Move dependencies to rosidl_core and depend on action_msgs (#22)

Move implementation to new packages rosidl_core_generators and rosidl_runtime_generators

The new packages are located in a separate repository: https://github.com/ros2/rosidl_core.git

rosidl_defaults now depends on the new packages, plus message definitions required for Actions (namely action_msgs).

This allows users to avoid having to explictly depend on action_msgs.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

rosidl_default_generators/CMakeLists.txt

@@ -5,13 +5,11 @@ project(rosidl_default_generators NONE)
 find_package(ament_cmake REQUIRED)
 
 ament_export_dependencies(ament_cmake_core)
-ament_export_dependencies(rosidl_cmake)
+ament_export_dependencies(rosidl_core_generators)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package(
-  CONFIG_EXTRAS "rosidl_default_generators-extras.cmake.in"
-)
+ament_package()

rosidl_default_generators/package.xml

@@ -9,32 +9,17 @@
   <author email="dthomas@osrfoundation.org">Dirk Thomas</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- Code generation for Actions depends on action_msgs -->
+  <buildtool_export_depend>action_msgs</buildtool_export_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>
+  <buildtool_export_depend>rosidl_core_generators</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>

rosidl_default_runtime/CMakeLists.txt

@@ -4,11 +4,12 @@ project(rosidl_default_runtime NONE)
 
 find_package(ament_cmake REQUIRED)
 
+ament_export_dependencies(ament_cmake_core)
+ament_export_dependencies(rosidl_core_runtime)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package(
-  CONFIG_EXTRAS "rosidl_default_runtime-extras.cmake.in"
-)
+ament_package()

rosidl_default_runtime/QUALITY_DECLARATION.md

@@ -86,14 +86,9 @@ Results of linter tests can be found [here](https://ci.ros2.org/view/nightly/job
 
 ### Direct Runtime ROS Dependencies [5.i]/[5.ii]
 
-`rosidl_default_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**.
+`rosidl_default_runtime` has the following depedencies, all of which are at **Quality Level 1** for **Quality Level 1** middlewares:
+* `rosidl_core_runtime` [QUALITY DECLARATION](https://github.com/ros2/rosidl_core/blob/rolling/rosidl_core_runtime/QUALITY_DECLARATION.md)
+* `action_msgs` [QUALITY DECLARATION](https://github.com/ros2/rcl_interfaces/blob/rolling/action_msgs/QUALITY_DECLARATION.md)
 
 Note that interface generation or interface typesupport dependencies used only by Python client libraries are not considered in this assessment.
 
@@ -107,7 +102,6 @@ Note that interface generation or interface typesupport dependencies used only b
 Currently nightly results can be seen here:
 * [linux-aarch64_release](https://ci.ros2.org/view/nightly/job/nightly_linux-aarch64_release/lastBuild/testReport/rosidl_default_runtime/)
 * [linux_release](https://ci.ros2.org/view/nightly/job/nightly_linux_release/lastBuild/testReport/rosidl_default_runtime/)
-* [mac_osx_release](https://ci.ros2.org/view/nightly/job/nightly_osx_release/lastBuild/testReport/rosidl_default_runtime/)
 * [windows_release](https://ci.ros2.org/view/nightly/job/nightly_win_rel/lastBuild/testReport/rosidl_default_runtime/)
 
 ## Security [7]

rosidl_default_runtime/package.xml

@@ -10,28 +10,13 @@
 
   <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>
+  <build_export_depend>rosidl_core_runtime</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>
+  <exec_depend>action_msgs</exec_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>