Separate interface package system_modes_msgs (#74)

* Separate ROS 2 package for system modes interface
* Documentation for system_modes_msgs
* Adapt CI action

Separated msg and srv types into seperate package . This seems to be the
ROS 2 way anyway, was requiring a hack beforehand, and seems necessary
to get windows build working.

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Author: norro

.github/workflows/ci.yaml

@@ -24,7 +24,7 @@ jobs:
         required-ros-distributions: ${{ matrix.ros_distribution }}
     - uses : ros-tooling/action-ros-ci@0.1.0
       with:
-        package-name: "system_modes system_modes_examples"
+        package-name: "system_modes_msgs system_modes system_modes_examples"
         target-ros2-distro: ${{ matrix.ros_distribution }}
         vcs-repo-file-url: ""
         colcon-mixin-name: coverage-gcc

README.md

@@ -7,7 +7,8 @@
 [![Build status](https://github.com/micro-ROS/system_modes/workflows/Build%20action%3A%20Foxy%20%2B%20Rolling/badge.svg)](https://github.com/micro-ROS/system_modes/actions)
 [![Code coverage](https://codecov.io/gh/micro-ROS/system_modes/branch/master/graph/badge.svg)](https://codecov.io/gh/micro-ROS/system_modes)
 
-This repository explores a system modes concept that is implemented for ROS 2 in two packages:
+This repository explores a system modes concept that is implemented for ROS 2 in three packages:
+* [system_modes_msgs](./system_modes_msgs/) provides the message types and services for system modes
 * [system_modes](./system_modes/) provides a library for system mode inference, a mode manager, and a mode monitor
 * [system_modes_examples](./system_modes_examples/) implements a simple example
 

system_modes/CMakeLists.txt

@@ -18,24 +18,12 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcl_lifecycle REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
-
-# generate service
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/Mode.msg"
-  "msg/ModeEvent.msg"
-  "srv/ChangeMode.srv"
-  "srv/GetMode.srv"
-  "srv/GetAvailableModes.srv"
-  ADD_LINTER_TESTS
-  DEPENDENCIES builtin_interfaces
-)
+find_package(system_modes_msgs REQUIRED)
 
 add_library(mode SHARED
   src/system_modes/mode.cpp
@@ -50,17 +38,10 @@ ament_target_dependencies(mode
   "rclcpp"
   "rcl_lifecycle"
   "rclcpp_lifecycle"
-  "lifecycle_msgs"
   "rosidl_typesupport_cpp"
-  "std_msgs"
-  "builtin_interfaces"
+  "lifecycle_msgs"
+  "system_modes_msgs"
 )
-#rosidl_target_interfaces(mode
-# ${PROJECT_NAME} "rosidl_typesupport_cpp")
-# TODO Should work with the two lines above, but doesn't
-include_directories(../../build/system_modes/rosidl_generator_cpp/)
-link_directories(../../build/system_modes/)
-target_link_libraries(mode system_modes__rosidl_typesupport_cpp)
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
@@ -227,11 +208,9 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_include_directories(include)
-#ament_export_interfaces(export_${PROJECT_NAME})
 ament_export_libraries(mode)
-ament_export_libraries(${PROJECT_NAME}__rosidl_typesupport_introspection_cpp)
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(rclcpp_lifecycle)
 ament_export_dependencies(lifecycle_msgs)
-ament_export_dependencies(std_msgs)
+ament_export_dependencies(system_modes_msgs)
 ament_package()

system_modes/include/system_modes/mode_manager.hpp

@@ -30,10 +30,10 @@
 
 #include "system_modes/mode_handling.hpp"
 #include "system_modes/mode_inference.hpp"
-#include "system_modes/srv/change_mode.hpp"
-#include "system_modes/srv/get_mode.hpp"
-#include "system_modes/srv/get_available_modes.hpp"
-#include "system_modes/msg/mode_event.hpp"
+#include "system_modes_msgs/srv/change_mode.hpp"
+#include "system_modes_msgs/srv/get_mode.hpp"
+#include "system_modes_msgs/srv/get_available_modes.hpp"
+#include "system_modes_msgs/msg/mode_event.hpp"
 
