Move rosidl specific logic to rosidl_runtime_py

[jacobperron]

Feature request

Feature description

There are several TODOs for moving rosidl-related logic to a rosidl package. Now that the rosidl_runtime_py package exists, it seems like a good place.

TODOs:

ros2cli/ros2msg/ros2msg/api/__init__.py

Lines 39 to 44 in 07640db

	# TODO(dirk-thomas) this logic should come from a rosidl related package
	# Only return messages in msg folder
	return list(sorted({
	n[4:-4]
	for n in interface_names
	if n.startswith('msg/') and n[-4:] in ('.idl', '.msg')}))

ros2cli/ros2msg/ros2msg/api/__init__.py

Lines 52 to 54 in 07640db

	# TODO(dirk-thomas) this logic should come from a rosidl related package
	return os.path.join(
	prefix_path, 'share', package_name, 'msg', message_name + '.msg')

ros2cli/ros2msg/ros2msg/verb/show.py

Line 30 in 07640db

# TODO(dirk-thomas) this logic should come from a rosidl related

ros2cli/ros2srv/ros2srv/api/__init__.py

Lines 39 to 44 in 07640db

	# TODO(dirk-thomas) this logic should come from a rosidl related package
	# Only return services in srv folder
	return list(sorted({
	n[4:-4]
	for n in interface_names
	if n.startswith('srv/') and n[-4:] in ('.idl', '.srv')}))

ros2cli/ros2srv/ros2srv/api/__init__.py

Lines 52 to 54 in 07640db

	# TODO(dirk-thomas) this logic should come from a rosidl related package
	return os.path.join(
	prefix_path, 'share', package_name, 'srv', service_name + '.srv')

ros2cli/ros2srv/ros2srv/verb/show.py

Lines 30 to 31 in 07640db

	# TODO(dirk-thomas) this logic should come from a rosidl related
	# package

ros2cli/ros2service/ros2service/verb/call.py

Line 60 in 07640db

# TODO(wjwwood) this logic should come from a rosidl related package

Also, from ros2action being added in #214

[jacobperron]

I believe all of the TODOs are address by #371, #407, #405, and #406. Once they are merged I'll close this issue.

[jacobperron]

Found another TODO; addressing it in #415.

[jacobperron]

All connected PRs have been merged.