diff --git a/.github/workflows/build_and_test_humble.yaml b/.github/workflows/build_and_test_humble.yaml
index cdb1596..1363d91 100644
--- a/.github/workflows/build_and_test_humble.yaml
+++ b/.github/workflows/build_and_test_humble.yaml
@@ -26,9 +26,11 @@ jobs:
# Steps represent a sequence of tasks that will be executed as part of the job
steps:
+ - uses: actions/checkout@v4
- uses: ros-tooling/setup-ros@v0.7
with:
use-ros2-testing: true
- uses: ros-tooling/action-ros-ci@v0.3
with:
target-ros2-distro: humble
+ vcs-repo-file-url: dependencies.repos
diff --git a/.github/workflows/build_and_test_iron.yaml b/.github/workflows/build_and_test_iron.yaml
index b483651..5c653d4 100644
--- a/.github/workflows/build_and_test_iron.yaml
+++ b/.github/workflows/build_and_test_iron.yaml
@@ -26,9 +26,11 @@ jobs:
# Steps represent a sequence of tasks that will be executed as part of the job
steps:
+ - uses: actions/checkout@v4
- uses: ros-tooling/setup-ros@v0.7
with:
use-ros2-testing: true
- uses: ros-tooling/action-ros-ci@v0.3
with:
target-ros2-distro: iron
+ vcs-repo-file-url: dependencies.repos
diff --git a/.github/workflows/build_and_test_rolling.yaml b/.github/workflows/build_and_test_rolling.yaml
index 7fee75d..2b63ff1 100644
--- a/.github/workflows/build_and_test_rolling.yaml
+++ b/.github/workflows/build_and_test_rolling.yaml
@@ -26,9 +26,11 @@ jobs:
# Steps represent a sequence of tasks that will be executed as part of the job
steps:
+ - uses: actions/checkout@v4
- uses: ros-tooling/setup-ros@v0.7
with:
use-ros2-testing: true
- uses: ros-tooling/action-ros-ci@v0.3
with:
target-ros2-distro: rolling
+ vcs-repo-file-url: dependencies.repos
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..c18dd8d
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+__pycache__/
diff --git a/dependencies.repos b/dependencies.repos
new file mode 100644
index 0000000..9a85c43
--- /dev/null
+++ b/dependencies.repos
@@ -0,0 +1,5 @@
+repositories:
+ game_controller_spl:
+ type: git
+ url: https://github.com/ros-sports/game_controller_spl.git
+ version: rolling
diff --git a/r2r_spl/package.xml b/r2r_spl/package.xml
new file mode 100644
index 0000000..5ccca5e
--- /dev/null
+++ b/r2r_spl/package.xml
@@ -0,0 +1,25 @@
+
+
+
+ r2r_spl
+ 0.0.0
+ Robot-to-Robot Communication in RoboCup Standard Platform League
+ ijnek
+ Apache License 2.0
+
+ python3-construct
+ rclpy
+ rosidl_parser
+ game_controller_spl_interfaces
+
+ ament_copyright
+ ament_flake8
+ ament_pep257
+ python3-numpy
+ python3-pytest
+ r2r_spl_test_interfaces
+
+
+ ament_python
+
+
diff --git a/r2r_spl/r2r_spl/__init__.py b/r2r_spl/r2r_spl/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/r2r_spl/r2r_spl/exceptions.py b/r2r_spl/r2r_spl/exceptions.py
new file mode 100644
index 0000000..14b09c2
--- /dev/null
+++ b/r2r_spl/r2r_spl/exceptions.py
@@ -0,0 +1,19 @@
+# Copyright 2023 Kenji Brameld
+#
+# 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.
+
+class ParameterNotSetException(Exception):
+
+ def __init__(self, message):
+ self.message = message
+ super().__init__(message)
diff --git a/r2r_spl/r2r_spl/r2r_spl.py b/r2r_spl/r2r_spl/r2r_spl.py
new file mode 100644
index 0000000..74af047
--- /dev/null
+++ b/r2r_spl/r2r_spl/r2r_spl.py
@@ -0,0 +1,179 @@
+# Copyright 2023 Kenji Brameld
+#
+# 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.
+
+import socket
+from threading import Thread
+
+import construct
+from game_controller_spl_interfaces.msg import RCGCD15
+from r2r_spl.exceptions import ParameterNotSetException
+from r2r_spl.serialization import Serialization
+import rclpy
+from rclpy.node import Node
+
+MAX_ALLOWED_MSG_SIZE = 128
+
+
+class R2RSPL(Node):
+ """Node that runs on the robot to communicate with teammates (Robot-To-Robot) in SPL."""
+
+ _loop_thread = None
+ _sock = None
+ _publisher = None
+ _team_num = None
+ _budget_reached = False
+
+ def __init__(self, node_name='r2r_spl', **kwargs):
+ super().__init__(node_name, **kwargs)
+
+ # Declare parameters
+ self.declare_parameters(
+ namespace='',
+ parameters=[
+ ('team_num', 0),
+ ('player_num', 0),
+ ('msg_type', ''),
+ ('filter_own', False),
+ ]
+ )
+
+ # Read and log parameters
+ self._team_num = self.get_parameter('team_num').value
+ self.get_logger().debug('team_num: {}'.format(self._team_num))
+ if self._team_num == 0:
+ self.get_logger().warn('"team_num" parameter is 0. This is problematic in a game.')
