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ros2 / rcl_interfaces

A repository for messages and services used by the ROS client libraries
Apache License 2.0
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new package and interfaces for describing other types #146

Closed wjwwood closed 1 year ago

wjwwood commented 1 year ago

Still in development, but related to "evolving message types" REP-2011: https://github.com/ros-infrastructure/rep/pull/358

There are still TODOs and known issues, but I think can iterate on those after merging this initial MVP. Merging will also unblock others working on related features.

jhurliman commented 1 year ago

Is this ready for review, or what components are missing / still in flux?

wjwwood commented 1 year ago

@jhurliman There are some TODO's left for me to update. We've been working on other technical parts of the REP lately so this hasn't made any progress lately. However, we will be returning to it before long.

wjwwood commented 1 year ago

Also, we took some time to reconsider having our own definition versus re-using something existing like the dds-xtypes_typeobject.idl from DDS-XTypes, but we decided to recommend against that and keep our custom format. I have to write up those thoughts into the REP as well.

emersonknapp commented 1 year ago

@clalancette @wjwwood what next steps do you think we need to take to get this landed? perhaps a set of consolidated TODO items will help us get it going. are any further updates needed to REP-2011 before we can move forward with these interfaces, or have we solidified that documented design well enough that it's only implementation details now?

emersonknapp commented 1 year ago

@wjwwood would you mind also rebasing this PR on rolling, when checked out it's an issue because of new service_msgs package being required by dependents

wjwwood commented 1 year ago

Rebased it on rolling.

wjwwood commented 1 year ago

I've moved this out of draft pr mode, and I think it's ready for review.

clalancette commented 1 year ago

@allenh1 @wjwwood @methylDragon @emersonknapp @james-rms I've now done the updates to this PR that we discussed last night. I think this should be ready for final review. Here is CI:

clalancette commented 1 year ago

CI was...very yellow. Even though I don't think it is the fault of this PR, here is another try:

clalancette commented 1 year ago

The flake8 failures are known (and fixed elsewhere). The one additional failure is on Windows, but that is a known flake for right now. So this all looks good, I'm going to go ahead and merge this in.