Remove unused splitting of .srv files in CMake #753
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Signed-off-by: Shane Loretz <shane.loretz@gmail.com>
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CI (build: all packages test:
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mjcarroll
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Jun 12, 2023
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lol omg i was so confused for 30 mins there just now. I literally just had a test start failing on me because I was using these. I was like "how is something possibly passing on Humble but not in Rolling??". I hadn't pulled locally, and Funny that you did this on the exact week I decided to start depending on it. I see the motivation to clean up a dangling thing... now I need to reconsider how I'm going to handle getting "implicit subinterface" schemas more generally - I was just going to punt on actions and handle services since the |
achim-k
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Apr 23, 2024
Request and Response message files are not available anymore as of ros2/rosidl#753. This patch parses the service's .srv file instead.
jtbandes
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May 3, 2024
### Changelog Fix service definition parsing on ROS rolling ### Description Prior to this change, we used the auto-generated `_Request.msg` and `_Response.msg` message definitions for parsing a service's request and response definition. However, these message definitions have been removed in ros2/rosidl#753 causing foxglove bridge to raise warnings that the service definition could not be found. This PR changes the service definition parsing to lookup the service definition using the `.srv` file and splitting the content using the `===` seperator to obtain the request and response definition.
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It used to be that rosidl generators acted on ROS IDL (.msg/.srv/.action) files directly, and generated code from them. This removes now purposeless code that used to be part of that pipeline.
IIUC, how this used to work is the
rosidl_generate_interfaces()macro would split.srvfiles into two: one for the request and one for the response. The generators would then generate code for the split.msgfiles. Notice in the past the request and response messages were put into a variable called_idl_files, meaning ROS IDL, and which was then passed to the generators.This code seems to have survived the transition to OMG IDL, but it no longer has a purpose. Notice the split services are now put into a variable called
_non_idl_files, (now meaning they're not OMG IDL files). These files aren't passed to the generators. They do get installed - but AFAIK that's just so other's can see what the original ROS IDL of a message was. Nothing actually uses these..._Request.msgand..._Response.msgfiles anymore.With the OMG IDL pipeline,
.srvfiles are converted to OMG IDL files. The service still gets split into two in a way.rosidl_adapterparses the.srvfile to produce a python object representing the request and the response, and then uses one of the.msgtemplates for the request and response in the OMG IDL file, but the generators downstream only see that as an OMG IDL file containing Request and Response structs.