+
+ self.player_num = self.get_parameter('player_num').value
+ self.get_logger().debug('player_num: {}'.format(self.player_num))
+ if self.player_num == 0:
+ self.get_logger().warn('"player_num" parameter is 0. This is problematic in a game.')
+
+ self.msg_type = self.get_parameter('msg_type').value
+ self.get_logger().debug('msg_type: {}'.format(self.msg_type))
+
+ self.filter_own = self.get_parameter('filter_own').value
+ self.get_logger().debug('filter_own: {}'.format(self.filter_own))
+
+ # Setup subscriber that listens to message budget
+ self._subscriber_rcgcd = self.create_subscription(
+ RCGCD15, 'gc/data', self._rcgcd_callback, 10)
+
+ # Evalulate and import message type
+ if self.msg_type == '':
+ raise ParameterNotSetException('"msg_type" parameter must be set.')
+ index_last_dot = self.msg_type.rfind('.')
+ assert index_last_dot != -1, \
+ f'msg_type must be in the form "package_name..MsgName" ' \
+ f'(eg. geometry_msgs.msg.PoseStamped). Got: {self.msg_type}'
+ assert index_last_dot != len(self.msg_type) - 1, \
+ f'msg_type must be in the form "package_name..MsgName" ' \
+ f'(eg. geometry_msgs.msg.PoseStamped). Got: {self.msg_type}'
+ class_name = self.msg_type[index_last_dot + 1:]
+ mod = __import__(self.msg_type[:index_last_dot], fromlist=[class_name])
+ msg_class = getattr(mod, class_name)
+
+ # Setup serialization
+ self._serialization = Serialization(
+ msg_class, player_num=self.player_num if self.filter_own else None)
+
+ # Setup publisher
+ self._publisher = self.create_publisher(msg_class, 'r2r/recv', 10)
+
+ # Setup subscriber
+ self._subscriber = self.create_subscription(
+ msg_class, 'r2r/send', self._topic_callback, 10)
+
+ # UDP Client - adapted from https://github.com/ninedraft/python-udp/blob/master/client.py
+ self._sock = socket.socket(
+ socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) # UDP
+ # This has to be SO_REUSEADDR instead of SO_REUSEPORT to work with TCM
+ self._sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ self._sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+ self._sock.bind(('', 10000 + self._team_num))
+ # Set timeout so _loop can constantly check for rclpy.ok()
+ self._sock.settimeout(0.1)
+
+ # Start thread to continuously poll
+ self._loop_thread = Thread(target=self._loop)
+ self._loop_thread.start()
+
+ def _loop(self):
+ while rclpy.ok():
+ try:
+ data, _ = self._sock.recvfrom(1024)
+ self.get_logger().debug(f'received: {data}')
+
+ # Convert data to ROS msg
+ try:
+ msg = self._serialization.deserialize(data)
+
+ if msg:
+ # Publish. Make sure we haven't shutdown, since node could have been
+ # shutdown while waiting for the packet.
+ if rclpy.ok():
+ self._publisher.publish(msg)
+ else:
+ # Reaches here if we filtered out our own message
+ # (only if filtering is enabled via filter_own parameter)
+ pass
+
+ except construct.core.StreamError:
+ # Deserialization failed
+ self.get_logger().error(
+ f'deserialization failed, please ensure other robots are using the '
+ f'matching message type {self.msg_type}', once=True)
+
+ except TimeoutError:
+ pass
+
+ def _topic_callback(self, msg):
+ if not self._budget_reached:
+ data = self._serialization.serialize(msg)
+
+ if len(data) > MAX_ALLOWED_MSG_SIZE:
+ self.get_logger().error(
+ f'Cannot send message of size {len(data)} bytes. Maximum size is 128 bytes.')
+ else:
+ # Broadcast data on team's UDP port
+ self._sock.sendto(data, ('', 10000 + self._team_num))
+
+ def _rcgcd_callback(self, msg):
+ team_found = False
+ for team in msg.teams:
+ if team.team_number == self._team_num:
+ team_found = True
+
+ if not self._budget_reached and team.message_budget < 10:
+ self.get_logger().info('Budget almost reached, not sending anymore messages')
+ self._budget_reached = True
+ elif self._budget_reached and team.message_budget > 10:
+ self.get_logger().info('Extra budget available, sending messages again')
+ self._budget_reached = False
+
+ if not team_found:
+ self.get_logger().warn(
+ f'Received messages from Game Controller about teams {msg.teams[0].team_number} '
+ f'and {msg.teams[1].team_number}, but team_num parameter is {self._team_num}. '
+ f'This is problematic if in a game.', once=True)
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ r2r_spl = R2RSPL()
+ rclpy.spin(r2r_spl)
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
diff --git a/r2r_spl/r2r_spl/serialization.py b/r2r_spl/r2r_spl/serialization.py
new file mode 100644
index 0000000..56797e4
--- /dev/null
+++ b/r2r_spl/r2r_spl/serialization.py
@@ -0,0 +1,217 @@
+# Copyright 2023 Kenji Brameld
+#
+# 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.
+
+import construct
+import rosidl_parser.definition
+
+
+class Serialization:
+
+ def __init__(self, msg_class, player_num=None):
+ """Set player_num if you want to filter out messages sent by yourself."""
