[rcl_interfaces] Homogenize iface definition (#23)

* homogenize interfaces definition

* move rcl_interfaces README inside rcl_interfaces package

* add generic README for rcl_interfaces repo

* Update readme with changes from discussion

README.md

@@ -1,31 +1,2 @@
-# rcl_interfaces
-This package contains the messages and services which ROS client libraries will use under the hood to
-communicate higher level concepts such as parameters.
-
-
-## Parameter Groups
-Parameters are contained in groups.
-The default group is '/'.
-It behaves like a filepath, where you can nest sub-groups within groups.
-
-## Standard topics for parameters
-
-The ROS API for a node will be as follows inside the node's namespace.
-
-### Topics:
- * `parameter_events`: `ParameterEvent`
-  * This topic provides a way to subscribe to all parameter updates occuring on the node, including addition removal and changes in value. Every atomic change will be published separately.
- * `parameter_event_descriptors`: `ParameterEventDescriptors`
-  * This topic provides a way to subscribe to all parameter updates occuring on the node, including addition removal and changes in value.
-    Every atomic change will be published separately. This is provided if large parameter values are expected to slow down the system.
-
-### Services:
-
- * `get_parameters`: `GetParameters`
-  * The service to get the value of parameters which are set on this node.
- * `has_parameters`: `HasParameters`
-  * Query this node if specific parameters are set.
- * `list_parameters`: `ListParameters`
-  * List the parameters on this node matching the filters.
- * `set_parameters`: `SetParameters`
-  * Set parameters on this node.
+# rcl_interfaces repository
+This repository contains a set of packages that primarily contain interface files (.msg and .srv) which are used both to implement client library concepts and for testing.

rcl_interfaces/README.md

@@ -0,0 +1,31 @@
+# rcl_interfaces
+This package contains the messages and services which ROS client libraries will use under the hood to
+communicate higher level concepts such as parameters.
+
+
+## Parameter Groups
+Parameters are contained in groups.
+The default group is '/'.
+It behaves like a filepath, where you can nest sub-groups within groups.
+
+## Standard topics for parameters
+
+The ROS API for a node will be as follows inside the node's namespace.
+
+### Topics:
+ * `parameter_events`: `ParameterEvent`
+  * This topic provides a way to subscribe to all parameter updates occuring on the node, including addition removal and changes in value. Every atomic change will be published separately.
+ * `parameter_event_descriptors`: `ParameterEventDescriptors`
+  * This topic provides a way to subscribe to all parameter updates occuring on the node, including addition removal and changes in value.
+    Every atomic change will be published separately. This is provided if large parameter values are expected to slow down the system.
+
+### Services:
+
+ * `get_parameters`: `GetParameters`
+  * The service to get the value of parameters which are set on this node.
+ * `has_parameters`: `HasParameters`
+  * Query this node if specific parameters are set.
+ * `list_parameters`: `ListParameters`
+  * List the parameters on this node matching the filters.
+ * `set_parameters`: `SetParameters`
+  * Set parameters on this node.

rcl_interfaces/srv/DescribeParameters.srv

@@ -6,4 +6,4 @@ string[] names
 # A list of the descriptors of all parameters requested in the same order
 # as they were requested.
 # This list has the same length as the list of parameters requested.
-rcl_interfaces/ParameterDescriptor[] descriptors
+ParameterDescriptor[] descriptors

rcl_interfaces/srv/GetParameterTypes.srv

@@ -5,5 +5,6 @@ string[] names
 ---
 
 # List of types which is the same length and order as the provided names.
+# Type enum defined in ParameterType.msg
 # ParameterType.PARAMETER_NOT_SET indicates that the parameter is not currently set.
 uint8[] types

rcl_interfaces/srv/SetParameters.srv

@@ -1,5 +1,5 @@
 # A list of parameters to set
-rcl_interfaces/Parameter[] parameters
+Parameter[] parameters
 
 ---