Update to ROS2 'Foxy', added option for unbounded vars.

CMakeLists.txt

@@ -33,36 +33,82 @@ set (top_level_source_dir "${CMAKE_CURRENT_SOURCE_DIR}/")
 
 connextdds_sanitize_library_language(LANG ${LANG} VAR lang_var)
 
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/action_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/action_tutorials_interfaces")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/actionlib_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/builtin_interfaces")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/composition_interfaces")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/diagnostic_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/example_interfaces")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/gazebo_msgs")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/geometry_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/lgsvl_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/libstatistics_collector")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/lifecycle_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/logging_demo")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/map_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/move_base_msgs")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/nav_msgs")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/pendulum_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/rcl_interfaces")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/rclcpp")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/rmw_dds_common")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/rosgraph_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/rosidl_generator_py")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/rqt_py_common")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/sensor_msgs")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/shape_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/statistics_msgs")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/std_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/std_srvs")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/stereo_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/test_communication")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/test_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/test_rclcpp")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/tf2_msgs")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/trajectory_msgs")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/turtlesim")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/unique_identifier_msgs")
 add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/visualization_msgs")
 
 add_library(RosDataTypes
-    $<TARGET_OBJECTS:diagnosticlibrary>
-    $<TARGET_OBJECTS:gazebolibrary>
-    $<TARGET_OBJECTS:geometrylibrary>
-    $<TARGET_OBJECTS:lifecyclelibrary>
-    $<TARGET_OBJECTS:navlibrary>
-    $<TARGET_OBJECTS:pendulumlibrary>
-    $<TARGET_OBJECTS:sensorlibrary>
-    $<TARGET_OBJECTS:shapelibrary>
-    $<TARGET_OBJECTS:stdlibrary>
-    $<TARGET_OBJECTS:stereolibrary>
-    $<TARGET_OBJECTS:testlibrary>
-    $<TARGET_OBJECTS:tf2library>
-    $<TARGET_OBJECTS:trajectorylibrary>
-    $<TARGET_OBJECTS:visualizationlibrary>
+    $<TARGET_OBJECTS:actionmsgslibrary>
+    $<TARGET_OBJECTS:actiontutorialsinterfaceslibrary>
+    $<TARGET_OBJECTS:actionlibmsgslibrary>
+    $<TARGET_OBJECTS:builtininterfaceslibrary>
+    $<TARGET_OBJECTS:compositioninterfaceslibrary>
+    $<TARGET_OBJECTS:diagnosticmsgslibrary>
+    $<TARGET_OBJECTS:exampleinterfaceslibrary>
+    $<TARGET_OBJECTS:gazebomsgslibrary>
+    $<TARGET_OBJECTS:geometrymsgslibrary>
+    $<TARGET_OBJECTS:lgsvlmsgslibrary>
+    $<TARGET_OBJECTS:libstatisticscollectorlibrary>
+    $<TARGET_OBJECTS:lifecyclemsgslibrary>
+    $<TARGET_OBJECTS:loggingdemolibrary>
+    $<TARGET_OBJECTS:mapmsgslibrary>
+    $<TARGET_OBJECTS:movebasemsgslibrary>
+    $<TARGET_OBJECTS:navmsgslibrary>
+    $<TARGET_OBJECTS:pendulummsgslibrary>
+    $<TARGET_OBJECTS:rclinterfaceslibrary>
+    $<TARGET_OBJECTS:rclcpplibrary>
+    $<TARGET_OBJECTS:rmwddscommonlibrary>
+    $<TARGET_OBJECTS:rosgraphmsgslibrary>
+    $<TARGET_OBJECTS:rosidlgeneratorpylibrary>
+    $<TARGET_OBJECTS:rqtpycommonlibrary>
+    $<TARGET_OBJECTS:sensormsgslibrary>
+    $<TARGET_OBJECTS:shapemsgslibrary>
+    $<TARGET_OBJECTS:statisticsmsgslibrary>
+    $<TARGET_OBJECTS:stdmsgslibrary>
+    $<TARGET_OBJECTS:stdsrvslibrary>
+    $<TARGET_OBJECTS:stereomsgslibrary>
+    $<TARGET_OBJECTS:testcommunicationlibrary>
+    $<TARGET_OBJECTS:testmsgslibrary>
+    $<TARGET_OBJECTS:testrclcpplibrary>
+    $<TARGET_OBJECTS:tf2msgslibrary>
+    $<TARGET_OBJECTS:trajectorymsgslibrary>
+    $<TARGET_OBJECTS:turtlesimlibrary>
+    $<TARGET_OBJECTS:uniqueidentifiermsgslibrary>
+    $<TARGET_OBJECTS:visualizationmsgslibrary>    
 )
 
