Add service_msgs package

action_msgs/package.xml

@@ -18,6 +18,7 @@
   <buildtool_depend>rosidl_core_generators</buildtool_depend>
 
   <depend>builtin_interfaces</depend>
+  <depend>service_msgs</depend>
   <depend>unique_identifier_msgs</depend>
 
   <exec_depend>rosidl_core_runtime</exec_depend>

service_msgs/CMakeLists.txt

@@ -0,0 +1,36 @@
+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 -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)
+
+set(msg_files
+  "msg/ServiceEventInfo.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES builtin_interfaces
+  ADD_LINTER_TESTS
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(rosidl_core_runtime)
+
+ament_package()

service_msgs/QUALITY_DECLARATION.md

@@ -0,0 +1,112 @@
+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 [ROS interfaces](README.md).
+New interfaces 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_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.
+
+### 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/)
+* [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).

service_msgs/README.md

@@ -0,0 +1,18 @@
+# service_msgs
+
+This package contains message types used by ROS services.
+
+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): 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
+
+See the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

service_msgs/msg/ServiceEventInfo.msg

@@ -0,0 +1,21 @@
+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.
+# 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
+int64 sequence_number

service_msgs/package.xml

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>service_msgs</name>
+  <version>1.3.1</version>
+  <description>Messages definitions common among all ROS services</description>
+
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="brian.chen@openrobotics.org">Brian Chen</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_core_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+
+  <exec_depend>rosidl_core_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>
+</package>