Add generators and runtime configuration packages

README.md

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+# rosidl_core
+
+Provides buildtime and runtime dependencies for ROS messages.
+
+- [rosidl\_core\_generators](rosidl_core_generators/README.md) brings together dependencies for generating and building code for ROS messages.
+- [rosidl\_core\_runtime](rosidl_core_runtime/README.md) brings together dependencies for using ROS messages at runtime.
+
+For dependencies required for ROS services and ROS actions, you should depend on [rosidl_defaults](https://github.com/ros2/rosidl_defaults).

rosidl_core_generators/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(rosidl_core_generators NONE)
+
+find_package(ament_cmake REQUIRED)
+
+ament_export_dependencies(ament_cmake_core)
+ament_export_dependencies(rosidl_cmake)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS "rosidl_core_generators-extras.cmake.in"
+)

rosidl_core_generators/README.md

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+# rosidl_core_generators
+
+Provides CMake functionality for finding and adding buildtime dependencies for packages providing ROS message definitions.
+
+## Features
+
+The *features* of this package consist entirely of serving as a gathering place for all runtime related dependencies of ROS interface packages.
+These dependencies can be found in the [package.xml](package.xml).
+This helps reduce the boilerplate needed when developers create their own interface packages.

rosidl_core_generators/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosidl_core_generators</name>
+  <version>0.0.0</version>
+  <description>A configuration package defining core ROS interface generators.</description>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="dthomas@osrfoundation.org">Dirk Thomas</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
+
+  <!-- Bloom does not support group_depend, so this unrolls rosidl_generator_packages -->
+  <buildtool_export_depend>rosidl_generator_c</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_generator_cpp</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_generator_py</buildtool_export_depend>
+
+  <!-- Bloom does not support group_depend, so this unrolls rosidl_typesupport_c_packages -->
+  <buildtool_export_depend>rosidl_typesupport_c</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_typesupport_fastrtps_c</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_typesupport_introspection_c</buildtool_export_depend>
+
+  <!-- Bloom does not support group_depend, so this unrolls rosidl_typesupport_cpp_packages -->
+  <buildtool_export_depend>rosidl_typesupport_cpp</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_typesupport_fastrtps_cpp</buildtool_export_depend>
+  <buildtool_export_depend>rosidl_typesupport_introspection_cpp</buildtool_export_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <group_depend>rosidl_generator_packages</group_depend>
+  <group_depend>rosidl_typesupport_c_packages</group_depend>
+  <group_depend>rosidl_typesupport_cpp_packages</group_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rosidl_core_generators/rosidl_core_generators-extras.cmake.in

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+# generated from
+# rosidl_core_generators/rosidl_core_generators-extras.cmake.in
+
+find_package(ament_cmake_core REQUIRED)
+ament_index_get_resources(rosidl_typesupport_c_packages "rosidl_typesupport_c")
+ament_index_get_resources(rosidl_typesupport_cpp_packages "rosidl_typesupport_cpp")
+ament_index_get_resources(rosidl_generator_packages "rosidl_generator_packages")
+set(_exported_dependencies
+  "rosidl_typesupport_c"
+  "rosidl_typesupport_cpp"
+  ${rosidl_typesupport_c_packages}
+  ${rosidl_typesupport_cpp_packages}
+  ${rosidl_generator_packages}
+)
+
+# find_package() all dependencies (if available)
+# and append their DEFINITIONS INCLUDE_DIRS and LIBRARIES variables
+# to @PROJECT_NAME@_DEFINITIONS , @PROJECT_NAME@_INCLUDE_DIRS and
+# @PROJECT_NAME@_LIBRARIES.
+foreach(_dep ${_exported_dependencies})
+  find_package("${_dep}" QUIET)
+  if(${_dep}_FOUND)
+    if(${_dep}_DEFINITIONS)
+      list(APPEND @PROJECT_NAME@_DEFINITIONS "${${_dep}_DEFINITIONS}")
+    endif()
+    if(${_dep}_INCLUDE_DIRS)
+      list(APPEND @PROJECT_NAME@_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+    endif()
+    if(${_dep}_LIBRARIES)
+      list(APPEND @PROJECT_NAME@_LIBRARIES "${${_dep}_LIBRARIES}")
+    endif()
+  endif()
+endforeach()

rosidl_core_runtime/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(rosidl_core_runtime NONE)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package(
+  CONFIG_EXTRAS "rosidl_core_runtime-extras.cmake.in"
+)

