Add quality declarations for each package except test_msgs (#92)

* Create package-level READMEs and add some inline comments

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Add QUALITY_DECLARATION for all but test_msgs

Signed-off-by: Stephen Brawner <brawner@gmail.com>

Switch QDs to their QL current-level (4)

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

README.md

@@ -1,2 +1,11 @@
 # 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_interface packages
+* [action_msgs](action_msgs/README.md): Messages and services for [ROS 2 actions](http://design.ros2.org/articles/actions.html)
+* [builtin_interfaces](builtin_interfaces/README.md): Message definitions for types in the OMG IDL Platform Specific Model
+* [composition_interfaces](composition_interfaces/README.md): Services for managing composeable nodes.
+* [lifecycle_msgs](lifecycle_msgs/README.md): Message and service definitions for managing lifecycle nodes.
+* [rcl_interfaces](rcl_interfaces/README.md): Message and service definitions for ROS client libraries
+* [rosgraph_msgs](rosgraph_msgs/README.md): Message definitions relating the ROS Computation Graph
+* test_msgs: Used exclusively for testing purposes

action_msgs/QUALITY_DECLARATION.md

@@ -0,0 +1,111 @@
+This document is a declaration of software quality for the `action_msgs` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+# `action_msgs` Quality Declaration
+
+The package `action_msgs` claims to be in the **Quality Level 4** category.
+
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 4 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+## Version Policy [1]
+
+### Version Scheme [1.i]
+
+`action_msgs` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+
+### Version Stability [1.ii]
+
+`action_msgs` is not yet at a stable version, i.e. `>= 1.0.0`.
+
+### Public API Declaration [1.iii]
+
+All message and service definition files located in `msg` and `srv` directories are considered part of the public API.
+
+### API Stability Within a Released ROS Distribution [1.iv]/[1.vi]
+
+`action_msgs` will not break public API within a released ROS distribution, i.e. no major releases once the ROS distribution is released.
+
+### ABI Stability Within a Released ROS Distribution [1.v]/[1.vi]
+
+`action_msgs` does not contain any C or C++ code and therefore will not affect ABI stability.
+
+## Change Control Process [2]
+
+`action_msgs` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-requirements).
+
+### Change Requests [2.i]
+
+This package requires that all changes occur through a pull request.
+
+### Contributor Origin [2.ii]
+
+This package uses DCO as its confirmation of contributor origin policy. More information can be found in [CONTRIBUTING](../CONTRIBUTING.md).
+
+### Peer Review Policy [2.iii]
+
+Following the recommended guidelines for ROS Core packages, all pull requests must have at least 1 peer review.
+
+### Continuous Integration [2.iv]
+
+All pull request must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+
+### Documentation Policy [2.v]
+
+All pull requests must resolve related documentation changes before merging.
+
+## Documentation
+
+### Feature Documentation [3.i]
+
+`action_msgs` has a list of provided [messages and services](README.md).
+New messages and services require their own documentation in order to be added.
+
+### Public API Documentation [3.ii]
+
+`action_msgs` has embedded API documentation, but it is not currently hosted.
+
+### License [3.iii]
+
+The license for `action_msgs` is Apache 2.0, the type is declared in the [package.xml](package.xml) manifest file, and a full copy of the license is in the repository level [LICENSE](../LICENSE) file.
+
+There is an automated test which runs a linter that ensures each file has a license statement.
+
+### Copyright Statements [3.iv]
+
+The copyright holders each provide a statement of copyright in each source code file in `action_msgs`.
+
+There is an automated test which runs a linter that ensures each file has at least one copyright statement.
+
+The nightly test can be found at [here](http://build.ros2.org/view/Epr/job/Epr__rcl_interfaces__ubuntu_bionic_amd64/lastBuild/)
+
+## Testing [4]
+
+`action_msgs` is a package providing strictly message and service definitions and therefore does not require associated tests and has no coverage or performance requirements.
+
+## Dependencies [5]
+
+### Direct Runtime ROS Dependencies [5.i]/[5.ii]
+
+`action_msgs` has the following runtime ROS dependencies:
+* `builtin_interfaces`
+* `rosidl_default_runtime`
+* `unique_identifier_msgs`
+
+It has several "buildtool" dependencies, which do not affect the resulting quality of the package, because they do not contribute to the public library API.
+
+### Direct Runtime Non-ROS Dependencies [5.iii]
+
+`action_msgs` does not have any runtime non-ROS dependencies.
+
+## Platform Support [6]
+
+`action_msgs` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+
+Currently nightly results can be seen here:
+* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/action_msgs/)
+* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/action_msgs/)
+* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/action_msgs/)
+* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/action_msgs/)
+
+## Vulnerability Disclosure Policy [7.i]
+
+This package does not yet have a Vulnerability Disclosure Policy

