Merge pull request #115 from danthony06/add_ros2_introspection_msgs

Add ros2 introspection Messages

.gitignore

@@ -7,3 +7,4 @@ msg_gen
 srv_gen
 src
 version.txt
+**/*.swp

marti_can_msgs/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>marti_can_msgs</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
 
      marti_can_msgs

marti_common_msgs/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>marti_common_msgs</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
 
      marti_common_msgs

marti_dbw_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <package format="3">
   <name>marti_dbw_msgs</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
 
      marti_dbw_msgs

marti_introspection_msgs/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.10.0)
+project(marti_introspection_msgs)
+
+set(CMAKE_CXX_STANDARD 14)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+
+set(MSG_FILES
+  msg/NodeInfo.msg
+  msg/ParamInfo.msg
+  msg/TopicInfo.msg
+  msg/ServiceInfo.msg
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${MSG_FILES}
+  DEPENDENCIES ${MSG_DEPS}
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
+

marti_introspection_msgs/msg/NodeInfo.msg

@@ -0,0 +1,22 @@
+# This message contains documentation data about a specific node
+
+# The fully qualified node name
+string name
+
+# The location the node handle is constructed
+string location
+
+# The name of the nodelet manager this is running in, if any
+string nodelet_manager
+
+# A human readable description of the node
+string description
+
+# A list of each topic used in the node
+TopicInfo[] topics
+
+# A list of each parameter used in the node
+ParamInfo[] parameters
+
+# A list of each service used in the node
+ServiceInfo[] services

marti_introspection_msgs/msg/ParamInfo.msg

@@ -0,0 +1,37 @@
+# This message contains documentation data about a parameter in a node
+uint8 TYPE_XMLRPC=0
+uint8 TYPE_DOUBLE=1
+uint8 TYPE_STRING=2
+uint8 TYPE_INT=3
+uint8 TYPE_FLOAT=4
+uint8 TYPE_BOOL=5
+
+# The internal name of the parameter
+string name
+
+# The external, global name of the parameter
+string resolved_name
+
+# A description of the parameter and what it does
+string description
+
+# Used to group related components
+string group
+
+# The type of parameter using the enums above
+uint8 type
+
+# If the parameter is dynamic or not
+bool dynamic
+
+# Default values
+int32 default_int
+float32 default_float
+float64 default_double
+string default_string
+bool default_bool
+
+# Max and minimum values (may have rounding issues)
+# Unused if both are 0.0
+float64 max_value
+float64 min_value

marti_introspection_msgs/msg/ServiceInfo.msg

@@ -0,0 +1,22 @@
+# This message contains documentation data about a service client/server in a node
+
+# The internal name of the service
+string name
+
+# The external, global name of the service
+string resolved_name
+
+# A human readable description of the service and how to use it
+string description
+
+# Used to group related components
+string group
+
+# The name of the message type
+string message_type
+
+# If this is a service server, otherwise it is a service client
+bool server
+
+# Indicates if this is a topic service rather than a true service
+bool topic_service

marti_introspection_msgs/msg/TopicInfo.msg

@@ -0,0 +1,19 @@
+# This message contains documentation data about a topic in a node
+
+# The internal name of the topic
+string name
+
+# The external, global name of the topic
+string resolved_name
+
+# A human readable description of the topic and how to use it
+string description
+
+# Used to group related components
+string group
+
+# The name of the message type
+string message_type
+
+# If the topic is being advertised, otherwise it is being subscribed to
+bool advertised

marti_introspection_msgs/package.xml

@@ -0,0 +1,25 @@
+<package format="3">
+  <name>marti_introspection_msgs</name>
+  <version>1.3.0</version>
+  <description>
+     marti_introspection_msgs
+  </description>
+  <author>Matthew Bries</author>
+  <maintainer email="[email protected]">Matthew Bries</maintainer>
+  <license>BSD</license>
+  <url>https://github.com/swri-robotics/marti_messages</url>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

marti_nav_msgs/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>marti_nav_msgs</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
 
      marti_nav_msgs

marti_perception_msgs/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>marti_perception_msgs</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
 
      marti_perception_msgs

marti_sensor_msgs/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>marti_sensor_msgs</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
 
      marti_sensor_msgs

marti_status_msgs/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>marti_status_msgs</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
 
      marti_status_msgs

marti_visualization_msgs/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>marti_visualization_msgs</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>
 
      marti_visualization_msgs