Add more messages and services

controller_manager_msgs/CMakeLists.txt

@@ -14,8 +14,16 @@ find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
+set(msg_files
+  msg/ControllerState.msg
+)
 set(srv_files
+  srv/ListControllers.srv
+  srv/ListControllerTypes.srv
+  srv/LoadController.srv
+  srv/ReloadControllerLibraries.srv
   srv/SwitchController.srv
+  srv/UnloadController.srv
 )
 
 if(BUILD_TESTING)
@@ -24,6 +32,7 @@ if(BUILD_TESTING)
 endif()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
   ${srv_files}
   DEPENDENCIES builtin_interfaces
   ADD_LINTER_TESTS

controller_manager_msgs/msg/ControllerState.msg

@@ -0,0 +1,5 @@
+string name
+string state
+string type
+# To be implemented
+# controller_manager_msgs/HardwareInterfaceResources[] claimed_resources

controller_manager_msgs/srv/ListControllerTypes.srv

@@ -0,0 +1,6 @@
+# The ListControllers service returns a list of controller types that are known
+# to the controller manager plugin mechanism.
+
+---
+string[] types
+string[] base_classes

controller_manager_msgs/srv/ListControllers.srv

@@ -0,0 +1,5 @@
+# The ListControllers service returns a list of controller names/states/types of the
+# controllers that are loaded inside the controller_manager.
+
+---
+ControllerState[] controller

controller_manager_msgs/srv/LoadController.srv

@@ -0,0 +1,10 @@
+# The LoadController service allows you to load a single controller 
+# inside controller_manager
+
+# To load a controller, specify the "name" of the controller. 
+# The return value "ok" indicates if the controller was successfully
+# constructed and initialized or not.
+
+string name
+---
+bool ok

controller_manager_msgs/srv/ReloadControllerLibraries.srv

@@ -0,0 +1,11 @@
+# The ReloadControllerLibraries service will reload all controllers that are available in
+# the system as plugins
+
+
+# Reloading libraries only works if there are no controllers loaded. If there
+# are still some controllers loaded, the reloading will fail.
+# If this bool is set to true, all loaded controllers will get
+# killed automatically, and the reloading can succeed.
+bool force_kill
+---
+bool ok

controller_manager_msgs/srv/UnloadController.srv

@@ -0,0 +1,10 @@
+# The UnloadController service allows you to unload a single controller 
+# from controller_manager
+
+# To unload a controller, specify the "name" of the controller. 
+# The return value "ok" indicates if the controller was successfully
+# unloaded or not
+
+string name
+---
+bool ok