rosidl_core_runtime/QUALITY_DECLARATION.md

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+This document is a declaration of software quality for the `rosidl_core_runtime` package, based on the guidelines in [REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+# `rosidl_core_runtime` Quality Declaration
+
+The package `rosidl_core_runtime` claims to be in the **Quality Level 1** category as long as it is used with a **Quality Level 1** middleware.
+
+Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the [Package Requirements for Quality Level 2 in REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+## Version Policy [1]
+
+### Version Scheme [1.i]
+
+`rosidl_core_runtime` uses `semver` according to the recommendation for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#versioning).
+
+### Version Stability [1.ii]
+
+`rosidl_core_runtime` is at a stable version i.e. `>= 1.0.0`.  The current version can be found in its [package.xml](./package.xml), and its change history can be found in its [CHANGELOG](./CHANGELOG.md).
+
+### Public API Declaration [1.iii]
+
+`rosidl_core_runtime` does not provide any public API of its own.
+
+### API Stability Within a Released ROS Distribution [1.iv]/[1.vi]
+
+`rosidl_core_runtime` does not provide its own API and therefore API stability will not be impacted by changes.
+
+### ABI Stability Within a Released ROS Distribution [1.v]/[1.vi]
+
+`rosidl_core_runtime` does not contain any C or C++ code, therefore changes will not affect ABI stability.
+
+## Change Control Process [2]
+
+`rosidl_core_runtime` follows the recommended guidelines for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#quality-practices).
+
+### Change Requests [2.i]
+
+All changes will occur through a pull request, check [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#change-control-process) for additional information.
+
+### Contributor Origin [2.ii]
+
+This package uses DCO as its confirmation of contributor origin policy. More information can be found in [CONTRIBUTING](../CONTRIBUTING.md).
+
+### Peer Review Policy [2.iii]
+
+Following the recommended guidelines for ROS Core packages, all pull requests must have at least 1 peer review.
+
+### Continuous Integration [2.iv]
+
+All pull request must pass CI on all [tier 1 platforms](https://www.ros.org/reps/rep-2000.html#support-tiers)
+
+### Documentation Policy [2.v]
+
+All pull requests must resolve related documentation changes before merging.
+
+## Documentation [3]
+
+### Feature Documentation [3.i]
+
+`rosidl_core_runtime` does not currently have its own features.
+
+### Public API Documentation [3.ii]
+
+`rosidl_core_runtime` does not have a public API and therefore does not require API documentation.
+
+### License [3.iii]
+
+The license for `rosidl_core_runtime` is Apache 2.0, the type is declared in the [package.xml](package.xml) manifest file, and a full copy of the license is in the [LICENSE](../LICENSE) file.
+
+There are no source files in this package and therefore linters do not check for a license statement.
+
+### Copyright Statements [3.iv]
+
+There are no source code files in this package and therefore no files are currently yet copyrighted.
+
+## Testing [4]
+
+`rosidl_core_runtime` is a package providing solely CMake files and therefore does not require tests and has no coverage or performance requirements.
+
+### Linters and Static Analysis [4.v]
+
+`rmw` uses and passes all the standard linters and static analysis tools for a CMake package as described in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#linters-and-static-analysis).
+
+Results of linter tests can be found [here](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rosidl_core_runtime/).
+
+## Dependencies [5]
+
+### Direct Runtime ROS Dependencies [5.i]/[5.ii]
+
+`rosidl_core_runtime` has the following group dependencies all of which are at **Quality Level 1** for **Quality Level 1** middlewares:
+* `rosidl_runtime_packages` At the time of writing, this group contains the following runtime packages:
+  - `rosidl_runtime_c` [QUALITY DECLARATION](https://github.com/ros2/rosidl/blob/master/rosidl_runtime_c/QUALITY_DECLARATION.md)
+  - `rosidl_runtime_cpp` [QUALITY DECLARATION](https://github.com/ros2/rosidl/blob/master/rosidl_runtime_cpp/QUALITY_DECLARATION.md)
+  - `rosidl_typesupport_c` [QUALITY DECLARATION](https://github.com/ros2/rosidl_typesupport/blob/master/rosidl_typesupport_c/QUALITY_DECLARATION.md)
+  - `rosidl_typesupport_cpp` [QUALITY DECLARATION](https://github.com/ros2/rosidl_typesupport/blob/master/rosidl_typesupport_cpp/QUALITY_DECLARATION.md)
+* `rosidl_typesupport_c_packages` At the time of writing, this group does not contain middleware independent runtime dependencies. It will likely include `typesupport_c` packages for your chosen middleware, which need to be **Quality Level 1** for this package to be considered **Quality Level 1**.
+* `rosidl_typesupport_cpp_packages` At the time of writing, this group does not contain middleware independent runtime dependencies. It will likely include `typesupport_cpp` packages for your chosen middleware, which need to be **Quality Level 1** for this package to be considered **Quality Level 1**.
+
+Note that interface generation or interface typesupport dependencies used only by Python client libraries are not considered in this assessment.
+
+### Direct Runtime Non-ROS Dependencies [5.iii]
+`rosidl_core_runtime` does not have any runtime non-ROS dependencies.
+
+## Platform Support [6]
+
+`rosidl_core_runtime` supports all of the tier 1 platforms as described in [REP-2000](https://www.ros.org/reps/rep-2000.html#support-tiers), and tests each change against all of them.
+
+Currently nightly results can be seen here:
+* [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rosidl_core_runtime/)
+* [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rosidl_core_runtime/)
+* [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rosidl_core_runtime/)
+
+## Security [7]
+
+### Vulnerability Disclosure Policy [7.i]
+
+This package conforms to the Vulnerability Disclosure Policy in [REP-2006](https://www.ros.org/reps/rep-2006.html).

