Move msg/srv from rosapi and rosbridge_library into separate packages…

…; enable Rolling in CI (#665)

**Public API Changes**
The msg and srv interfaces under `rosapi` are moving to a new package `rosapi_msgs`. The ones from `rosbridge_library` were used only for testing and are moving to a new package `rosbridge_test_msgs`.


**Description**
Fixes #581. Closes #602.
Due to a [change](ros2/rosidl_python#131) in rosidl_python, the generated python packages containing msg classes were conflicting with the python package these libraries export (ros2/rosidl_python#141). The solution recommended in that thread was to split these definitions into separate packages.

.github/workflows/ci.yml

@@ -25,6 +25,8 @@ jobs:
             os: ubuntu-20.04
           - ros: galactic
             os: ubuntu-20.04
+          - ros: rolling
+            os: ubuntu-20.04
 
     name: ROS 2 ${{ matrix.ros }} (${{ matrix.os }})
     runs-on: ${{ matrix.os }}

rosapi/CMakeLists.txt

@@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 3.5)
 project(rosapi)
 
 find_package(ament_cmake_ros REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -12,36 +10,6 @@ endif()
 ament_python_install_package(
   ${PROJECT_NAME} PACKAGE_DIR "src/${PROJECT_NAME}")
 
-rosidl_generate_interfaces(${PROJECT_NAME}
-  msg/TypeDef.msg
-  srv/DeleteParam.srv
-  srv/GetActionServers.srv
-  srv/GetParam.srv
-  srv/GetParamNames.srv
-  srv/GetTime.srv
-  srv/HasParam.srv
-  srv/MessageDetails.srv
-  srv/Nodes.srv
-  srv/NodeDetails.srv
-  srv/Publishers.srv
-  srv/ServiceNode.srv
-  srv/ServiceProviders.srv
-  srv/ServiceRequestDetails.srv
-  srv/ServiceResponseDetails.srv
-  srv/Services.srv
-  srv/ServicesForType.srv
-  srv/ServiceType.srv
-  srv/SetParam.srv
-  srv/Subscribers.srv
-  srv/Topics.srv
-  srv/TopicsAndRawTypes.srv
-  srv/TopicsForType.srv
-  srv/TopicType.srv
-  DEPENDENCIES builtin_interfaces
-)
-
-ament_export_dependencies(builtin_interfaces rosidl_default_runtime)
-
 ament_package()
 
 install(PROGRAMS scripts/rosapi_node

rosapi/package.xml

@@ -19,10 +19,7 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-
-  <build_depend>builtin_interfaces</build_depend>
-
+  <exec_depend>rosapi_msgs</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>rcl_interfaces</exec_depend>
@@ -36,16 +33,13 @@
   <exec_depend>rosnode</exec_depend>
   <exec_depend>rosgraph</exec_depend>
   -->
-  <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>sensor_msgs</test_depend>
   <test_depend>shape_msgs</test_depend>
   <test_depend>geometry_msgs</test_depend>
   <test_depend>rmw_dds_common</test_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
   <export>
     <build_type>ament_cmake</build_type>
     <ros1_bridge mapping_rules="mapping_rules.yaml"/>

rosapi/scripts/rosapi_node

@@ -38,8 +38,8 @@ from rclpy.clock import Clock, ClockType
 from rclpy.node import Node
 
 from rosapi import glob_helper, objectutils, params, proxy
-from rosapi.msg import TypeDef
-from rosapi.srv import (
+from rosapi_msgs.msg import TypeDef
+from rosapi_msgs.srv import (
     DeleteParam,
     GetActionServers,
     GetParam,

rosapi_msgs/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.5)
+project(rosapi_msgs)
+
+find_package(ament_cmake_ros REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/TypeDef.msg
+  srv/DeleteParam.srv
+  srv/GetActionServers.srv
+  srv/GetParam.srv
+  srv/GetParamNames.srv
+  srv/GetTime.srv
+  srv/HasParam.srv
+  srv/MessageDetails.srv
+  srv/Nodes.srv
+  srv/NodeDetails.srv
+  srv/Publishers.srv
+  srv/ServiceNode.srv
+  srv/ServiceProviders.srv
+  srv/ServiceRequestDetails.srv
+  srv/ServiceResponseDetails.srv
+  srv/Services.srv
+  srv/ServicesForType.srv
+  srv/ServiceType.srv
+  srv/SetParam.srv
+  srv/Subscribers.srv
+  srv/Topics.srv
+  srv/TopicsAndRawTypes.srv
+  srv/TopicsForType.srv
+  srv/TopicType.srv
+  DEPENDENCIES builtin_interfaces
+)
+
+ament_export_dependencies(builtin_interfaces rosidl_default_runtime)
+
+ament_package()

rosapi_msgs/package.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>rosapi_msgs</name>
+  <version>1.0.8</version>
+  <description>
+    Provides service calls for getting ros meta-information, like list of
+    topics, services, params, etc.
+  </description>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/rosapi</url>
+  <url type="bugtracker">https://github.com/RobotWebTools/rosbridge_suite/issues</url>
+  <url type="repository">https://github.com/RobotWebTools/rosbridge_suite</url>
+
+  <author email="[email protected]">Jonathan Mace</author>
+  <maintainer email="[email protected]">Jihoon Lee</maintainer>
+  <maintainer email="[email protected]">Jacob Bandes-Storch</maintainer>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rosbridge_library/CMakeLists.txt

