Add GetTypeDescription.srv (rep2011)

type_description_interfaces/CMakeLists.txt

@@ -19,7 +19,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Field.msg"
   "msg/FieldType.msg"
   "msg/IndividualTypeDescription.msg"
+  "msg/KeyValue.msg"
   "msg/TypeDescription.msg"
+  "srv/GetTypeDescription.srv"
   ADD_LINTER_TESTS
 )
 

type_description_interfaces/msg/KeyValue.msg

@@ -0,0 +1,2 @@
+string key
+string value

type_description_interfaces/package.xml

@@ -13,6 +13,8 @@
 
   <buildtool_depend>rosidl_core_generators</buildtool_depend>
 
+  <depend>service_msgs</depend>
+
   <exec_depend>rosidl_core_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

type_description_interfaces/srv/GetTypeDescription.srv

@@ -0,0 +1,43 @@
+# ROS interface type name, in PACKAGE/NAMESPACE/TYPENAME format
+string type_name
+
+# REP-2011 RIHS hash string, which looks like RIHSxx_hashvalue
+string type_version_hash
+
+# Whether to return the raw idl or msg file(s) in the response, if available
+bool include_raw_description true
+---
+# include_raw_description requested, and provided successfully
+uint8 RAW_DESCRIPTION_REQUESTED_PROVIDED = 0
+# include_raw_description disabled, so type_description_raw was left empty
+uint8 RAW_DESCRIPTION_NOT_REQUESTED_NOT_PROVIDED = 1
+# include_raw_description requested, but no raw version available (perhaps for dynamically created types)
+uint8 RAW_DESCRIPTION_REQUESTED_NOT_AVAILABLE = 2
+
+# True if the type description information is available and populated in the response
+# If false, all other fields except `reason` are considered undefined
+bool successful
+# If `successful` is false, contains a reason for failure.
+# On success, may contain a reason for missing type_description_raw.
+string reason
+
+# Contains a value from RAW_DESCRIPTION_ constants, explaining whether the
+# `type_description_raw_file_name` and `type_description_raw` fields contain valid data.
+uint8 type_description_raw_result
+
+# The idl or msg file name
+# Empty if not available, which will be noted in `reason`
+string type_description_raw_file_name
+
+# The idl or msg file, with comments and whitespace
+# The file extension and/or the contents can be used to determine the format
+# This contains all recursive raw files, each separated by a line of 80 '=' characters
+# The order will be the same as the TypeDescription -
+# which is top level interface, then referenced type descriptions in alphabetical order by type_name
+string type_description_raw
+
+# The parsed type description which can be used programmatically
+TypeDescription type_description
+
+# Key-value pairs of extra information.
+KeyValue[] extra_information