORE b/rcl_yaml_param_parser/COLCON_IGNORE
new file mode 100644
index 000000000..e69de29bb