Nested types

[fmrico]

Hi @esteve ,

I have implemented the publication and subscription to Nested Types.

Hope it helps!!

[fmrico]

I have just detected an error. Please, wait for my next commits :S

[fmrico]

Hi @esteve ,

I have fixed the error and now write and read and recursively done.

Best

[esteve]

Thanks for the PR.

[esteve]

@fmrico could you add a few simple tests with xUnit to check that everything is correct? This code is extremely delicate, and it'd be good to make sure that nothing breaks in the future.

[fmrico]

@esteve , I added xUnit tests, as you requested. It depends on a PR made in ros2-dotnet/dotnet_cmake_module#2

By now, tests must be in a separate package, and tests are run by typing:
$ dotnet test ./build/rcldotnet_tests/

I don't know if you have time to help me to integrate it with ament...

Hope it helps!!

[fmrico]

I am happy to say that I think I got it !! Tests are integrated with ament :)

This PR depends on ros2-dotnet/dotnet_cmake_module#2

I also fixed a problem that didn't allow to create two projects in the same package with different TargetFramework

[theseankelly]

FYI @fmrico, @esteve -- I have rebased this work on top of PRs #40 and #41 in this branch: https://github.com/theseankelly/ros2_dotnet/commits/nested_types_rebased

[fmrico]

Dear @theseankelly

Thanks for your work ;)

Maybe it will be useful for you this other branch if you also want to support collection types, or even this that I worked on for supporting tf2.

I promised @esteve to PR all these developments, but I have been very busy this year with a lot of projects. I am happy to see how you push forward the amazing Esteve's work with this repo.

Best regards

[theseankelly]

This was done in #54