@@ -3,39 +3,10 @@ project(rosbridge_library)
 
 find_package(ament_cmake_core REQUIRED)
 find_package(ament_cmake_python REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(std_msgs REQUIRED)
 
 ament_python_install_package(
   ${PROJECT_NAME} PACKAGE_DIR "src/${PROJECT_NAME}")
 
-rosidl_generate_interfaces(${PROJECT_NAME}
-  msg/Num.msg
-  msg/TestChar.msg
-  msg/TestDurationArray.msg
-  msg/TestHeaderArray.msg
-  msg/TestHeader.msg
-  msg/TestHeaderTwo.msg
-  msg/TestTimeArray.msg
-  msg/TestUInt8.msg
-  msg/TestUInt8FixedSizeArray16.msg
-  srv/AddTwoInts.srv
-  srv/SendBytes.srv
-  srv/TestArrayRequest.srv
-  srv/TestEmpty.srv
-  srv/TestMultipleRequestFields.srv
-  srv/TestMultipleResponseFields.srv
-  srv/TestNestedService.srv
-  srv/TestRequestAndResponse.srv
-  srv/TestRequestOnly.srv
-  srv/TestResponseOnly.srv
-  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
-)
-
-ament_export_dependencies(rosidl_default_runtime)
-
 ament_package()
 
 if (BUILD_TESTING)

rosbridge_library/package.xml

@@ -20,21 +20,15 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>builtin_interfaces</build_depend>
-  <build_depend>std_msgs</build_depend>
   <build_depend>python3-pil</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>rosidl_default_generators</build_depend>
   <build_depend>python3-bson</build_depend>
 
-  <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rclpy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
   <exec_depend>python3-pil</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>python3-bson</exec_depend>
 
+  <test_depend>rosbridge_test_msgs</test_depend>
   <test_depend>actionlib_msgs</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>builtin_interfaces</test_depend>
@@ -50,8 +44,6 @@
   <test_depend>trajectory_msgs</test_depend>
   <test_depend>visualization_msgs</test_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

rosbridge_library/test/internal/test_message_conversion.py

@@ -255,7 +255,7 @@ def test_int8_msg(rostype, data):
             return inst.data
 
         for msgtype in ["TestChar", "TestUInt8"]:
-            rostype = "rosbridge_library/" + msgtype
+            rostype = "rosbridge_test_msgs/" + msgtype
 
             int8s = list(range(0, 256))
             ret = test_int8_msg(rostype, int8s)
@@ -268,7 +268,7 @@ def test_int8_msg(rostype, data):
             self.assertEqual(ret, str_int8s)
 
         for msgtype in ["TestUInt8FixedSizeArray16"]:
-            rostype = "rosbridge_library/" + msgtype
+            rostype = "rosbridge_test_msgs/" + msgtype
 
             int8s = list(range(0, 16))
             ret = test_int8_msg(rostype, int8s)

rosbridge_test_msgs/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.5)
+project(rosbridge_test_msgs)
+
+find_package(ament_cmake_core REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Num.msg
+  msg/TestChar.msg
+  msg/TestDurationArray.msg
+  msg/TestHeaderArray.msg
+  msg/TestHeader.msg
+  msg/TestHeaderTwo.msg
+  msg/TestTimeArray.msg
+  msg/TestUInt8.msg
+  msg/TestUInt8FixedSizeArray16.msg
+  srv/AddTwoInts.srv
+  srv/SendBytes.srv
+  srv/TestArrayRequest.srv
+  srv/TestEmpty.srv
+  srv/TestMultipleRequestFields.srv
+  srv/TestMultipleResponseFields.srv
+  srv/TestNestedService.srv
+  srv/TestRequestAndResponse.srv
+  srv/TestRequestOnly.srv
+  srv/TestResponseOnly.srv
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

rosbridge_test_msgs/package.xml

@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>rosbridge_test_msgs</name>
+  <version>0.0.0</version>
+  <description>
+    Message and service definitions used in internal tests for rosbridge packages.
+  </description>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/rosbridge_library</url>
+  <url type="bugtracker">https://github.com/RobotWebTools/rosbridge_suite/issues</url>
+  <url type="repository">https://github.com/RobotWebTools/rosbridge_suite</url>
+
+  <author email="[email protected]">Jonathan Mace</author>
+  <maintainer email="[email protected]">Jihoon Lee</maintainer>
+  <maintainer email="[email protected]">Jacob Bandes-Storch</maintainer>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>actionlib_msgs</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>builtin_interfaces</test_depend>
+  <test_depend>diagnostic_msgs</test_depend>
+  <test_depend>example_interfaces</test_depend>
+  <test_depend>geometry_msgs</test_depend>
+  <test_depend>nav_msgs</test_depend>
+  <test_depend>sensor_msgs</test_depend>
+  <test_depend>std_msgs</test_depend>
+  <test_depend>std_srvs</test_depend>
+  <test_depend>stereo_msgs</test_depend>
+  <test_depend>tf2_msgs</test_depend>
+  <test_depend>trajectory_msgs</test_depend>
+  <test_depend>visualization_msgs</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>