rcl_interfaces

Description

This repository contains a set of packages that primarily contain interface files (.msg and .srv) which are used both to implement client library concepts and for testing.

action_msgs: Messages and services for ROS 2 actions
builtin_interfaces: Message definitions for types in the OMG IDL Platform Specific Model
composition_interfaces: Services for managing composeable nodes.
lifecycle_msgs: Message and service definitions for managing lifecycle nodes.
rcl_interfaces: Message and service definitions for ROS client libraries
rosgraph_msgs: Message definitions relating the ROS Computation Graph
test_msgs: Used exclusively for testing purposes

Software Architecture

Software architecture description

https://github.com/ros2/rcl_interfaces.git

input:

.
├── action_msgs
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── msg
│   │   ├── GoalInfo.msg
│   │   ├── GoalStatusArray.msg
│   │   └── GoalStatus.msg
│   ├── package.xml
│   ├── QUALITY_DECLARATION.md
│   ├── README.md
│   └── srv
│       └── CancelGoal.srv
├── builtin_interfaces
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── msg
│   │   ├── Duration.msg
│   │   └── Time.msg
│   ├── package.xml
│   ├── QUALITY_DECLARATION.md
│   └── README.md
├── composition_interfaces
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── package.xml
│   ├── QUALITY_DECLARATION.md
│   ├── README.md
│   └── srv
│       ├── ListNodes.srv
│       ├── LoadNode.srv
│       └── UnloadNode.srv
├── CONTRIBUTING.md
├── LICENSE
├── lifecycle_msgs
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── msg
│   │   ├── State.msg
│   │   ├── TransitionDescription.msg
│   │   ├── TransitionEvent.msg
│   │   └── Transition.msg
│   ├── package.xml
│   ├── QUALITY_DECLARATION.md
│   ├── README.md
│   └── srv
│       ├── ChangeState.srv
│       ├── GetAvailableStates.srv
│       ├── GetAvailableTransitions.srv
│       └── GetState.srv
├── rcl_interfaces
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── mapping_rules.yaml
│   ├── msg
│   │   ├── FloatingPointRange.msg
│   │   ├── IntegerRange.msg
│   │   ├── ListParametersResult.msg
│   │   ├── Log.msg
│   │   ├── ParameterDescriptor.msg
│   │   ├── ParameterEventDescriptors.msg
│   │   ├── ParameterEvent.msg
│   │   ├── Parameter.msg
│   │   ├── ParameterType.msg
│   │   ├── ParameterValue.msg
│   │   └── SetParametersResult.msg
│   ├── package.xml
│   ├── QUALITY_DECLARATION.md
│   ├── README.md
│   └── srv
│       ├── DescribeParameters.srv
│       ├── GetParameters.srv
│       ├── GetParameterTypes.srv
│       ├── ListParameters.srv
│       ├── SetParametersAtomically.srv
│       └── SetParameters.srv
├── README.md
├── rosgraph_msgs
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── msg
│   │   └── Clock.msg
│   ├── package.xml
│   ├── QUALITY_DECLARATION.md
│   └── README.md
├── statistics_msgs
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── msg
│   │   ├── MetricsMessage.msg
│   │   ├── StatisticDataPoint.msg
│   │   └── StatisticDataType.msg
│   ├── package.xml
│   ├── QUALITY_DECLARATION.md
│   └── README.md
└── test_msgs
    ├── action
    │   └── NestedMessage.action
    ├── CHANGELOG.rst
    ├── CMakeLists.txt
    ├── include
    │   └── test_msgs
    ├── msg
    │   └── Builtins.msg
    ├── package.xml
    ├── src
    │   └── test_msgs
    └── test
        ├── test_cpp_type_support.cpp
        └── test_c_type_support.cpp

Installation

Download RPM

aarch64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/rcl_interfaces/ros2-foxy-ros2-rcl_interfaces-1.0.0-2.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/rcl_interfaces/ros2-foxy-ros2-rcl_interfaces-1.0.0-2.oe2203.x86_64.rpm

Install RPM

aarch64:

sudo rpm -ivh --nodeps --force ros2-foxy-rcl_interfaces-1.0.0-2.oe2203.aarch64.rpm

x86_64:

sudo rpm -ivh --nodeps --force ros2-foxy-rcl_interfaces-1.0.0-2.oe2203.x86_64.rpm

Instructions

Dependence installation:

sh /opt/ros/foxy/install_dependence.sh

Exit the following output file under the /opt/ros/foxy/ directory,Prove that the software installation is successful.

output:

./
├── bin
├── COLCON_IGNORE
├── include
│   ├── rcl_interfaces
│   ├── rcppmath
│   ├── rcpputils
│   ├── rcutils
│   ├── rosgraph_msgs
│   ├── rosidl_runtime_c
│   ├── rosidl_runtime_cpp
│   ├── rosidl_typesupport_cpp
│   ├── rosidl_typesupport_interface
│   ├── rosidl_typesupport_introspection_c
│   ├── rosidl_typesupport_introspection_cpp
│   ├── statistics_msgs
│   ├── test_msgs
│   └── unique_identifier_msgs
├── lib
│   ├── cmake
│   ├── librcl_interfaces__rosidl_generator_c.so
│   ├── librcl_interfaces__rosidl_typesupport_introspection_cpp.so
│   ├── librcl_interfaces__rosidl_typesupport_introspection_c.so
│   ├── python3.9
│   ├── rosidl_adapter
│   ├── rosidl_generator_c
│   ├── rosidl_generator_cpp
│   ├── rosidl_generator_dds_idl
│   ├── rosidl_parser
│   ├── rosidl_typesupport_introspection_c
│   └── rosidl_typesupport_introspection_cpp
├── lib64
├── local_setup.bash
├── local_setup.ps1
├── local_setup.sh
├── _local_setup_util_ps1.py
├── _local_setup_util_sh.py
├── local_setup.zsh
├── setup.bash
├── setup.ps1
├── setup.sh
├── setup.zsh
├── share
│   ├── rcl_interfaces
│   ├── rcpputils
│   ├── rcutils
│   ├── ros2launch
│   ├── rosgraph_msgs
│   ├── rosidl_adapter
│   ├── rosidl_cmake
│   ├── rosidl_default_generators
│   ├── rosidl_default_runtime
│   ├── rosidl_generator_c
│   ├── rosidl_generator_cpp
│   ├── rosidl_generator_dds_idl
│   ├── rosidl_parser
│   ├── rosidl_runtime_c
│   ├── rosidl_runtime_cpp
│   ├── rosidl_typesupport_interface
│   ├── rosidl_typesupport_introspection_c
│   ├── rosidl_typesupport_introspection_cpp
│   ├── statistics_msgs
│   ├── test_interface_files
│   ├── test_launch_ros
│   ├── test_launch_testing
│   ├── test_msgs
│   ├── test_osrf_testing_tools_cpp
│   ├── uncrustify_vendor
│   └── unique_identifier_msgs
└── src
    ├── gmock_vendor
    └── gtest_vendor

Contribution

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