action_msgs/README.md

@@ -0,0 +1,16 @@
+# action_msgs
+This package contains several messages and services useful for ROS 2 actions.
+More information about actions can be found on its [design article](http://design.ros2.org/articles/actions.html).
+
+For more information about ROS 2 interfaces, see [index.ros2.org](https://index.ros.org/doc/ros2/Concepts/About-ROS-Interfaces/).
+
+## Messages (.msg)
+* [GoalInfo](msg/GoalInfo.msg): Goal identifier message, with a goal id and time stamp.
+* [GoalStatus](msg/GoalStatus.msg): Describes a goal's current state machine status.
+* [GoalStatusArray](msg/GoalStatusArray.msg): An array of [GoalStatus](msg/GoalStatus.msg) messages.
+
+## Services (.srv)
+* [CancelGoal](srv/CancelGoal.srv): Cancel Goals either by id and/or timestamp.
+
+## Quality Declaration
+This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

action_msgs/msg/GoalStatus.msg

@@ -1,15 +1,32 @@
-# An action goal can be in one of these states after it is accepted by an action server.
+# An action goal can be in one of these states after it is accepted by an action
+# server.
+#
 # For more information, see http://design.ros2.org/articles/actions.html
+
+# Indicates status has not been properly set.
 int8 STATUS_UNKNOWN   = 0
+
+# The goal has been accepted and is awaiting execution.
 int8 STATUS_ACCEPTED  = 1
+
+# The goal is currently being executed by the action server.
 int8 STATUS_EXECUTING = 2
+
+# The client has requested that the goal be canceled and the action server has
+# accepted the cancel request.
 int8 STATUS_CANCELING = 3
+
+# The goal was achieved successfully by the action server.
 int8 STATUS_SUCCEEDED = 4
+
+# The goal was canceled after an external request from an action client.
 int8 STATUS_CANCELED  = 5
+
+# The goal was terminated by the action server without an external request.
 int8 STATUS_ABORTED   = 6
 
-# Goal info (contains ID and timestamp)
+# Goal info (contains ID and timestamp).
 GoalInfo goal_info
 
-# Goal status
+# Action goal state-machine status.
 int8 status

action_msgs/msg/GoalStatusArray.msg

@@ -1,2 +1,2 @@
-# An array of goal statuses
+# An array of goal statuses.
 GoalStatus[] status_list

action_msgs/srv/CancelGoal.srv

@@ -8,28 +8,39 @@
 # - If the goal ID is not zero and timestamp is not zero, cancel the goal with
 #   the given ID and all goals accepted at or before the timestamp.
 
-# Goal info containing an ID and timestamp
+# Goal info describing the goals to cancel, see above.
 GoalInfo goal_info
 ---
-# Return codes
+##
+## Return codes.
+##
+
 # Indicates the request was accepted without any errors.
-# One or more goals have transitioned to the CANCELING state.
-# The goals_canceling list is not empty.
+#
+# One or more goals have transitioned to the CANCELING state. The
+# goals_canceling list is not empty.
 int8 ERROR_NONE=0
+
 # Indicates the request was rejected.
-# No goals have transitioned to the CANCELING state.
-# The goals_canceling list is empty.
+#
+# No goals have transitioned to the CANCELING state. The goals_canceling list is
+# empty.
 int8 ERROR_REJECTED=1
+
 # Indicates the requested goal ID does not exist.
-# No goals have transitioned to the CANCELING state.
-# The goals_canceling list is empty.
+#
+# No goals have transitioned to the CANCELING state. The goals_canceling list is
+# empty.
 int8 ERROR_UNKNOWN_GOAL_ID=2
+
 # Indicates the goal is not cancelable because it is already in a terminal state.
-# No goals have transitioned to the CANCELING state.
-# The goals_canceling list is empty.
+#
+# No goals have transitioned to the CANCELING state. The goals_canceling list is
+# empty.
 int8 ERROR_GOAL_TERMINATED=3
 
