-
Notifications
You must be signed in to change notification settings - Fork 42
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
[rcl_interfaces] Homogenize iface definition #23
Merged
Merged
Changes from 3 commits
Commits
Show all changes
4 commits
Select commit
Hold shift + click to select a range
27920fa
homogenize interfaces definition
mikaelarguedas 89da210
move rcl_interfaces README inside rcl_interfaces package
mikaelarguedas 5cd70c2
add generic README for rcl_interfaces repo
mikaelarguedas 0935042
Update readme with changes from discussion
tfoote File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -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. | ||
A set of packages which contain interface files (.msg and .srv) used for the internal implementation and testing of the client libraries. | ||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -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. |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,5 +1,5 @@ | ||
# A list of parameters to set | ||
rcl_interfaces/Parameter[] parameters | ||
Parameter[] parameters | ||
|
||
--- | ||
|
||
|
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
I wouldn't consider those "internal". Most of them define public interfaces, no?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
"used for the implementation and testing" then ?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
"defining the interface across client libraries"?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Hmm not sure because as you said it is user facing and currently most of them are not used to communicate across client libraries given that they're used mostly/(only?) in rclcpp.
@ros2/team maybe some native speakers have some insights ?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
They're definitely public and I would say their primary use is implementation of rcl concepts rather than testing, though they could be used for that too I guess.
"This repository contains a set of packages which themselves contain interface files (i.e.
.msg
and.srv
files) used to implement client library concepts like parameters."There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
my goal here is to give a description of the content of the repository and not only describe the
rcl_interfaces
package, that's why I talked about testing (given that this repo also contains test_msgs).I'm fine with "This repository contains a set of packages which themselves contain interface files (i.e. .msg and .srv files) used to implement client library concepts" I just wanted to clarify the scope
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Oh, I was confused by the diff and I didn't know there were test messages here. In that case I agree, something like:
"This repository contains a set of packages which themselves contain interface files (i.e.
.msg
and.srv
files) which are used both to implement client library concepts and in testing."Or something like that.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
I've updated it with approximately the verbiage of above.