+ # Store msg_class and player number
+ self.msg_class = msg_class
+ self.player_num = player_num
+
+ # Array to store struct members
+ members = []
+
+ # Start struct with player_num, if specified
+ if player_num is not None:
+ members.append('player_num' / construct.Int8ul)
+
+ # Add message content
+ members.append('content' / to_struct(msg_class))
+
+ # Create struct
+ self.struct = construct.Struct(*members)
+
+ def serialize(self, msg_instance):
+ """Serialize a message to a byte array."""
+ # Map to store values
+ values = {}
+
+ # Set player_num, if specified
+ if self.player_num is not None:
+ values['player_num'] = self.player_num
+
+ # Set message content
+ values['content'] = to_container(msg_instance)
+
+ # Create container from map
+ container = construct.Container(**values)
+
+ # Build container, and return
+ return self.struct.build(container)
+
+ def deserialize(self, serialized):
+ """
+ Deserialize a byte array to a ROS message.
+
+ Returns None, if message received was one sent from ourself.
+ Raises construct.core.StreamError if deserialization fails.
+ """
+ parsed = self.struct.parse(serialized)
+
+ # If player_num is specified, check if it matches the message's player_num
+ # If it does, return None
+ if self.player_num is not None:
+ if self.player_num == parsed['player_num']:
+ return None
+
+ return to_msg(parsed['content'], self.msg_class)
+
+
+basic_type_conversion = {
+ 'float': construct.Float32l,
+ 'double': construct.Float64l,
+ 'boolean': construct.Flag,
+ 'octet': construct.Bytes(1),
+ 'int8': construct.Int8sl,
+ 'uint8': construct.Int8ul,
+ 'int16': construct.Int16sl,
+ 'uint16': construct.Int16ul,
+ 'int32': construct.Int32sl,
+ 'uint32': construct.Int32ul,
+ 'int64': construct.Int64sl,
+ 'uint64': construct.Int64ul,
+}
+
+
+def to_struct(msg_class) -> construct.Struct:
+ """Convert a message to a construct struct."""
+ members = []
+ for s, t in zip(msg_class.get_fields_and_field_types().keys(), msg_class.SLOT_TYPES):
+ # Nested Type
+ if isinstance(t, rosidl_parser.definition.NamespacedType):
+ mod = __import__('.'.join(t.namespaces), fromlist=[t.name])
+ klass = getattr(mod, t.name)
+ members.append(s / to_struct(klass))
+
+ # Array
+ elif isinstance(t, rosidl_parser.definition.Array):
+ if isinstance(t.value_type, rosidl_parser.definition.NamespacedType):
+ mod = __import__('.'.join(t.value_type.namespaces), fromlist=[t.value_type.name])
+ klass = getattr(mod, t.value_type.name)
+ tmp_type = to_struct(klass)
+ elif isinstance(t.value_type, rosidl_parser.definition.BasicType):
+ tmp_type = basic_type_conversion[t.value_type.typename]
+ else:
+ tmp_type = to_struct(t.value_type)
+ members.append(s / construct.Array(t.size, tmp_type))
+
+ # Unbounded sequence
+ # Bounded sequence
+ elif (isinstance(t, rosidl_parser.definition.UnboundedSequence) or
+ isinstance(t, rosidl_parser.definition.BoundedSequence)):
+ if isinstance(t.value_type, rosidl_parser.definition.NamespacedType):
+ mod = __import__('.'.join(t.value_type.namespaces), fromlist=[t.value_type.name])
+ klass = getattr(mod, t.value_type.name)
+ tmp_type = to_struct(klass)
+ elif isinstance(t.value_type, rosidl_parser.definition.BasicType):
+ tmp_type = basic_type_conversion[t.value_type.typename]
+ else:
+ tmp_type = to_struct(t.value_type)
+ members.append(s / construct.PrefixedArray(construct.VarInt, tmp_type))
+
+ # Unbounded string
+ # Bounded string
+ elif (isinstance(t, rosidl_parser.definition.UnboundedString) or
+ isinstance(t, rosidl_parser.definition.BoundedString)):
+ members.append(s / construct.PascalString(construct.VarInt, 'utf8'))
+
+ # Unbounded wstring
+ # Bounded wstring
+ elif (isinstance(t, rosidl_parser.definition.UnboundedWString) or
+ isinstance(t, rosidl_parser.definition.BoundedWString)):
+ members.append(s / construct.PascalString(construct.VarInt, 'utf16'))
+
+ # Basic type
+ elif isinstance(t, rosidl_parser.definition.BasicType):
+ members.append(s / basic_type_conversion[t.typename])
+ return construct.Struct(*members)
+
+
+def to_container(msg_instance) -> construct.Container:
+ values = {}
+ for s, t in zip(msg_instance.get_fields_and_field_types().keys(), msg_instance.SLOT_TYPES):
+ # Check if namespaced type
+ if isinstance(t, rosidl_parser.definition.NamespacedType):
+ field = getattr(msg_instance, s)
+ values[s] = to_container(field)
+ # Check if array type
+ elif (isinstance(t, rosidl_parser.definition.Array) or
+ isinstance(t, rosidl_parser.definition.UnboundedSequence) or
+ isinstance(t, rosidl_parser.definition.BoundedSequence)):
+ field = getattr(msg_instance, s)
+ if isinstance(t.value_type, rosidl_parser.definition.NamespacedType):
