From 632d0aabbd55041aafd109bdad1c40a04bacb05d Mon Sep 17 00:00:00 2001 From: Brian Chen Date: Tue, 21 Jun 2022 21:57:34 -0700 Subject: [PATCH 01/12] add service msgs package Signed-off-by: Brian Chen --- service_msgs/CHANGELOG.rst | 9 ++ service_msgs/CMakeLists.txt | 35 ++++++++ service_msgs/QUALITY_DECLARATION.md | 114 ++++++++++++++++++++++++++ service_msgs/README.md | 13 +++ service_msgs/msg/ServiceEventInfo.msg | 24 ++++++ service_msgs/package.xml | 30 +++++++ 6 files changed, 225 insertions(+) create mode 100644 service_msgs/CHANGELOG.rst create mode 100644 service_msgs/CMakeLists.txt create mode 100644 service_msgs/QUALITY_DECLARATION.md create mode 100644 service_msgs/README.md create mode 100644 service_msgs/msg/ServiceEventInfo.msg create mode 100644 service_msgs/package.xml diff --git a/service_msgs/CHANGELOG.rst b/service_msgs/CHANGELOG.rst new file mode 100644 index 00000000..4613b971 --- /dev/null +++ b/service_msgs/CHANGELOG.rst @@ -0,0 +1,9 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package action_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.4.0 (------) +-------------- +* Add service_msgs package +* Contributors: Brian Chen + diff --git a/service_msgs/CMakeLists.txt b/service_msgs/CMakeLists.txt new file mode 100644 index 00000000..f7758914 --- /dev/null +++ b/service_msgs/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.5) + +project(service_msgs) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(unique_identifier_msgs REQUIRED) + +set(msg_files + "msg/ServiceEventInfo.msg" +) + +rosidl_generate_interfaces(${PROJECT_NAME} + ${msg_files} + DEPENDENCIES builtin_interfaces unique_identifier_msgs + ADD_LINTER_TESTS +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_export_dependencies(rosidl_default_runtime) + +ament_package() diff --git a/service_msgs/QUALITY_DECLARATION.md b/service_msgs/QUALITY_DECLARATION.md new file mode 100644 index 00000000..c26d14b6 --- /dev/null +++ b/service_msgs/QUALITY_DECLARATION.md @@ -0,0 +1,114 @@ +This document is a declaration of software quality for the `service_msgs` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html). + +# `service_msgs` Quality Declaration + +The package `service_msgs` claims to be in the **Quality Level 1** category as long as it is used with a **Quality Level 1** middleware. + +Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 1 in REP-2004](https://www.ros.org/reps/rep-2004.html). + +## Version Policy [1] + +### Version Scheme [1.i] + +`service_msgs` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#versioning). + +### Version Stability [1.ii] + +`service_msgs` is at a stable version, i.e. `>= 1.0.0`. +Its version can be found in its [package.xml](package.xml) and its change history can be found in its [CHANGELOG](CHANGELOG.rst). + +### 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] + +`service_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] + +`service_msgs` does not contain any C or C++ code and therefore will not affect ABI stability. + +## Change Control Process [2] + +`service_msgs` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#quality-practices). + +### 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] + +`service_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] + +`service_msgs` has embedded API documentation, but it is not currently hosted. + +### License [3.iii] + +The license for `service_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. + +The nightly test can be found at [here](http://build.ros2.org/view/Rpr/job/Rpr__rcl_interfaces__ubuntu_focal_amd64/lastCompletedBuild/testReport/) + +### Copyright Statements [3.iv] + +The copyright holders each provide a statement of copyright in each source code file in `service_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/Rpr/job/Rpr__rcl_interfaces__ubuntu_focal_amd64/lastCompletedBuild/testReport/) + +## Testing [4] + +`service_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] + +`service_msgs` has the following runtime ROS dependencies, which are at **Quality Level 1**: +* `builtin_interfaces`: [QUALITY DECLARATION](../builtin_interfaces/QUALITY_DECLARATION.md) +* `rosidl_default_runtime`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_defaults/tree/master/rosidl_default_runtime/QUALITY_DECLARATION.md) +* `unique_identifier_msgs`: [QUALITY DECLARATION](https://github.com/ros2/unique_identifier_msgs/tree/master/QUALITY_DECLARATION.md) + +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] + +`service_msgs` does not have any runtime non-ROS dependencies. + +## Platform Support [6] + +`service_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/service_msgs/) +* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/service_msgs/) +* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/service_msgs/) +* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/service_msgs/) + +## Vulnerability Disclosure Policy [7.i] + +This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html). diff --git a/service_msgs/README.md b/service_msgs/README.md new file mode 100644 index 00000000..c4131092 --- /dev/null +++ b/service_msgs/README.md @@ -0,0 +1,13 @@ +# service_msgs +This package contains message types useful for ros2 services. + +More information about services can be found on its [design article](http://design.ros2.org/articles/actions.html). + +For more information about ROS 2 interfaces, see [docs.ros.org](https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html). + +## Messages (.msg) +* [ServiceEventInfo](msg/ServiceEventInfo.msg): Service event information. + + +## Quality Declaration +This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details. diff --git a/service_msgs/msg/ServiceEventInfo.msg b/service_msgs/msg/ServiceEventInfo.msg new file mode 100644 index 00000000..91e0708f --- /dev/null +++ b/service_msgs/msg/ServiceEventInfo.msg @@ -0,0 +1,24 @@ +uint8 REQUEST_SENT = 0 +uint8 REQUEST_RECEIVED = 1 +uint8 RESPONSE_SENT = 2 +uint8 RESPONSE_RECEIVED = 3 + +# The type of event this message represents +uint8 event_type + +# Timestamp for when the event occurred (sent or received time) +builtin_interfaces/Time stamp + +# Unique identifier for the client that sent the service request +# Note, this is only unique for the current session +unique_identifier_msgs/UUID client_id + +# Sequence number for the request +# Combined with the client ID, this creates a unique ID for the service transaction +int64 sequence_number + +# Name of the service, i.e. add_two_ints_service +string service_name + +# Name of the service event, i.e. AddTwoInts_Request +string event_name diff --git a/service_msgs/package.xml b/service_msgs/package.xml new file mode 100644 index 00000000..33477108 --- /dev/null +++ b/service_msgs/package.xml @@ -0,0 +1,30 @@ + + + + service_msgs + 1.3.0 + Messages definitions common among all ROS services + + Jacob Perron + + Apache License 2.0 + + Brian Chen + + ament_cmake + rosidl_default_generators + + builtin_interfaces + unique_identifier_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + From b91d0abdb94f5bc8aed7ddbb3db4228b4a2a376e Mon Sep 17 00:00:00 2001 From: Brian Chen Date: Wed, 27 Jul 2022 14:11:27 -0700 Subject: [PATCH 02/12] remove service_name & event_name as per REP Signed-off-by: Brian Chen --- service_msgs/msg/ServiceEventInfo.msg | 6 ------ 1 file changed, 6 deletions(-) diff --git a/service_msgs/msg/ServiceEventInfo.msg b/service_msgs/msg/ServiceEventInfo.msg index 91e0708f..45576b8b 100644 --- a/service_msgs/msg/ServiceEventInfo.msg +++ b/service_msgs/msg/ServiceEventInfo.msg @@ -16,9 +16,3 @@ unique_identifier_msgs/UUID client_id # Sequence number for the request # Combined with the client ID, this creates a unique ID for the service transaction int64 sequence_number - -# Name of the service, i.e. add_two_ints_service -string service_name - -# Name of the service event, i.e. AddTwoInts_Request -string event_name From 403e3205355a043a38ba4f5d10cdbb1c8b36acf0 Mon Sep 17 00:00:00 2001 From: Brian Chen Date: Tue, 9 Aug 2022 15:47:48 -0700 Subject: [PATCH 03/12] refactor: use rosidl_core_runtime for messages action_msgs depends on Signed-off-by: Brian Chen --- action_msgs/package.xml | 3 +++ service_msgs/CMakeLists.txt | 2 +- service_msgs/package.xml | 4 ++-- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/action_msgs/package.xml b/action_msgs/package.xml index 4a0873b7..4083d024 100644 --- a/action_msgs/package.xml +++ b/action_msgs/package.xml @@ -17,6 +17,9 @@ ament_cmake rosidl_core_generators + + service_msgs + builtin_interfaces unique_identifier_msgs diff --git a/service_msgs/CMakeLists.txt b/service_msgs/CMakeLists.txt index f7758914..b7f81112 100644 --- a/service_msgs/CMakeLists.txt +++ b/service_msgs/CMakeLists.txt @@ -12,7 +12,7 @@ endif() find_package(ament_cmake REQUIRED) find_package(builtin_interfaces REQUIRED) -find_package(rosidl_default_generators REQUIRED) +find_package(rosidl_core_generators REQUIRED) find_package(unique_identifier_msgs REQUIRED) set(msg_files diff --git a/service_msgs/package.xml b/service_msgs/package.xml index 33477108..acf8fa8c 100644 --- a/service_msgs/package.xml +++ b/service_msgs/package.xml @@ -12,12 +12,12 @@ Brian Chen ament_cmake - rosidl_default_generators + rosidl_core_generators builtin_interfaces unique_identifier_msgs - rosidl_default_runtime + rosidl_core_runtime ament_lint_auto ament_lint_common From 5e25b2758882f071a48c9e876f0d81f655957ad7 Mon Sep 17 00:00:00 2001 From: Brian Chen Date: Thu, 18 Aug 2022 15:42:05 -0700 Subject: [PATCH 04/12] fix rebase conflict error Signed-off-by: Brian Chen --- service_msgs/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/service_msgs/CMakeLists.txt b/service_msgs/CMakeLists.txt index b7f81112..1b3a66a9 100644 --- a/service_msgs/CMakeLists.txt +++ b/service_msgs/CMakeLists.txt @@ -30,6 +30,6 @@ if(BUILD_TESTING) ament_lint_auto_find_test_dependencies() endif() -ament_export_dependencies(rosidl_default_runtime) +ament_export_dependencies(rosidl_core_runtime) ament_package() From fc819014997b8fa7cba977adc7636a41ff223708 Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Thu, 29 Sep 2022 14:09:55 -0700 Subject: [PATCH 05/12] Remove CHANGELOG.rst Signed-off-by: Jacob Perron --- service_msgs/CHANGELOG.rst | 9 --------- 1 file changed, 9 deletions(-) delete mode 100644 service_msgs/CHANGELOG.rst diff --git a/service_msgs/CHANGELOG.rst b/service_msgs/CHANGELOG.rst deleted file mode 100644 index 4613b971..00000000 --- a/service_msgs/CHANGELOG.rst +++ /dev/null @@ -1,9 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package action_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.4.0 (------) --------------- -* Add service_msgs package -* Contributors: Brian Chen - From 166aacebd218e8aef178b71866f5e08fec05599b Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Thu, 29 Sep 2022 14:16:14 -0700 Subject: [PATCH 06/12] Update README * Add useful links to info about services and REP 2012 * Minor refactoring Signed-off-by: Jacob Perron --- service_msgs/README.md | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/service_msgs/README.md b/service_msgs/README.md index c4131092..ed2a7789 100644 --- a/service_msgs/README.md +++ b/service_msgs/README.md @@ -1,13 +1,18 @@ # service_msgs -This package contains message types useful for ros2 services. -More information about services can be found on its [design article](http://design.ros2.org/articles/actions.html). +This package contains message types used by ROS services. -For more information about ROS 2 interfaces, see [docs.ros.org](https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html). +For more information about ROS services, check out the following links: + +* [About ROS 2 interfaces](https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html) +* [Understanding services](https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Services/Understanding-ROS2-Services.html) ## Messages (.msg) -* [ServiceEventInfo](msg/ServiceEventInfo.msg): Service event information. + +* [ServiceEventInfo](msg/ServiceEventInfo.msg): Part of a service event message that contains information such as timestamp and event type. +This is part of the Service Introspection feature of ROS 2 (see [REP 2012](https://ros.org/reps/rep-2012.html)). ## Quality Declaration + This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details. From 244241af4249a39492d9ef0469171228c8c92cad Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Thu, 29 Sep 2022 14:18:34 -0700 Subject: [PATCH 07/12] Update quality declaration * Minor wording changes * Remove/replace dead links Signed-off-by: Jacob Perron --- service_msgs/QUALITY_DECLARATION.