Add GetTypeDescription.srv (rep2011)

type_description_interfaces/CMakeLists.txt

@@ -20,6 +20,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/FieldType.msg"
   "msg/IndividualTypeDescription.msg"
   "msg/TypeDescription.msg"
+  "srv/GetTypeDescription.srv"
   ADD_LINTER_TESTS
 )
 

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 +1,27 @@
+# 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
+---
+# True if the type description information is available and populated in the response
+bool successful
+# Empty if 'successful' was true, otherwise contains details on why it failed
+string failure_reason
+
+# The idl or msg file name
+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.
+string[] extra_information_keys
+string[] extra_information_values