+ values[s] = [to_container(f) for f in field]
+ elif isinstance(t.value_type, rosidl_parser.definition.BasicType):
+ if t.value_type.typename in rosidl_parser.definition.INTEGER_TYPES or \
+ t.value_type.typename in rosidl_parser.definition.FLOATING_POINT_TYPES:
+ values[s] = field.tolist()
+ else:
+ values[s] = field
+ # Check if string type
+ elif (isinstance(t, rosidl_parser.definition.UnboundedString) or
+ isinstance(t, rosidl_parser.definition.BoundedString)):
+ values[s] = getattr(msg_instance, s)
+ # Check if wstring type
+ elif (isinstance(t, rosidl_parser.definition.UnboundedWString) or
+ isinstance(t, rosidl_parser.definition.BoundedWString)):
+ values[s] = getattr(msg_instance, s)
+ # Check if basic type
+ elif isinstance(t, rosidl_parser.definition.BasicType):
+ values[s] = getattr(msg_instance, s)
+ return construct.Container(**values)
+
+
+def to_msg(container, msg_class):
+ values = {}
+
+ for s, t in zip(msg_class.get_fields_and_field_types().keys(), msg_class.SLOT_TYPES):
+ if s in container:
+ # Nested Type
+ if isinstance(t, rosidl_parser.definition.NamespacedType):
+ mod = __import__('.'.join(t.namespaces), fromlist=[t.name])
+ klass = getattr(mod, t.name)
+ values[s] = to_msg(container[s], klass)
+ # Array
+ elif (isinstance(t, rosidl_parser.definition.Array) or
+ isinstance(t, rosidl_parser.definition.UnboundedSequence) or
+ isinstance(t, rosidl_parser.definition.BoundedSequence)):
+ tmp_array = []
+ if isinstance(t.value_type, rosidl_parser.definition.NamespacedType):
+ mod = __import__('.'.join(t.value_type.namespaces),
+ fromlist=[t.value_type.name])
+ klass = getattr(mod, t.value_type.name)
+ for v in container[s]:
+ tmp_array.append(to_msg(v, klass))
+ else:
+ for v in container[s]:
+ tmp_array.append(v)
+ values[s] = tmp_array
+ # Basic Type
+ # Unbounded string
+ # Bounded string
+ # Unbounded wstring
+ # Bounded wstring
+ elif (isinstance(t, rosidl_parser.definition.BasicType) or
+ isinstance(t, rosidl_parser.definition.UnboundedString) or
+ isinstance(t, rosidl_parser.definition.BoundedString) or
+ isinstance(t, rosidl_parser.definition.UnboundedWString) or
+ isinstance(t, rosidl_parser.definition.BoundedWString)):
+ values[s] = container[s]
+
+ return msg_class(**values)
diff --git a/r2r_spl/resource/r2r_spl b/r2r_spl/resource/r2r_spl
new file mode 100644
index 0000000..e69de29
diff --git a/r2r_spl/setup.cfg b/r2r_spl/setup.cfg
new file mode 100644
index 0000000..64ab8c0
--- /dev/null
+++ b/r2r_spl/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/r2r_spl
+[install]
+install_scripts=$base/lib/r2r_spl
diff --git a/r2r_spl/setup.py b/r2r_spl/setup.py
new file mode 100644
index 0000000..7f2b603
--- /dev/null
+++ b/r2r_spl/setup.py
@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'r2r_spl'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='ijnek',
+ maintainer_email='kenjibrameld@gmail.com',
+ description='Robot-to-Robot Communication in RoboCup Standard Platform League',
+ license='Apache License 2.0',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'r2r_spl = r2r_spl.r2r_spl:main',
+ ],
+ },
+)
diff --git a/r2r_spl/test/test_copyright.py b/r2r_spl/test/test_copyright.py
new file mode 100644
index 0000000..cc8ff03
--- /dev/null
+++ b/r2r_spl/test/test_copyright.py
@@ -0,0 +1,23 @@
+# Copyright 2015 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/r2r_spl/test/test_flake8.py b/r2r_spl/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/r2r_spl/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/r2r_spl/test/test_pep257.py b/r2r_spl/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/r2r_spl/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
diff --git a/r2r_spl/test/test_r2r_spl.py b/r2r_spl/test/test_r2r_spl.py
new file mode 100644
index 0000000..27c53a6
--- /dev/null
+++ b/r2r_spl/test/test_r2r_spl.py
@@ -0,0 +1,350 @@
+# Copyright 2023 Kenji Brameld
+#
+# 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.
+
+import socket
+import time
+import unittest
+
+from game_controller_spl_interfaces.msg import RCGCD15
+from r2r_spl.r2r_spl import R2RSPL
+from r2r_spl.serialization import Serialization
+from r2r_spl_test_interfaces.msg import ArrayTypes, BasicTypes
+import rclpy
+from rclpy.parameter import Parameter
+
+
+class TestR2RSPL(unittest.TestCase):
+ """Tests against R2RSPL."""
+
+ received = None
+
+ team_num = 1
+ player_num = 1
+
+ parameter_overrides = [
+ Parameter('team_num', value=team_num),
+ Parameter('player_num', value=player_num),
+ Parameter('msg_type', value='r2r_spl_test_interfaces.msg.ArrayTypes')]
+
+ def _callback_msg(self, msg):
+ self.received = msg
+
+ def test_receiving(self):
+ """Test receiving UDP package from teammate."""
