Add action_msgs package

action_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(action_msgs)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+set(msg_files
+  "msg/GoalInfo.msg"
+  "msg/GoalStatus.msg"
+  "msg/GoalStatusArray.msg"
+)
+set(srv_files
+  "srv/CancelGoal.srv"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES builtin_interfaces
+  ADD_LINTER_TESTS
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

action_msgs/msg/GoalInfo.msg

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+# Goal ID
+# TODO(jacobperron): Use a ported version of https://github.com/ros-geographic-info/unique_identifier/blob/master/uuid_msgs
+uint8[16] uuid
+
+# Time when the goal was accepted
+builtin_interfaces/Time stamp

action_msgs/msg/GoalStatus.msg

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+# An action goal can be in one of these states after it is accepted by an action server.
+# For more information, see http://design.ros2.org/articles/actions.html
+int8 STATUS_UNKNOWN   = 0
+int8 STATUS_ACCEPTED  = 1
+int8 STATUS_EXECUTING = 2
+int8 STATUS_CANCELING = 3
+int8 STATUS_SUCCEEDED = 4
+int8 STATUS_CANCELED  = 5
+int8 STATUS_ABORTED   = 6
+
+# Goal info (contains ID and timestamp)
+GoalInfo goal_info
+
+# Goal status
+int8 status

action_msgs/msg/GoalStatusArray.msg

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+# An array of goal statuses
+GoalStatus[] status_list

action_msgs/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>action_msgs</name>
+  <version>0.5.0</version>
+  <description>Messages and service definitions common among all ROS actions.</description>
+  <maintainer email="[email protected]">Karsten Knese</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Jacob Perron</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

action_msgs/srv/CancelGoal.srv

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+# Cancel one or more goals with the following policy:
+#
+# - If the goal ID is zero and timestamp is zero, cancel all goals.
+# - If the goal ID is zero and timestamp is not zero, cancel all goals accepted
+#   at or before the timestamp.
+# - If the goal ID is not zero and timestamp is zero, cancel the goal with the
+#   given ID regardless of the time it was accepted.
+# - If the goal ID is not zero and timestamp is not zero, cancel the goal with
+#   the given ID and all goals accepted at or before the timestamp.
+
+# Goal info containing an ID and timestamp
+GoalInfo goal_info
+---
+# Goals that accepted the cancel request
+GoalInfo[] goals_canceling