 namespace system_modes
 {
@@ -68,14 +68,14 @@ class ModeManager : public rclcpp::Node
   // Mode service callbacks
   virtual void on_change_mode(
     const std::string &,
-    const std::shared_ptr<system_modes::srv::ChangeMode::Request>,
-    std::shared_ptr<system_modes::srv::ChangeMode::Response>);
+    const std::shared_ptr<system_modes_msgs::srv::ChangeMode::Request>,
+    std::shared_ptr<system_modes_msgs::srv::ChangeMode::Response>);
   virtual void on_get_mode(
     const std::string &,
-    std::shared_ptr<system_modes::srv::GetMode::Response>);
+    std::shared_ptr<system_modes_msgs::srv::GetMode::Response>);
   virtual void on_get_available_modes(
     const std::string &,
-    std::shared_ptr<system_modes::srv::GetAvailableModes::Response>);
+    std::shared_ptr<system_modes_msgs::srv::GetAvailableModes::Response>);
 
   virtual bool change_state(
     const std::string &,
@@ -109,17 +109,17 @@ class ModeManager : public rclcpp::Node
   states_srv_;
 
   // Mode change services
-  std::map<std::string, rclcpp::Service<system_modes::srv::ChangeMode>::SharedPtr>
+  std::map<std::string, rclcpp::Service<system_modes_msgs::srv::ChangeMode>::SharedPtr>
   mode_change_srv_;
-  std::map<std::string, rclcpp::Service<system_modes::srv::GetMode>::SharedPtr>
+  std::map<std::string, rclcpp::Service<system_modes_msgs::srv::GetMode>::SharedPtr>
   get_mode_srv_;
-  std::map<std::string, rclcpp::Service<system_modes::srv::GetAvailableModes>::SharedPtr>
+  std::map<std::string, rclcpp::Service<system_modes_msgs::srv::GetAvailableModes>::SharedPtr>
   modes_srv_;
 
   // Lifecycle / Mode / Parameter service clients
   std::map<std::string, rclcpp::Client<lifecycle_msgs::srv::ChangeState>::SharedPtr>
   state_change_clients_;
-  std::map<std::string, rclcpp::Client<system_modes::srv::ChangeMode>::SharedPtr>
+  std::map<std::string, rclcpp::Client<system_modes_msgs::srv::ChangeMode>::SharedPtr>
   mode_change_clients_;
   std::map<std::string, rclcpp::AsyncParametersClient::SharedPtr>
   param_change_clients_;
@@ -131,9 +131,9 @@ class ModeManager : public rclcpp::Node
   state_request_pub_;
 
   // Mode transition publisher
-  std::map<std::string, rclcpp::Publisher<system_modes::msg::ModeEvent>::SharedPtr>
+  std::map<std::string, rclcpp::Publisher<system_modes_msgs::msg::ModeEvent>::SharedPtr>
   mode_transition_pub_;
-  std::map<std::string, rclcpp::Publisher<system_modes::msg::ModeEvent>::SharedPtr>
+  std::map<std::string, rclcpp::Publisher<system_modes_msgs::msg::ModeEvent>::SharedPtr>
   mode_request_pub_;
 
   // Remember states and modes of the systems

system_modes/include/system_modes/mode_monitor.hpp

@@ -26,10 +26,10 @@
 #include "system_modes/mode.hpp"
 #include "system_modes/mode_inference.hpp"
 
-#include "system_modes/srv/change_mode.hpp"
-#include "system_modes/srv/get_mode.hpp"
-#include "system_modes/srv/get_available_modes.hpp"
-#include "system_modes/msg/mode_event.hpp"
+#include "system_modes_msgs/srv/change_mode.hpp"
+#include "system_modes_msgs/srv/get_mode.hpp"
+#include "system_modes_msgs/srv/get_available_modes.hpp"
+#include "system_modes_msgs/msg/mode_event.hpp"
 
 namespace system_modes
 {

system_modes/include/system_modes/mode_observer.hpp

@@ -26,8 +26,8 @@
 #include <utility>
 
 #include "system_modes/mode.hpp"
-#include "system_modes/msg/mode_event.hpp"
-#include "system_modes/srv/get_mode.hpp"
+#include "system_modes_msgs/msg/mode_event.hpp"
+#include "system_modes_msgs/srv/get_mode.hpp"
 
 namespace system_modes
 {
@@ -39,8 +39,8 @@ using std::string;
 using lifecycle_msgs::msg::TransitionEvent;
 using lifecycle_msgs::srv::GetState;
 using rclcpp::node_interfaces::NodeBaseInterface;
-using system_modes::msg::ModeEvent;
-using system_modes::srv::GetMode;
+using system_modes_msgs::msg::ModeEvent;
+using system_modes_msgs::srv::GetMode;
 