+ rclpy.init()
+
+ # Setup nodes
+ r2r_spl_node = R2RSPL(parameter_overrides=self.parameter_overrides) # noqa: F841
+ test_node = rclpy.node.Node('test')
+ subscription = test_node.create_subscription( # noqa: F841
+ ArrayTypes, 'r2r/recv', self._callback_msg, 10)
+
+ # Example message from another player on same team
+ serialization = Serialization(ArrayTypes)
+ serialized = serialization.serialize(ArrayTypes())
+
+ # UDP - adapted from https://github.com/ninedraft/python-udp/blob/8/server.py
+ with socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) as sock:
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+ sock.sendto(serialized, ('', 10000 + self.team_num))
+
+ # Wait for R2RSPL to receive packet over UDP, and publish a ROS msg
+ time.sleep(0.1)
+
+ # Check if message has been received on topic
+ rclpy.spin_once(test_node, timeout_sec=0)
+ self.assertIsNotNone(self.received)
+
+ # Shutdown, then ensure thread is joined
+ rclpy.shutdown()
+ r2r_spl_node._loop_thread.join()
+
+ def test_filter_own(self):
+ """
+ Test filtering of packages, when filter_own param is set to True.
+
+ Check:
+ - Packet sent by myself is ignored
+ - Packet from teammate is processed
+ """
+ rclpy.init()
+
+ r2r_spl_node = R2RSPL(parameter_overrides=[ # noqa: F841
+ Parameter('team_num', value=self.team_num),
+ Parameter('player_num', value=self.player_num),
+ Parameter('msg_type', value='r2r_spl_test_interfaces.msg.ArrayTypes'),
+ Parameter('filter_own', value=True)])
+ test_node = rclpy.node.Node('test')
+ subscription = test_node.create_subscription( # noqa: F841
+ ArrayTypes, 'r2r/recv', self._callback_msg, 10)
+
+ # Send message from myself
+ serialization = Serialization(ArrayTypes, player_num=self.player_num)
+ serialized = serialization.serialize(ArrayTypes())
+ with socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) as sock:
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+ sock.sendto(serialized, ('', 10000 + self.team_num))
+
+ # Wait for R2RSPL to receive packet over UDP
+ time.sleep(0.1)
+
+ # Check if message has been received on topic
+ rclpy.spin_once(test_node, timeout_sec=0)
+
+ # Expect no message published
+ self.assertIsNone(self.received)
+
+ # Send message from another player on same team
+ serialization = Serialization(ArrayTypes, player_num=5)
+ serialized = serialization.serialize(ArrayTypes())
+ with socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) as sock:
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+ sock.sendto(serialized, ('', 10000 + self.team_num))
+
+ # Wait for R2RSPL to receive packet over UDP
+ time.sleep(0.1)
+
+ # Check if message has been received on topic
+ rclpy.spin_once(test_node, timeout_sec=0)
+
+ # Expect message to be published
+ self.assertIsNotNone(self.received)
+
+ # Shutdown, then ensure thread is joined
+ rclpy.shutdown()
+ r2r_spl_node._loop_thread.join()
+
+ def test_sending(self):
+ """Test sending UDP package to teammate."""
+ rclpy.init()
+
+ r2r_spl_node = R2RSPL(parameter_overrides=self.parameter_overrides) # noqa: F841
+ test_node = rclpy.node.Node('test')
+ publisher = test_node.create_publisher(ArrayTypes, 'r2r/send', 10)
+
+ # UDP - adapted from https://github.com/ninedraft/python-udp/blob/8/server.py
+ sock = socket.socket(
+ socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+ sock.bind(('', 10000 + self.team_num))
+ sock.settimeout(0.1)
+
+ # Publish ArrayTypes to r2r_spl_node
+ publisher.publish(ArrayTypes())
+
+ # Wait before spinning for the msg arrive in r2r_spl_node's subscription
+ time.sleep(0.1)
+
+ # Spin r2r_spl_node to process incoming message and send out UDP message
+ rclpy.spin_once(r2r_spl_node, timeout_sec=0)
+
+ # Check if packet has arrived
+ try:
+ _ = sock.recv(1024)
+ except TimeoutError:
+ self.fail('TimeoutError, did not receive expected UDP packet')
+
+ # Close socket
+ sock.close()
+
+ # Shutdown, then ensure thread is joined
+ rclpy.shutdown()
+ r2r_spl_node._loop_thread.join()
+
+ def test_invalid_msg_type(self):
+ """
+ Test msg type parameter that is in the wrong format.
+
+ Check:
+ - Msg type not containing a dot (eg. r2r_spl_test_interfaces/msg/ArrayTypes)
+ - Msg type ending with a dot (eg. r2r_spl_test_interfaces.msg.)
+ """
+ rclpy.init()
+
+ with self.assertRaises(AssertionError):
+ R2RSPL(parameter_overrides=[
+ Parameter('msg_type', value='r2r_spl_test_interfaces/msg/ArrayTypes')])
+ with self.assertRaises(AssertionError):
+ R2RSPL(parameter_overrides=[
+ Parameter('msg_type', value='r2r_spl_test_interfaces.msg.')])
+ rclpy.shutdown()
+
+ def test_msg_type_not_found(self):
+ """Test msg type parameter with non-existent message type."""