 target_link_libraries(RosDataTypes 

README.md

@@ -31,6 +31,12 @@ ros-data-types/
 For more information on the original ROS 2 common interfaces, please refer to
 this [repository](https://github.com/ros2/common_interfaces).
 
+This repository also includes data type definitions for topics that are *ROS2 internal*, 
+for supporting ROS2 parameters, actions, RCL and RMW, etc., thus enabling non-ROS2 
+Connext DDS applications full access and interoperability with any ROS2 component, 
+module, tool, visualizer, etc.
+
+
 ## Building ROS Type Library
 
 The ROS Types repository repository provides a set of CMake files to generate
@@ -41,14 +47,57 @@ that are required to build DDS applications capable of sending ROS messages.
 
 To generate the library, first run `cmake` from a subfolder. This process will
 create all the build constructs (e.g., Makefiles or Visual Studio solutions)
-that are required to build the library.
+that are required to build the library.  
+**Be sure to include the Connext DDS installation directory in your path before proceeding**
+This can be added to the current command shell by using the `rtisetenv_<arch>` script 
+included with Connext, such as:  
+
+**Linux:**
+```sh
+~/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash
+```
+
+**Windows:**
+```sh
+"C:\Program Files\rti_connext_dds-6.0.1\resource\scripts\rtisetenv_x64Win64VS2017.bat"
+```
+
+Windows builds can also benefit from running the `vcvars<option>.bat` script before building,
+such as `vcvarsall.bat`, to add Visual Studio to the PATH.
 
+
+**Run CMake to generate the build files**
 ```bash
 cd ros-data-types
 mkdir build; cd build
 cmake ..
 ```
 
+**CMake Options**  
+Optional arguments may be passed to CMake to control the build or correct errors, including:  
+
+
+**ROS2 unbounded variables**  
+ROS2 uses UNBOUNDED strings and sequences by default; this library can also be built to use
+UNBOUNDED vars by passing the `-DUNBOUNDED_ALL=ON` switch on the command line, as in:
+```sh
+cmake -DUNBOUNDED_ALL=ON ..
+``` 
+
+**RTI Connext Target Type**  
+If your RTI Connext installation includes support for multiple target platform types, a 
+specific target may be specified by adding the `-DCONNEXTDDS_ARCH=<arch>` switch, where
+`<arch>` is set to your desired build target, such as `x64Linux4gcc7.3.0`, `x64Win64VS2017`, etc. 
+
+
+**Debug or Release Build**  
+DEBUG build is enabled by default.  To build for RELEASE, use the parameter `CMAKE_BUILD_TYPE=Release`
+definition as part of your `cmake` invocation, as in:
+```sh
+cmake -DCMAKE_BUILD_TYPE=Release ..
+```
+
+**Language**  
 By default, the project will generate a type library for C++11. If you want to
 generate a type library for a different language, use the the parameter `LANG`
 as part of your `cmake` invocation:
@@ -57,18 +106,33 @@ as part of your `cmake` invocation:
 cmake -DLANG=<C|C++|C++11> ..
 ```
 
-### Building Type Library
+These CMake arguments shall be combined into a single command line, as in:
+```sh
+cmake -DCMAKE_BUILD_TYPE=Release -DUNBOUNDED_ALL=ON ..
+```
+
 
-Next, run the created build constructs. On Unix, that implies using GNU `make`:
+### Building the Type Library
+
+Next, run the created build constructs. On **Unix**, that implies using GNU `make`:
 