-# Return code
+# Return code, see above definitions.
 int8 return_code
-# Goals that accepted the cancel request
+
+# Goals that accepted the cancel request.
 GoalInfo[] goals_canceling

builtin_interfaces/QUALITY_DECLARATION.md

@@ -0,0 +1,109 @@
+This document is a declaration of software quality for the `builtin_interfaces` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+# `builtin_interfaces` Quality Declaration
+
+The package `builtin_interfaces` claims to be in the **Quality Level 4** category.
+
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 4 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+## Version Policy [1]
+
+### Version Scheme [1.i]
+
+`builtin_interfaces` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#versioning).
+
+### Version Stability [1.ii]
+
+`builtin_interfaces` is not yet at a stable version, i.e. `>= 1.0.0`.
+
+### Public API Declaration [1.iii]
+
+All message and service definition files located in `msg` and `srv` directories are considered part of the public API.
+
+### API Stability Within a Released ROS Distribution [1.iv]/[1.vi]
+
+`builtin_interfaces` will not break public API within a released ROS distribution, i.e. no major releases once the ROS distribution is released.
+
+### ABI Stability Within a Released ROS Distribution [1.v]/[1.vi]
+
+`builtin_interfaces` does not contain any C or C++ code and therefore will not affect ABI stability.
+
+## Change Control Process [2]
+
+`builtin_interfaces` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#package-requirements).
+
+### Change Requests [2.i]
+
+This package requires that all changes occur through a pull request.
+
+### Contributor Origin [2.ii]
+
+This package uses DCO as its confirmation of contributor origin policy. More information can be found in [CONTRIBUTING](../CONTRIBUTING.md).
+
+### Peer Review Policy [2.iii]
+
+Following the recommended guidelines for ROS Core packages, all pull requests must have at least 1 peer review.
+
+### Continuous Integration [2.iv]
+
+All pull request must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+
+### Documentation Policy [2.v]
+
+All pull requests must resolve related documentation changes before merging.
+
+## Documentation
+
+### Feature Documentation [3.i]
+
+`builtin_interfaces` has a list of provided [messages and services](README.md).
+New messages and services require their own documentation in order to be added.
+
+### Public API Documentation [3.ii]
+
+`builtin_interfaces` has embedded API documentation, but it is not currently hosted.
+
+### License [3.iii]
+
+The license for `builtin_interfaces` is Apache 2.0, the type is declared in the [package.xml](package.xml) manifest file, and a full copy of the license is in the repository level [LICENSE](../LICENSE) file.
+
+There is an automated test which runs a linter that ensures each file has a license statement.
+
+### Copyright Statements [3.iv]
+
+The copyright holders each provide a statement of copyright in each source code file in `builtin_interfaces`.
+
+There is an automated test which runs a linter that ensures each file has at least one copyright statement.
+
+The nightly test can be found at [here](http://build.ros2.org/view/Epr/job/Epr__rcl_interfaces__ubuntu_bionic_amd64/lastBuild/)
+
+## Testing [4]
+
+`builtin_interfaces` is a package providing strictly message and service definitions and therefore does not require associated tests and has no coverage or performance requirements.
+
+## Dependencies [5]
+
+### Direct Runtime ROS Dependencies [5.i]/[5.ii]
+
+`builtin_interfaces` has the following ROS dependencies:
+* `rosidl_default_runtime`
+
+It has several "buildtool" dependencies, which do not affect the resulting quality of the package, because they do not contribute to the public library API.
+
+### Direct Runtime Non-ROS Dependencies [5.iii]
+
+`builtin_interfaces` does not have any runtime non-ROS dependencies.
+
+## Platform Support [6]
+
+`builtin_interfaces` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+
+Currently nightly results can be seen here:
+* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/builtin_interfaces/)
+* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/builtin_interfaces/)
+* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/builtin_interfaces/)
+* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/builtin_interfaces/)
+
+## Vulnerability Disclosure Policy [7.i]
+
+This package does not yet have a Vulnerability Disclosure Policy

builtin_interfaces/README.md

@@ -0,0 +1,13 @@
+# builtin_interfaces
+A package containing message definitions for types defined in the OMG IDL Platform Specific Model.
+
+For more information about ROS 2 time, see [design.ros2.org](https://design.ros2.org/articles/clock_and_time.html).
+
+For more information about ROS 2 interfaces, see [index.ros2.org](https://index.ros.org/doc/ros2/Concepts/About-ROS-Interfaces/).
+
+## Messages (.msg)
+* [Duration](msg/Duration.msg): Describes a time duration composed of seconds and nanoseconds components.
+* [Time](msg/Time.msg): Describes a point in time, composed of seconds and nanoseconds components.
+
+## Quality Declaration
+This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

builtin_interfaces/msg/Duration.msg

@@ -1,2 +1,8 @@
+# Duration defines a period between two time points. It is comprised of a
+# seconds component and a nanoseconds component.
+
+# Seconds component, range is valid over any possible int32 value.
 int32 sec
+
+# Nanoseconds component in the range of [0, 10e9).
 uint32 nanosec

builtin_interfaces/msg/Time.msg

@@ -1,2 +1,7 @@
+# Time indicates a specific point in time, relative to a clock's 0 point.
+
+# The seconds component, valid over all int32 values.
 int32 sec
+
+# The nanoseconds component, valid in the range [0, 10e9).
 uint32 nanosec