diff --git a/rclcpp/README.md b/rclcpp/README.md
index 35b81da1..8e4dfde7 100644
--- a/rclcpp/README.md
+++ b/rclcpp/README.md
@@ -1,4 +1,15 @@
-# rclcpp examples
+# Minimal rclcpp wait-set cookbook recipes
 
-This directory contains many examples of how to do common tasks with rclcpp.
-The intent is that this material will be easy to copy-and-paste into your own projects.
+This package contains a few different strategies for creating nodes which use `rclcpp::waitset` 
+to wait and handle ROS entities, that is, subscribers, timers, clients, services, guard 
+conditions and waitables.
+
+* `wait_set_topics_and_timer.cpp`: Simple example using multiple subscriptions, 
+  publishers, and a timer.
+* `wait_set_random_order.cpp`: An example showing user-defined 
+  data handling and a random publisher. `executor_random_order.cpp` run the same node logic 
+  using `SingleThreadedExecutor` to compare the data handling order.  
+* `wait_set_and_executor_composition.cpp`: An example showing how to combine a  
+  `SingleThreadedExecutor` and a wait-set.
+* `wait_set_topics_with_different_rate.cpp`: An example showing how to use a custom trigger 
+  condition to handle topics with different topic rates.
diff --git a/rclcpp/wait_set/wait_set.cpp b/rclcpp/wait_set/wait_set.cpp
deleted file mode 100644
index b7fe8b5d..00000000
--- a/rclcpp/wait_set/wait_set.cpp
+++ /dev/null
@@ -1,124 +0,0 @@
-// Copyright 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.
-
-#include <cassert>
-#include <memory>
-#include <vector>
-// #include <string>
-// #include <thread>
-
-#include "example_interfaces/srv/add_two_ints.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
-
-int main(int argc, char * argv[])
-{
-  rclcpp::init(argc, argv);
-
-  auto do_nothing = [](std_msgs::msg::String::UniquePtr) {assert(false);};
-  auto add_two_ints =
-    [](
-    const std::shared_ptr<rmw_request_id_t>,
-    const std::shared_ptr<example_interfaces::srv::AddTwoInts::Request>,
-    const std::shared_ptr<example_interfaces::srv::AddTwoInts::Response>)
-    {assert(false);};
-
-  auto node = std::make_shared<rclcpp::Node>("wait_set_example_node");
-
-  auto guard_condition = std::make_shared<rclcpp::GuardCondition>();
-  auto guard_condition2 = std::make_shared<rclcpp::GuardCondition>();
-
-  auto sub = node->create_subscription<std_msgs::msg::String>("~/chatter", 10, do_nothing);
-  rclcpp::SubscriptionOptions so;
-  so.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
-  auto sub2 = node->create_subscription<std_msgs::msg::String>("~/chatter", 10, do_nothing, so);
-
-  auto pub = node->create_publisher<std_msgs::msg::String>("~/chatter", 10);
-  rclcpp::PublisherOptions po;
-  po.use_intra_process_comm = rclcpp::IntraProcessSetting::Enable;
-  auto pub2 = node->create_publisher<std_msgs::msg::String>("~/chatter", 10, po);
-
-  auto client = node->create_client<example_interfaces::srv::AddTwoInts>("~/add_two_ints");
-  auto service =
-    node->create_service<example_interfaces::srv::AddTwoInts>("~/add_two_ints", add_two_ints);
-
-  rclcpp::WaitSet wait_set(
-    std::vector<rclcpp::WaitSet::SubscriptionEntry>{{sub}},
-    std::vector<rclcpp::GuardCondition::SharedPtr>{guard_condition});
-  wait_set.add_subscription(sub2);
-  wait_set.add_guard_condition(guard_condition2);
-
-  {
-    auto wait_result = wait_set.wait(std::chrono::seconds(1));
-    assert(wait_result.kind() == rclcpp::WaitResultKind::Timeout);
-  }
-
-  guard_condition->trigger();
-
-  {
-    auto wait_result = wait_set.wait(std::chrono::seconds(1));
-    assert(wait_result.kind() == rclcpp::WaitResultKind::Ready);
-    assert(wait_result.get_wait_set().get_rcl_wait_set().guard_conditions[0] != nullptr);
-    assert(wait_result.get_wait_set().get_rcl_wait_set().guard_conditions[1] == nullptr);
-    assert(wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0] == nullptr);
-    assert(wait_result.get_wait_set().get_rcl_wait_set().subscriptions[1] == nullptr);
-  }
-
-  wait_set.remove_guard_condition(guard_condition2);
-
-  {
-    // still fails with timeout
-    auto wait_result = wait_set.wait(std::chrono::seconds(1));
-    assert(wait_result.kind() == rclcpp::WaitResultKind::Timeout);
-  }
-
-  wait_set.remove_guard_condition(guard_condition);
-
-  {
-    // still fails with timeout
-    auto wait_result = wait_set.wait(std::chrono::seconds(1));
-    assert(wait_result.kind() == rclcpp::WaitResultKind::Timeout);
-  }
-
-  wait_set.remove_subscription(sub2);
-
-  {
-    // still fails with timeout
-    auto wait_result = wait_set.wait(std::chrono::seconds(1));
-    assert(wait_result.kind() == rclcpp::WaitResultKind::Timeout);
-  }
-
-  // auto pub = node->create_publisher<std_msgs::msg::String>("~/chatter", 1);
-  pub->publish(std_msgs::msg::String().set__data("test"));
-
-  {
-    auto wait_result = wait_set.wait(std::chrono::seconds(1));
-    assert(wait_result.kind() == rclcpp::WaitResultKind::Ready);
-    assert(wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0] != nullptr);
-    std_msgs::msg::String msg;
-    rclcpp::MessageInfo msg_info;
-    assert(sub->take(msg, msg_info));
-    assert(msg.data == "test");
-  }
-
-  wait_set.remove_subscription(sub);
-
-  {
-    // now fails (fast) with empty
-    auto wait_result = wait_set.wait(std::chrono::seconds(1));
-    assert(wait_result.kind() == rclcpp::WaitResultKind::Empty);
-  }
-
-  return 0;
-}