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/service_msgs/QUALITY_DECLARATION.md b/service_msgs/QUALITY_DECLARATION.md index c26d14b6..f9ab437d 100644 --- a/service_msgs/QUALITY_DECLARATION.md +++ b/service_msgs/QUALITY_DECLARATION.md @@ -57,8 +57,8 @@ All pull requests must resolve related documentation changes before merging. ### Feature Documentation [3.i] -`service_msgs` has a list of provided [messages and services](README.md). -New messages and services require their own documentation in order to be added. +`service_msgs` has a list of provided [ROS interfaces](README.md). +New interfaces require their own documentation in order to be added. ### Public API Documentation [3.ii] @@ -90,7 +90,7 @@ The nightly test can be found at [here](http://build.ros2.org/view/Rpr/job/Rpr__ `service_msgs` has the following runtime ROS dependencies, which are at **Quality Level 1**: * `builtin_interfaces`: [QUALITY DECLARATION](../builtin_interfaces/QUALITY_DECLARATION.md) -* `rosidl_default_runtime`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_defaults/tree/master/rosidl_default_runtime/QUALITY_DECLARATION.md) +* `rosidl_core_runtime`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_core/tree/master/rosidl_core_runtime/QUALITY_DECLARATION.md) * `unique_identifier_msgs`: [QUALITY DECLARATION](https://github.com/ros2/unique_identifier_msgs/tree/master/QUALITY_DECLARATION.md) 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. @@ -106,7 +106,6 @@ It has several "buildtool" dependencies, which do not affect the resulting quali Currently nightly results can be seen here: * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/service_msgs/) * [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/service_msgs/) -* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/service_msgs/) * [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/service_msgs/) ## Vulnerability Disclosure Policy [7.i] From d19ff661aa79c184418d2dd5d31a12d6db21b5bc Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Thu, 29 Sep 2022 14:23:22 -0700 Subject: [PATCH 08/12] Update version to match other packages in this repository Signed-off-by: Jacob Perron --- service_msgs/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/service_msgs/package.xml b/service_msgs/package.xml index acf8fa8c..ce2bccc7 100644 --- a/service_msgs/package.xml +++ b/service_msgs/package.xml @@ -2,7 +2,7 @@ service_msgs - 1.3.0 + 1.3.1 Messages definitions common among all ROS services Jacob Perron From 33ca885a01b0e0c487a3fc74d3fdaa6fe2ec6e67 Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Thu, 29 Sep 2022 14:24:08 -0700 Subject: [PATCH 09/12] Update CMakeLists.txt * Add stricter compile options * Add comment describing why we use 'core' generators instead of 'default' Signed-off-by: Jacob Perron --- service_msgs/CMakeLists.txt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/service_msgs/CMakeLists.txt b/service_msgs/CMakeLists.txt index 1b3a66a9..bcebd688 100644 --- a/service_msgs/CMakeLists.txt +++ b/service_msgs/CMakeLists.txt @@ -7,11 +7,13 @@ if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) + add_compile_options(-Wall -Wextra -Wpedantic -Wconversion -Wsign-conversion -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual) endif() find_package(ament_cmake REQUIRED) find_package(builtin_interfaces REQUIRED) +# Depend on "core" generators instead of "default" generators +# because ROS actions depend on this package find_package(rosidl_core_generators REQUIRED) find_package(unique_identifier_msgs REQUIRED) From 5182843d9825d66f1cc5e9bfd26523962238e5be Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Thu, 29 Sep 2022 14:26:53 -0700 Subject: [PATCH 10/12] Remove action_msgs package.xml dependency on service_msgs Technically, it is not a dependency. Only a dependency on actual action interfaces being generated. This dependency should probably be exported by rosidl_defaults Signed-off-by: Jacob Perron --- action_msgs/package.xml | 3 --- 1 file changed, 3 deletions(-) diff --git a/action_msgs/package.xml b/action_msgs/package.xml index 4083d024..4a0873b7 100644 --- a/action_msgs/package.xml +++ b/action_msgs/package.xml @@ -17,9 +17,6 @@ ament_cmake rosidl_core_generators - - service_msgs - builtin_interfaces