rosidl_core_runtime/README.md

@@ -0,0 +1,13 @@
+# rosidl_core_runtime
+
+Provides CMake functionality for finding and adding runtime dependencies for packages providing ROS message definitions.
+
+## Features
+
+The *features* of this package consist entirely of serving as a gathering place for all runtime related dependencies of ROS interface packages.
+These dependencies can be found in the [package.xml](package.xml).
+This helps reduce the boilerplate needed when developers create their own ROS interface packages.
+
+## Quality Declaration
+
+This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.

rosidl_core_runtime/package.xml

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosidl_core_runtime</name>
+  <version>0.0.0</version>
+  <description>A configuration package defining runtime dependencies for core ROS interfaces.</description>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="dthomas@osrfoundation.org">Dirk Thomas</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- Bloom does not support group_depend, so this unrolls rosidl_runtime_packages -->
+  <build_export_depend>rosidl_runtime_c</build_export_depend>
+  <build_export_depend>rosidl_runtime_cpp</build_export_depend>
+  <build_export_depend>rosidl_generator_py</build_export_depend>
+
+  <!-- Bloom does not support group_depend, so this unrolls rosidl_typesupport_c_packages -->
+  <build_export_depend>rosidl_typesupport_c</build_export_depend>
+  <build_export_depend>rosidl_typesupport_fastrtps_c</build_export_depend>
+  <build_export_depend>rosidl_typesupport_introspection_c</build_export_depend>
+
+  <!-- Bloom does not support group_depend, so this unrolls rosidl_typesupport_cpp_packages -->
+  <build_export_depend>rosidl_typesupport_cpp</build_export_depend>
+  <build_export_depend>rosidl_typesupport_fastrtps_cpp</build_export_depend>
+  <build_export_depend>rosidl_typesupport_introspection_cpp</build_export_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <group_depend>rosidl_runtime_packages</group_depend>
+  <group_depend>rosidl_typesupport_c_packages</group_depend>
+  <group_depend>rosidl_typesupport_cpp_packages</group_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rosidl_core_runtime/rosidl_core_runtime-extras.cmake.in

@@ -0,0 +1,24 @@
+# generated from
+# rosidl_core_runtime/rosidl_core_runtime-extras.cmake.in
+
+find_package(ament_cmake_core REQUIRED)
+ament_index_get_resources(rosidl_runtime_packages "rosidl_runtime_packages")
+
+# find_package() all dependencies (if available)
+# and append their DEFINITIONS INCLUDE_DIRS and LIBRARIES variables
+# to @PROJECT_NAME@_DEFINITIONS , @PROJECT_NAME@_INCLUDE_DIRS and
+# @PROJECT_NAME@_LIBRARIES.
+foreach(_dep ${rosidl_runtime_packages})
+  find_package("${_dep}" QUIET)
+  if(${_dep}_FOUND)
+    if(${_dep}_DEFINITIONS)
+      list(APPEND @PROJECT_NAME@_DEFINITIONS "${${_dep}_DEFINITIONS}")
+    endif()
+    if(${_dep}_INCLUDE_DIRS)
+      list(APPEND @PROJECT_NAME@_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+    endif()
+    if(${_dep}_LIBRARIES)
+      list(APPEND @PROJECT_NAME@_LIBRARIES "${${_dep}_LIBRARIES}")
+    endif()
+  endif()
+endforeach()