 /**
  * Mode observer provides a local system modes cache.

system_modes/package.xml

@@ -18,8 +18,7 @@
   <depend>builtin_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
-  <depend>rosidl_default_generators</depend>
-  <depend>std_msgs</depend>
+  <depend>system_modes_msgs</depend>
 
   <exec_depend>launch_ros</exec_depend>
 
@@ -36,8 +35,6 @@
   <test_depend>launch_testing_ros</test_depend>
   <test_depend>ros2run</test_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

system_modes/src/mode_manager_node.cpp

@@ -39,7 +39,7 @@ using std::shared_ptr;
 using system_modes::ModeManager;
 using system_modes::DEFAULT_MODE;
 using system_modes::StateAndMode;
-using system_modes::msg::ModeEvent;
+using system_modes_msgs::msg::ModeEvent;
 
 using lifecycle_msgs::msg::State;
 using lifecycle_msgs::msg::TransitionEvent;

system_modes/src/mode_monitor_node.cpp

@@ -43,7 +43,7 @@ using std::invalid_argument;
 using system_modes::ModeMonitor;
 using system_modes::DEFAULT_MODE;
 using system_modes::StateAndMode;
-using system_modes::msg::ModeEvent;
+using system_modes_msgs::msg::ModeEvent;
 using lifecycle_msgs::msg::State;
 using lifecycle_msgs::msg::TransitionEvent;
 

system_modes/src/system_modes/mode_manager.cpp

@@ -29,7 +29,7 @@
 #include <algorithm>
 #include <functional>
 
-#include "system_modes/msg/mode_event.hpp"
+#include "system_modes_msgs/msg/mode_event.hpp"
 
 using std::string;
 using std::out_of_range;
@@ -46,10 +46,10 @@ using lifecycle_msgs::srv::GetState;
 using lifecycle_msgs::srv::ChangeState;
 using lifecycle_msgs::srv::GetAvailableStates;
 
-using system_modes::msg::ModeEvent;
-using system_modes::srv::GetMode;
-using system_modes::srv::ChangeMode;
-using system_modes::srv::GetAvailableModes;
+using system_modes_msgs::msg::ModeEvent;
+using system_modes_msgs::srv::GetMode;
+using system_modes_msgs::srv::ChangeMode;
+using system_modes_msgs::srv::GetAvailableModes;
 
 using namespace std::chrono_literals;
 
@@ -156,7 +156,7 @@ ModeManager::add_system(const std::string & system)
     std::shared_ptr<GetMode::Response>)> mode_get_callback =
     std::bind(&ModeManager::on_get_mode, this, system, _3);
   this->get_mode_srv_[system] =
-    this->create_service<system_modes::srv::GetMode>(
+    this->create_service<system_modes_msgs::srv::GetMode>(
     topic_name,
     mode_get_callback);
 
@@ -211,7 +211,7 @@ ModeManager::add_node(const std::string & node)
     std::shared_ptr<GetMode::Response>)> mode_get_callback =
     std::bind(&ModeManager::on_get_mode, this, node, _3);
   this->get_mode_srv_[node] =
-    this->create_service<system_modes::srv::GetMode>(
+    this->create_service<system_modes_msgs::srv::GetMode>(
     topic_name,
     mode_get_callback);
 
@@ -333,7 +333,7 @@ ModeManager::on_change_mode(
 void
 ModeManager::on_get_mode(
   const std::string & node_name,
-  std::shared_ptr<system_modes::srv::GetMode::Response> response)
+  std::shared_ptr<system_modes_msgs::srv::GetMode::Response> response)
 {
   // TODO(anordman): to be on the safe side, don't use the node name from
   //       the request, but bind it to the callback instead
@@ -532,9 +532,9 @@ ModeManager::change_part_state(const string & node, unsigned int transition)
 void
 ModeManager::change_part_mode(const string & node, const string & mode)
 {
-  RCLCPP_INFO(
+  RCLCPP_DEBUG(
     this->get_logger(),
-    " changing mode of %s to %s",
+    " changing mode of part %s to %s",
     node.c_str(),
     mode.c_str());