unique_identifier_msgs From 99e30a9dfda2940a25833ad3f2ab30818ac5b574 Mon Sep 17 00:00:00 2001 From: Ivan Santiago Paunovic Date: Fri, 11 Nov 2022 13:21:28 -0300 Subject: [PATCH 11/12] Add service_msgs dependency to action_msgs Signed-off-by: Ivan Santiago Paunovic --- action_msgs/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/action_msgs/package.xml b/action_msgs/package.xml index 4a0873b7..6ac19186 100644 --- a/action_msgs/package.xml +++ b/action_msgs/package.xml @@ -18,6 +18,7 @@ rosidl_core_generators builtin_interfaces + service_msgs unique_identifier_msgs rosidl_core_runtime From b8d767413972d36fb1ee63e99dbd0377b4b9307b Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Mon, 23 Jan 2023 19:15:31 +0000 Subject: [PATCH 12/12] Remove UUID dependency. That is, this field should be a GID, not a UUID (even though they happen to be the same length). Signed-off-by: Chris Lalancette --- service_msgs/CMakeLists.txt | 3 +-- service_msgs/QUALITY_DECLARATION.md | 3 +-- service_msgs/README.md | 2 +- service_msgs/msg/ServiceEventInfo.msg | 7 +++++-- service_msgs/package.xml | 1 - 5 files changed, 8 insertions(+), 8 deletions(-) diff --git a/service_msgs/CMakeLists.txt b/service_msgs/CMakeLists.txt index bcebd688..06ec2bff 100644 --- a/service_msgs/CMakeLists.txt +++ b/service_msgs/CMakeLists.txt @@ -15,7 +15,6 @@ find_package(builtin_interfaces REQUIRED) # Depend on "core" generators instead of "default" generators # because ROS actions depend on this package find_package(rosidl_core_generators REQUIRED) -find_package(unique_identifier_msgs REQUIRED) set(msg_files "msg/ServiceEventInfo.msg" @@ -23,7 +22,7 @@ set(msg_files rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} - DEPENDENCIES builtin_interfaces unique_identifier_msgs + DEPENDENCIES builtin_interfaces ADD_LINTER_TESTS ) diff --git a/service_msgs/QUALITY_DECLARATION.md b/service_msgs/QUALITY_DECLARATION.md index f9ab437d..bb49cbce 100644 --- a/service_msgs/QUALITY_DECLARATION.md +++ b/service_msgs/QUALITY_DECLARATION.md @@ -90,8 +90,7 @@ The nightly test can be found at [here](http://build.ros2.org/view/Rpr/job/Rpr__ `service_msgs` has the following runtime ROS dependencies, which are at **Quality Level 1**: * `builtin_interfaces`: [QUALITY DECLARATION](../builtin_interfaces/QUALITY_DECLARATION.md) -* `rosidl_core_runtime`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_core/tree/master/rosidl_core_runtime/QUALITY_DECLARATION.md) -* `unique_identifier_msgs`: [QUALITY DECLARATION](https://github.com/ros2/unique_identifier_msgs/tree/master/QUALITY_DECLARATION.md) +* `rosidl_core_runtime`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_core/tree/rolling/rosidl_core_runtime/QUALITY_DECLARATION.md) 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. diff --git a/service_msgs/README.md b/service_msgs/README.md index ed2a7789..fd99bff2 100644 --- a/service_msgs/README.md +++ b/service_msgs/README.md @@ -15,4 +15,4 @@ This is part of the Service Introspection feature of ROS 2 (see [REP 2012](https ## Quality Declaration -This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details. +See the [Quality Declaration](QUALITY_DECLARATION.md) for more details. diff --git a/service_msgs/msg/ServiceEventInfo.msg b/service_msgs/msg/ServiceEventInfo.msg index 45576b8b..58eed789 100644 --- a/service_msgs/msg/ServiceEventInfo.msg +++ b/service_msgs/msg/ServiceEventInfo.msg @@ -10,8 +10,11 @@ uint8 event_type builtin_interfaces/Time stamp # Unique identifier for the client that sent the service request -# Note, this is only unique for the current session -unique_identifier_msgs/UUID client_id +# Note, this is only unique for the current session. +# The size here has to match the size of rmw_dds_common/msg/Gid, +# but unfortunately we cannot use that message directly due to a +# circular dependency. +char[16] client_gid # Sequence number for the request # Combined with the client ID, this creates a unique ID for the service transaction diff --git a/service_msgs/package.xml b/service_msgs/package.xml index ce2bccc7..a90fda5b 100644 --- a/service_msgs/package.xml +++ b/service_msgs/package.xml @@ -15,7 +15,6 @@ rosidl_core_generators builtin_interfaces - unique_identifier_msgs rosidl_core_runtime