 ```bash
 make
 ```
 
-(On Windows, you will need to build the generated Visual Studio solution
-instead.)
+On **Windows**, you will need to build the generated Visual Studio solution instead:
+
+```sh
+  msbuild ros-types.sln </Flags>
+```
+or:
+```sh
+  devenv ros-types.sln
+```
+to launch the Visual Studio IDE
+
 
-### Installing Type Library
+### Installing the Type Library
 
 If you want to copy the resulting library and header files to a different
 location, run `cmake` and specify the destination directory:

_utilities/2_idl_to_tree.py

@@ -0,0 +1,112 @@
+# 2_idl_to_tree.py - Step 2 helper to convert a merged IDL file
+#  with 1-def-per-line into a directory tree of IDL files.
+# Started 2020Nov08 Neil Puthuff
+
+import sys
+import os
+
+file_header = '''/* 
+ * Copyright 2012-2018 Open Source Robotics Foundation 
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); 
+ * you may not use this file except in compliance with the License. 
+ * You may obtain a copy of the License at 
+ * 
+ *     http://www.apache.org/licenses/LICENSE-2.0 
+ * 
+ * Unless required by applicable law or agreed to in writing, software 
+ * distributed under the License is distributed on an "AS IS" BASIS, 
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
+ * See the License for the specific language governing permissions and 
+ * limitations under the License. 
+ */ 
+'''
+
+def add_fmt(iline):
+  oline = ""
+  indent = 0
+  skip = False
+  for c in iline:
+    if skip == True:
+      if c != ' ':
+        if c == '}':
+          indent -= 2
+        oline = oline + (" " * indent) + c
+        skip = False
+    elif c == '{':
+      indent += 2
+      oline = oline + c + '\n'
+      skip = True
+    elif c == ';':
+      oline = oline + c + '\n'
+      skip = True
+    else:
+      oline = oline + c
+  return oline
+
+with open(sys.argv[1], 'r') as idl_in:
+  line_in = idl_in.readline()
+  type_cnt = 1
+  while line_in:
+    modName = ''
+    subDir = ''
+    typeName = ''
+    includeFiles = set()
+    wlist = line_in.split()
+    if wlist[0] == "module":
+      modName = wlist[1]
+      if wlist[3] == "module":
+        subDir = wlist[4]
+
+      wcnt = 0
+      for w in wlist:
+        if w == "struct":
+          typeName = wlist[wcnt+1].rstrip('_')
+        wcnt += 1
+
+        if "::" in w:
+          tmpW = w
+          if "sequence<" in tmpW:
+            tmpW = tmpW[9:].strip(">")
+            if "," in tmpW:
+              tmpW = tmpW[0:tmpW.rfind(',')-1]
+          incParts = tmpW.split('::')
+          incFile = "{}/{}/{}.idl".format(incParts[0], incParts[1], incParts[3].rstrip('_'))
+          includeFiles.add(incFile)
+
+      type_cnt += 1
+
+      # create directories if they don't already exist
+      if not os.path.exists('./{}'.format(modName)):
+        os.makedirs('./{}'.format(modName))
+      if not os.path.exists('./{}/{}'.format(modName, subDir)):
+        os.makedirs('./{}/{}'.format(modName, subDir))
+
+      # create the IDL type file
+      f_idl = open('./{}/{}/{}.idl'.format(modName, subDir, typeName), "w")
+
+      # write the file comment header
+      f_idl.write("{}\n".format(file_header))
+
+      # make the ifndef string
+      ifndef_string = "__{}__{}__{}__idl".format(modName, subDir, typeName)
+      f_idl.write("#ifndef {}\n".format(ifndef_string))
+      f_idl.write("#define {}\n\n".format(ifndef_string))
+
+      # add any include files needed
+      if len(includeFiles) > 0:
+        for incF in includeFiles:
+          f_idl.write("#include \"{}\"\n".format(incF))
+        f_idl.write("\n")
+
+      # write the data types info
+      f_idl.write("{}\n".format(add_fmt(line_in)))
+
+      # close the ifndef string
+      f_idl.write("#endif // {}\n".format(ifndef_string))
+
+      f_idl.close()
+
+    line_in = idl_in.readline()
+  idl_in.close()
+