+ rclpy.init()
+
+ with self.assertRaises(ModuleNotFoundError):
+ R2RSPL(parameter_overrides=[
+ Parameter('msg_type', value='NonExistentPackage.msg.ArrayTypes')])
+ with self.assertRaises(AttributeError):
+ R2RSPL(parameter_overrides=[
+ Parameter('msg_type', value='r2r_spl_test_interfaces.msg.NonExistentType')])
+ rclpy.shutdown()
+
+ def test_wrong_packet_size(self):
+ """Test receiving UDP package of incorrect size (incompatible message type)."""
+ rclpy.init()
+
+ # Setup nodes
+ r2r_spl_node = R2RSPL(parameter_overrides=self.parameter_overrides) # noqa: F841
+ test_node = rclpy.node.Node('test')
+
+ # Incorrect message type from another player on same team
+ serialization = Serialization(BasicTypes)
+ serialized = serialization.serialize(BasicTypes())
+
+ # UDP - adapted from https://github.com/ninedraft/python-udp/blob/8/server.py
+ with socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) as sock:
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+ sock.sendto(serialized, ('', 10000 + self.team_num))
+
+ # Wait for R2RSPL to receive packet over UDP
+ time.sleep(0.1)
+
+ # Check if message has been received on topic
+ rclpy.spin_once(test_node, timeout_sec=0)
+
+ # Expect no message published
+ self.assertIsNone(self.received)
+
+ # Shutdown, then ensure thread is joined
+ rclpy.shutdown()
+ r2r_spl_node._loop_thread.join()
+
+ def test_message_budget(self):
+ """
+ Test to ensure the SPL message budget is not exceeded.
+
+ Check:
+ - Sending stops when message budget is low
+ - Sending restarts when extra budget is added
+ """
+ rclpy.init()
+
+ r2r_spl_node = R2RSPL(parameter_overrides=self.parameter_overrides) # noqa: F841
+ test_node = rclpy.node.Node('test')
+ publisher = test_node.create_publisher(ArrayTypes, 'r2r/send', 10)
+ publisher_rcgcd = test_node.create_publisher(RCGCD15, 'gc/data', 10)
+
+ # Publish RCGCD with low (<10) message budget
+ rcgcd_msg = RCGCD15()
+ rcgcd_msg.teams[0].team_number = self.team_num
+ rcgcd_msg.teams[0].message_budget = 5
+ publisher_rcgcd.publish(rcgcd_msg)
+
+ # Wait before spinning for the msg arrive in r2r_spl_node's subscription
+ time.sleep(0.1)
+
+ # Spin r2r_spl_node to process incoming message
+ rclpy.spin_once(r2r_spl_node, timeout_sec=0)
+
+ # UDP - adapted from https://github.com/ninedraft/python-udp/blob/8/server.py
+ sock = socket.socket(
+ socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+ sock.bind(('', 10000 + self.team_num))
+ sock.settimeout(0.1)
+
+ # Publish ArrayTypes to r2r_spl_node
+ publisher.publish(ArrayTypes())
+
+ # Wait before spinning for the msg arrive in r2r_spl_node's subscription
+ time.sleep(0.1)
+
+ # Spin r2r_spl_node to process incoming message and send out UDP message
+ rclpy.spin_once(r2r_spl_node, timeout_sec=0)
+
+ # Check to see that packet didn't arrive
+ with self.assertRaises(TimeoutError):
+ _ = sock.recv(1024)
+
+ # Publish RCGCD with increased message budget (simulating extra time rule)
+ rcgcd_msg.teams[0].message_budget = 60
+ publisher_rcgcd.publish(rcgcd_msg)
+
+ # Wait before spinning for the msg arrive in r2r_spl_node's subscription
+ time.sleep(0.1)
+
+ # Spin r2r_spl_node to process incoming message
+ rclpy.spin_once(r2r_spl_node, timeout_sec=0)
+
+ # Publish ArrayTypes to r2r_spl_node
+ publisher.publish(ArrayTypes())
+
+ # Wait before spinning for the msg arrive in r2r_spl_node's subscription
+ time.sleep(0.1)
+
+ # Spin r2r_spl_node to process incoming message and send out UDP message
+ rclpy.spin_once(r2r_spl_node, timeout_sec=0)
+
+ # Check if packet has arrived
+ try:
+ _ = sock.recv(1024)
+ except TimeoutError:
+ self.fail('TimeoutError, did not receive expected UDP packet')
+
+ # Close socket
+ sock.close()
+
+ # Shutdown, then ensure thread is joined
+ rclpy.shutdown()
+ r2r_spl_node._loop_thread.join()
+
+ def test_msg_size_exceeding_128_bytes(self):
+ """Test to ensure we don't send messages exceeding 128 bytes."""
