Add control services to be used for controlling playback

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
ros2 · Apr 9, 2021 · 7e9ce9b · 7e9ce9b
1 parent c2f034d
commit 7e9ce9b
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Showing 10 changed files with 48 additions and 13 deletions.
diff --git a/rosbag2_interfaces/CMakeLists.txt b/rosbag2_interfaces/CMakeLists.txt
@@ -1,24 +1,33 @@
 cmake_minimum_required(VERSION 3.8)
 project(rosbag2_interfaces)
 
+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 dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/GetRate.srv"
+  "srv/IsPaused.srv"
+  "srv/Pause.srv"
+  "srv/PlayNext.srv"
+  "srv/Resume.srv"
+  "srv/Seek.srv"
+  "srv/SetRate.srv"
+  "srv/TogglePaused.srv"
+  DEPENDENCIES builtin_interfaces
+  ADD_LINTER_TESTS
+)
+ament_export_dependencies(rosidl_default_runtime)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 

diff --git a/rosbag2_interfaces/package.xml b/rosbag2_interfaces/package.xml
@@ -2,16 +2,27 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rosbag2_interfaces</name>
-  <version>0.0.0</version>
+  <version>0.7.0</version>
   <description>Interface definitions for controlling rosbag2</description>
-  <maintainer email="eknapp@todo.todo">eknapp</maintainer>
-  <license>Apache 2.0</license>
+  <maintainer email="karsten@openrobotics.org">Karsten Knese</maintainer>
+  <maintainer email="michael.jeronimo@openrobotics.org">Michael Jeronimo</maintainer>
+  <maintainer email="me@emersonknapp.com">Emerson Knapp</maintainer>
+  <maintainer email="ros-tooling@googlegroups.com">ROS Tooling Working Group</maintainer>
+  <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/rosbag2_interfaces/srv/GetRate.srv b/rosbag2_interfaces/srv/GetRate.srv
@@ -0,0 +1,2 @@
+---
+float64 rate
diff --git a/rosbag2_interfaces/srv/IsPaused.srv b/rosbag2_interfaces/srv/IsPaused.srv
@@ -0,0 +1,2 @@
+---
+bool paused
diff --git a/rosbag2_interfaces/srv/Pause.srv b/rosbag2_interfaces/srv/Pause.srv
@@ -0,0 +1 @@
+---
diff --git a/rosbag2_interfaces/srv/PlayNext.srv b/rosbag2_interfaces/srv/PlayNext.srv
@@ -0,0 +1,2 @@
+---
+bool success  # can only play-next while playback is paused
diff --git a/rosbag2_interfaces/srv/Resume.srv b/rosbag2_interfaces/srv/Resume.srv
@@ -0,0 +1 @@
+---
diff --git a/rosbag2_interfaces/srv/Seek.srv b/rosbag2_interfaces/srv/Seek.srv
@@ -0,0 +1,3 @@
+builtin_interfaces/Time time
+---
+bool success  # return true if valid time in bag duration, and successful seek
diff --git a/rosbag2_interfaces/srv/SetRate.srv b/rosbag2_interfaces/srv/SetRate.srv
@@ -0,0 +1,3 @@
+float64 rate
+---
+bool success  # true if valid rate (> 0) was set
diff --git a/rosbag2_interfaces/srv/TogglePaused.srv b/rosbag2_interfaces/srv/TogglePaused.srv
@@ -0,0 +1 @@
+---