Add Graph description messages to rosgraph_msgs

rosgraph_msgs/msg/Action.msg

@@ -0,0 +1,8 @@
+# Describes a single Action endpoint, which may be a Server or Client
+
+# Fully qualified name of the Action
+string name
+
+InterfaceType request_type
+InterfaceType response_type
+InterfaceType feedback_type

rosgraph_msgs/msg/Graph.msg

@@ -0,0 +1,2 @@
+# Represents a ROS node graph, which is only a collection of nodes
+Node[] nodes

rosgraph_msgs/msg/InterfaceType.msg

@@ -0,0 +1,4 @@
+# Represent a type of a ROS Graph Interface
+
+string name
+TypeHash hash

rosgraph_msgs/msg/Node.msg

@@ -0,0 +1,23 @@
+# Represents the observable state of a ROS Node
+
+# Node descriptor fields, which can describe a node that is not running
+
+rcl_interfaces/ParameterDescriptor[] parameters
+Topic[] publishers
+Topic[] subscriptions
+
+Service[] service_clients
+Service[] service_servers
+
+Action[] action_clients
+Action[] action_servers
+
+# Node state fields, which only apply to a running instance of a node
+
+# Fully qualified node name (FQN)
+string name
+
+# Current parameter values
+# parameter_values[] must be empty, or the same size as parameters[]
+# When set, parameter_values[] match up 1:1 with the same index in parameters[]
+rcl_interfaces/ParameterValue[] parameter_values

rosgraph_msgs/msg/QoSProfile.msg

@@ -0,0 +1,42 @@
+# Message-based representation of ROS 2 Quality of Service settings
+# Default values are kept in sync with RMW by integration test
+
+# Depth of the message queue (only meaningful when history==KEEP_LAST)
+uint32 depth
+
+# Deadline between messages (0 for no deadline)
+builtin_interfaces/Duration deadline
+
+# Lifespan of each message (0 for infinite)
+builtin_interfaces/Duration lifespan
+
+# History policy
+uint8 HISTORY_SYSTEM_DEFAULT=0
+uint8 HISTORY_KEEP_LAST=1
+uint8 HISTORY_KEEP_ALL=2
+uint8 HISTORY_UNKNOWN=3
+uint8 history
+
+# Reliability policy
+uint8 RELIABILITY_SYSTEM_DEFAULT=0
+uint8 RELIABILITY_RELIABLE=1
+uint8 RELIABILITY_BEST_EFFORT=2
+uint8 RELIABILITY_UNKNOWN=3
+uint8 reliability
+
+# Durability policy
+uint8 DURABILITY_SYSTEM_DEFAULT=0
+uint8 DURABILITY_TRANSIENT_LOCAL=1
+uint8 DURABILITY_VOLATILE=2
+uint8 DURABILITY_UNKNOWN=3
+uint8 durability
+
+# Liveliness policy
+uint8 LIVELINESS_SYSTEM_DEFAULT=0
+uint8 LIVELINESS_AUTOMATIC=1
+uint8 LIVELINESS_MANUAL_BY_TOPIC=3
+uint8 LIVELINESS_UNKNOWN=4
+uint8 liveliness
+
+# Lease duration for liveliness (0 for infinite)
+builtin_interfaces/Duration liveliness_lease_duration

rosgraph_msgs/msg/Service.msg

@@ -0,0 +1,6 @@
+# Describes a single Service endpoint, which may be a Server or Client
+
+# Fully qualified name of the Service
+string name
+InterfaceType request_type
+InterfaceType response_type

rosgraph_msgs/msg/Topic.msg

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+# Describes a single topic endpoint, which may be a Publisher or Subscription
+
+# Fully qualified name of the topic
+string name
+
+# Topic type
+InterfaceType type
+
+# QoS Profile offered or requested by this endpoint
+QoSProfile qos

rosgraph_msgs/msg/TypeHash.msg

@@ -0,0 +1,4 @@
+# RIHS spec version
+uint8 version 1
+# ROSIDL_TYPE_HASH_SIZE == 32
+uint8[32] value

rosgraph_msgs/package.xml

@@ -21,8 +21,10 @@
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rcl_interfaces</build_depend>
 
   <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>