+ rclpy.init()
+ r2r_spl_node = R2RSPL(parameter_overrides=self.parameter_overrides) # noqa: F841
+ test_node = rclpy.node.Node('test')
+ publisher = test_node.create_publisher(ArrayTypes, 'r2r/send', 10)
+
+ # UDP - adapted from https://github.com/ninedraft/python-udp/blob/8/server.py
+ sock = socket.socket(
+ socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+ sock.bind(('', 10000 + self.team_num))
+ sock.settimeout(0.1)
+
+ # Publish ArrayTypes to r2r_spl_node
+ publisher.publish(ArrayTypes(data_string='a' * 129))
+
+ # Wait before spinning for the msg arrive in r2r_spl_node's subscription
+ time.sleep(0.1)
+
+ # Spin r2r_spl_node to process incoming message and send out UDP message
+ rclpy.spin_once(r2r_spl_node, timeout_sec=0)
+
+ # Check to see that packet didn't arrive
+ with self.assertRaises(TimeoutError):
+ _ = sock.recv(1024)
+
+ # Expect no message published
+ self.assertIsNone(self.received)
+
+ # Close socket
+ sock.close()
+
+ # Shutdown, then ensure thread is joined
+ rclpy.shutdown()
+ r2r_spl_node._loop_thread.join()
+
+
+if __name__ == '__main__':
+ unittest.main()
diff --git a/r2r_spl/test/test_serialization.py b/r2r_spl/test/test_serialization.py
new file mode 100755
index 0000000..e91398c
--- /dev/null
+++ b/r2r_spl/test/test_serialization.py
@@ -0,0 +1,137 @@
+# Copyright 2023 Kenji Brameld
+#
+# 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.
+
+import unittest
+
+import numpy.testing
+
+from r2r_spl.serialization import Serialization
+from r2r_spl_test_interfaces.msg import ArrayTypes, BasicTypes, NestedTypes
+
+
+class TestSerialization(unittest.TestCase):
+
+ def test_basic_types(self):
+ """Test serialization and deserialization of basic types."""
+ # Initialize serialization object
+ serialization = Serialization(BasicTypes)
+
+ # Create message instance
+ msg_instance = BasicTypes()
+ msg_instance.val_bool = True
+ msg_instance.val_byte = b'\x10'
+ msg_instance.val_char = ord('A') # char comes in as a uint8
+ msg_instance.val_float32 = 0.01
+ msg_instance.val_float64 = 0.02
+ msg_instance.val_int8 = -1
+ msg_instance.val_uint8 = 2
+ msg_instance.val_int16 = -3
+ msg_instance.val_uint16 = 4
+ msg_instance.val_int32 = -5
+ msg_instance.val_uint32 = 6
+ msg_instance.val_int64 = -7
+ msg_instance.val_uint64 = 8
+
+ # Serialize
+ serialized = serialization.serialize(msg_instance)
+
+ # Deserialize
+ deserialized = serialization.deserialize(serialized)
+
+ # Check type matches original message
+ self.assertEqual(type(msg_instance), type(deserialized))
+
+ # Check values match original message
+ self.assertEqual(deserialized.val_bool, True)
+ self.assertEqual(chr(deserialized.val_char), 'A') # char comes out as a uint8
+ self.assertEqual(deserialized.val_byte, b'\x10')
+ self.assertAlmostEqual(deserialized.val_float32, 0.01)
+ self.assertAlmostEqual(deserialized.val_float64, 0.02)
+ self.assertEqual(deserialized.val_int8, -1)
+ self.assertEqual(deserialized.val_uint8, 2)
+ self.assertEqual(deserialized.val_int16, -3)
+ self.assertEqual(deserialized.val_uint16, 4)
+ self.assertEqual(deserialized.val_int32, -5)
+ self.assertEqual(deserialized.val_uint32, 6)
+ self.assertEqual(deserialized.val_int64, -7)
+ self.assertEqual(deserialized.val_uint64, 8)
+
+ def test_array_types(self):
+ """Test serialization and deserialization of array types."""
+ # Initialize serialization object
+ serialization = Serialization(ArrayTypes)
+
+ # Create message instance
+ msg_instance = ArrayTypes()
+ msg_instance.data_int8_static = [1, 2, 3]
+ msg_instance.data_bool_static = [False, True]
+ msg_instance.data_int8_unbounded_dynamic = [10, 20, 30, 40]
+ msg_instance.data_bool_unbounded_dynamic = [True, False, True, False, True]
+ msg_instance.data_int8_bounded_dynamic = [70, 80]
+ msg_instance.data_bool_bounded_dynamic = [False]
+ msg_instance.data_string = 'Hello World'
+ msg_instance.data_string_bounded = 'Hi'
+ msg_instance.data_wstring = 'ハローワールド'
+ msg_instance.data_wstring_bounded = 'やあ'
+
+ # Serialize
+ serialized = serialization.serialize(msg_instance)
+
+ # Deserialize
+ deserialized = serialization.deserialize(serialized)
+
+ # Check type matches original message
+ self.assertEqual(type(msg_instance), type(deserialized))
+
+ # Check values match original message
+ numpy.testing.assert_array_equal(deserialized.data_int8_static, [1, 2, 3])
+ self.assertEqual(deserialized.data_bool_static, [False, True])
+ numpy.testing.assert_array_equal(
+ deserialized.data_int8_unbounded_dynamic, [10, 20, 30, 40])
+ self.assertEqual(
+ deserialized.data_bool_unbounded_dynamic, [True, False, True, False, True])
+ numpy.testing.assert_array_equal(deserialized.data_int8_bounded_dynamic, [70, 80])
+ self.assertEqual(deserialized.data_bool_bounded_dynamic, [False])
+ self.assertEqual(deserialized.data_string, 'Hello World')
+ self.assertEqual(deserialized.data_string_bounded, 'Hi')
+ self.assertEqual(deserialized.data_wstring, 'ハローワールド')
+ self.assertEqual(deserialized.data_wstring_bounded, 'やあ')
+
+ def test_nested_types(self):
+ """Test serialization and deserialization of nested types."""
