From dcad052a15396569b3173f372fd61dd47e59ede5 Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten.knese@googlemail.com>
Date: Mon, 28 Nov 2016 15:50:47 -0800
Subject: [PATCH 1/4] add lifecycle_msgs

---
 lifecycle_msgs/CMakeLists.txt      | 30 ++++++++++++++++++++++++++++++
 lifecycle_msgs/msg/Transition.msg  |  2 ++
 lifecycle_msgs/package.xml         | 24 ++++++++++++++++++++++++
 lifecycle_msgs/srv/ChangeState.srv |  4 ++++
 lifecycle_msgs/srv/GetState.srv    |  3 +++
 5 files changed, 63 insertions(+)
 create mode 100644 lifecycle_msgs/CMakeLists.txt
 create mode 100644 lifecycle_msgs/msg/Transition.msg
 create mode 100644 lifecycle_msgs/package.xml
 create mode 100644 lifecycle_msgs/srv/ChangeState.srv
 create mode 100644 lifecycle_msgs/srv/GetState.srv

diff --git a/lifecycle_msgs/CMakeLists.txt b/lifecycle_msgs/CMakeLists.txt
new file mode 100644
index 00000000..8916a843
--- /dev/null
+++ b/lifecycle_msgs/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(lifecycle_msgs)
+
+if(NOT WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+set(msg_files
+  "msg/Transition.msg"
+)
+set(srv_files
+  "srv/GetState.srv"
+  "srv/ChangeState.srv"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES std_msgs
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/lifecycle_msgs/msg/Transition.msg b/lifecycle_msgs/msg/Transition.msg
new file mode 100644
index 00000000..6f6c283f
--- /dev/null
+++ b/lifecycle_msgs/msg/Transition.msg
@@ -0,0 +1,2 @@
+uint8 start_state
+uint8 goal_state
diff --git a/lifecycle_msgs/package.xml b/lifecycle_msgs/package.xml
new file mode 100644
index 00000000..1cf8bd74
--- /dev/null
+++ b/lifecycle_msgs/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>lifecycle_msgs</name>
+  <version>0.0.0</version>
+  <description>A package containing some lifecycle related message and service definitions.</description>
+  <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/lifecycle_msgs/srv/ChangeState.srv b/lifecycle_msgs/srv/ChangeState.srv
new file mode 100644
index 00000000..b6b4e887
--- /dev/null
+++ b/lifecycle_msgs/srv/ChangeState.srv
@@ -0,0 +1,4 @@
+string node_name
+uint8 transition
+---
+bool success
diff --git a/lifecycle_msgs/srv/GetState.srv b/lifecycle_msgs/srv/GetState.srv
new file mode 100644
index 00000000..b66e0b8e
--- /dev/null
+++ b/lifecycle_msgs/srv/GetState.srv
@@ -0,0 +1,3 @@
+string node_name
+---
+uint8 current_state

From b2cf212f4258c383a7faf65d6f6cc2fab03ec55d Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten.knese@googlemail.com>
Date: Mon, 28 Nov 2016 20:42:15 -0800
Subject: [PATCH 2/4] (dev) add default states for transition message

---
 lifecycle_msgs/msg/Transition.msg | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/lifecycle_msgs/msg/Transition.msg b/lifecycle_msgs/msg/Transition.msg
index 6f6c283f..d21d96b3 100644
--- a/lifecycle_msgs/msg/Transition.msg
+++ b/lifecycle_msgs/msg/Transition.msg
@@ -1,2 +1,12 @@
+# Default values for primary states
+# as described on
+# http://design.ros2.org/articles/node_lifecycle.html
+
+uint8 STATE_UNKNOWN = 0
+uint8 STATE_UNCONFIGURED = 1
+uint8 STATE_INACTIVE = 2
+uint8 STATE_ACTIVE = 3
+uint8 STATE_FINALIZED = 4
+
 uint8 start_state
 uint8 goal_state

From b9bc65b7b00989d77e1b055af5ad3970c87f25bb Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten.knese@googlemail.com>
Date: Mon, 28 Nov 2016 20:42:28 -0800
Subject: [PATCH 3/4] (fix) style

---
 lifecycle_msgs/CMakeLists.txt | 2 +-
 lifecycle_msgs/package.xml    | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/lifecycle_msgs/CMakeLists.txt b/lifecycle_msgs/CMakeLists.txt
index 8916a843..e0b6e466 100644
--- a/lifecycle_msgs/CMakeLists.txt
+++ b/lifecycle_msgs/CMakeLists.txt
@@ -14,8 +14,8 @@ set(msg_files
   "msg/Transition.msg"
 )
 set(srv_files
-  "srv/GetState.srv"
   "srv/ChangeState.srv"
+  "srv/GetState.srv"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/lifecycle_msgs/package.xml b/lifecycle_msgs/package.xml
index 1cf8bd74..4303c32c 100644
--- a/lifecycle_msgs/package.xml
+++ b/lifecycle_msgs/package.xml
@@ -8,7 +8,6 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <build_depend>std_msgs</build_depend>

From 66a7a0d8b2fc154f095b2a31e61b1fc2f71595e8 Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten.knese@googlemail.com>
Date: Tue, 29 Nov 2016 07:49:05 -0800
Subject: [PATCH 4/4] add default transition values for change_state service

---
 lifecycle_msgs/srv/ChangeState.srv | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/lifecycle_msgs/srv/ChangeState.srv b/lifecycle_msgs/srv/ChangeState.srv
index b6b4e887..55228e0e 100644
--- a/lifecycle_msgs/srv/ChangeState.srv
+++ b/lifecycle_msgs/srv/ChangeState.srv
@@ -1,3 +1,10 @@
+uint8 TRANSITION_CONFIGURING = 10
+uint8 TRANSITION_CLEANINGUP = 11
+uint8 TRANSITION_SHUTTINGDOWN = 12
+uint8 TRANSITION_ACTIVATING = 13
+uint8 TRANSITION_DEACTIVATING = 14
+uint8 TRANSITION_ERRORPROCESSING = 15
+
 string node_name
 uint8 transition
 ---