+ # Initialize serialization object
+ serialization = Serialization(NestedTypes)
+
+ # Create message instance
+ msg_instance = NestedTypes()
+ msg_instance.data_basic_types.val_uint8 = 101
+ msg_instance.data_basic_types_array = [BasicTypes(), BasicTypes(val_int8=-10)]
+
+ # Serialize
+ serialized = serialization.serialize(msg_instance)
+
+ # Deserialize
+ deserialized = serialization.deserialize(serialized)
+
+ # Check type matches original message
+ self.assertEqual(type(msg_instance), type(deserialized))
+
+ # Check values match original message
+ self.assertEqual(deserialized.data_basic_types.val_uint8, 101)
+ self.assertEqual(len(deserialized.data_basic_types_array), 2)
+ self.assertEqual(deserialized.data_basic_types_array[1].val_int8, -10)
+
+
+if __name__ == '__main__':
+ unittest.main()
diff --git a/r2r_spl_7/test/test_r2r_spl.py b/r2r_spl_7/test/test_r2r_spl.py
index 444dff8..19fa544 100644
--- a/r2r_spl_7/test/test_r2r_spl.py
+++ b/r2r_spl_7/test/test_r2r_spl.py
@@ -32,7 +32,7 @@ class TestR2RSPL:
received = None
- team_num = 1
+ team_num = 2
player_num = 1
parameter_overrides = [
diff --git a/r2r_spl_8/test/test_r2r_spl.py b/r2r_spl_8/test/test_r2r_spl.py
index 624e0f5..1b2814d 100644
--- a/r2r_spl_8/test/test_r2r_spl.py
+++ b/r2r_spl_8/test/test_r2r_spl.py
@@ -32,7 +32,7 @@ class TestR2RSPL:
received = None
- team_num = 1
+ team_num = 3
player_num = 1
parameter_overrides = [
diff --git a/r2r_spl_test_interfaces/CMakeLists.txt b/r2r_spl_test_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..f1a8c11
--- /dev/null
+++ b/r2r_spl_test_interfaces/CMakeLists.txt
@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(r2r_spl_test_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# generate interfaces
+rosidl_generate_interfaces(${PROJECT_NAME}
+ "msg/ArrayTypes.msg"
+ "msg/BasicTypes.msg"
+ "msg/NestedTypes.msg"
+)
+
+# export dependencies
+ament_export_dependencies(rosidl_default_runtime)
+
+# test
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/r2r_spl_test_interfaces/msg/ArrayTypes.msg b/r2r_spl_test_interfaces/msg/ArrayTypes.msg
new file mode 100644
index 0000000..17d2526
--- /dev/null
+++ b/r2r_spl_test_interfaces/msg/ArrayTypes.msg
@@ -0,0 +1,10 @@
+int8[3] data_int8_static # Test numeric static array (since it uses numpy arrays)
+bool[2] data_bool_static # Test non-numeric static array
+int8[] data_int8_unbounded_dynamic # Test numeric unbounded array
+bool[] data_bool_unbounded_dynamic # Test non-numeric unbounded array
+int8[<=3] data_int8_bounded_dynamic # Test numeric bounded array
+bool[<=2] data_bool_bounded_dynamic # Test non-numeric bounded array
+string data_string # Test string
+string<=3 data_string_bounded # Test bounded string
+wstring data_wstring # Test wstring
+wstring<=3 data_wstring_bounded # Test bounded wstring
diff --git a/r2r_spl_test_interfaces/msg/BasicTypes.msg b/r2r_spl_test_interfaces/msg/BasicTypes.msg
new file mode 100644
index 0000000..f948ab6
--- /dev/null
+++ b/r2r_spl_test_interfaces/msg/BasicTypes.msg
@@ -0,0 +1,13 @@
+bool val_bool
+byte val_byte
+char val_char
+float32 val_float32
+float64 val_float64
+int8 val_int8
+uint8 val_uint8
+int16 val_int16
+uint16 val_uint16
+int32 val_int32
+uint32 val_uint32
+int64 val_int64
+uint64 val_uint64
diff --git a/r2r_spl_test_interfaces/msg/NestedTypes.msg b/r2r_spl_test_interfaces/msg/NestedTypes.msg
new file mode 100644
index 0000000..b09a958
--- /dev/null
+++ b/r2r_spl_test_interfaces/msg/NestedTypes.msg
@@ -0,0 +1,4 @@
+# Message containing other message types
+
+r2r_spl_test_interfaces/BasicTypes data_basic_types
+r2r_spl_test_interfaces/BasicTypes[] data_basic_types_array
diff --git a/r2r_spl_test_interfaces/package.xml b/r2r_spl_test_interfaces/package.xml
new file mode 100644
index 0000000..3af6844
--- /dev/null
+++ b/r2r_spl_test_interfaces/package.xml
@@ -0,0 +1,22 @@
+
+
+
+ r2r_spl_test_interfaces
+ 0.0.0
+ Messages for testing r2r_spl
+ ijnek
+ Apache License 2.0
+
+ ament_cmake
+
+ ament_lint_auto
+ ament_lint_common
+
+ rosidl_default_generators
+ rosidl_default_runtime
+ rosidl_interface_packages
+
+
+ ament_cmake
+
+