[WIP] rclcpp design

.gitignore

@@ -52,6 +52,7 @@ coverage.xml
 
 # Sphinx documentation
 docs/_build/
+doc/
 
 # PyBuilder
 target/
@@ -83,3 +84,9 @@ gradle-app.setting
 
 # # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
 # gradle/wrapper/gradle-wrapper.properties
+
+# Eclipse 
+*.launch
+.project
+.cproject
+.pydevproject

.travis.yml

@@ -7,22 +7,36 @@ services:
 
 before_install:
 - docker login -e="$DOCKER_EMAIL" -u="$DOCKER_USERNAME" -p="$DOCKER_PASSWORD"
-- docker pull esteve/ros2-ubuntu-xenial-travisci:java
+- docker pull theosakamg7/ros2java:latest
 - cd /home/travis/build
 - mkdir -p ament_ws/src
 - cd /home/travis/build/ament_ws
-- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` esteve/ros2-ubuntu-xenial-travisci:java sh -c "/usr/bin/wget https://raw.githubusercontent.com/esteve/ament_java/master/ament_java.repos"
-- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` esteve/ros2-ubuntu-xenial-travisci:java sh -c "/usr/bin/vcs import src < ament_java.repos"
-- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` esteve/ros2-ubuntu-xenial-travisci:java sh -c "src/ament/ament_tools/scripts/ament.py build --symlink-install --isolated"
+- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "/usr/bin/wget https://gist.githubusercontent.com/Theosakamg/e6084cfafa6b7ea690104424cef970a2/raw/ament_java.repos"
+- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "/usr/bin/vcs import src < ament_java.repos"
+- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "src/ament/ament_tools/scripts/ament.py build --symlink-install --isolated"
 - cd /home/travis/build
 - mkdir -p ros2_java_ws/src
 - cd /home/travis/build/ros2_java_ws
-- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` esteve/ros2-ubuntu-xenial-travisci:java sh -c "/usr/bin/wget https://raw.githubusercontent.com/esteve/ros2_java/master/ros2_java_desktop.repos"
-- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` esteve/ros2-ubuntu-xenial-travisci:java sh -c "/usr/bin/vcs import src < ros2_java_desktop.repos"
+- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "/usr/bin/wget https://gist.githubusercontent.com/Theosakamg/d9259bbc708c5145255fbdeb25e65e19/raw/ros2_java_desktop.repos"
+- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "/usr/bin/vcs import src < ros2_java_desktop.repos"
 - rm -rf /home/travis/build/ros2_java_ws/src/ros2_java/ros2_java
-- ln -s /home/travis/build/esteve/ros2_java /home/travis/build/ros2_java_ws/src/ros2_java/ros2_java
+- ln -s /home/travis/build/ros2java-alfred/ros2_java
+ /home/travis/build/ros2_java_ws/src/ros2_java/ros2_java
+- cd /home/travis/build/ros2_java_ws/src/ros2/rosidl_typesupport
+- patch -p1 < ../../ros2_java/ros2_java/rosidl_ros2_java.diff
 - cd /home/travis/build
-- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` esteve/ros2-ubuntu-xenial-travisci:java sh -c ". ament_ws/install_isolated/local_setup.sh && cd /home/travis/build/ros2_java_ws && ament build --symlink-install --isolated"
+- docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c ". ament_ws/install_isolated/local_setup.sh && cd /home/travis/build/ros2_java_ws && ament build --symlink-install --isolated"
 
 script:
-- cd /home/travis/build && docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` esteve/ros2-ubuntu-xenial-travisci:java sh -c ". ament_ws/install_isolated/local_setup.sh && cd /home/travis/build/ros2_java_ws && ament test --isolated --only-packages ament_cmake_export_jars rcljava rcljava_common rosidl_generator_java"
+- cd /home/travis/build && docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c ". ament_ws/install_isolated/local_setup.sh && cd /home/travis/build/ros2_java_ws && ament test --isolated --only-packages ament_cmake_export_jars rcljava rcljava_common rosidl_generator_java"
+
+after_success:
+  - coveralls
+
+notifications:
+  webhooks:
+    urls:
+      - https://webhooks.gitter.im/e/4aac82b42245203edceb
+    on_success: change  # options: [always|never|change] default: always
+    on_failure: always  # options: [always|never|change] default: always
+    on_start: never     # options: [always|never|change] default: always

AUTHORS

@@ -1 +1,2 @@
 Esteve Fernandez <[email protected]> https://github.com/esteve
+Mickael Gaillard <[email protected]> https://github.com/Theosakamg

LICENSE

@@ -177,6 +177,7 @@
    END OF TERMS AND CONDITIONS
 
    Copyright 2016 Esteve Fernandez
+   Copyright 2016 Mickael Gaillard
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

README.md

@@ -1,191 +1,18 @@
-ROS2 for Java
+ROS2 for Java (Alfred variation)
+[![Build Status](https://travis-ci.org/ros2java-alfred/ros2_java.svg?branch=master)](https://travis-ci.org/ros2java-alfred/ros2_java) [![Coverage Status](https://coveralls.io/repos/github/ros2java-alfred/ros2_java/badge.svg?branch=master)](https://coveralls.io/github/ros2java-alfred/ros2_java?branch=master) [![Join the chat at https://gitter.im/ros2java-alfred](https://badges.gitter.im/gitterHQ/gitterHQ.github.io.svg)](https://gitter.im/ros2java-alfred?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge) <a href="https://scan.coverity.com/projects/ros2java-alfred-ros2_java"><img alt="Coverity Scan Build Status" src="https://img.shields.io/coverity/scan/10818.svg"/></a>
 =============
 
 Build status
 ------------
 
-**JRE** [![Build Status](https://travis-ci.org/esteve/ros2_java.svg?branch=master)](https://travis-ci.org/esteve/ros2_java)
+**JRE** [![Build Status](https://travis-ci.org/ros2java-alfred/ros2_java.svg?branch=master)](https://travis-ci.org/ros2java-alfred/ros2_java)
 
-**Android** [![Build Status](https://travis-ci.org/esteve/ros2_android.svg?branch=master)](https://travis-ci.org/esteve/ros2_android)
+**Android** [![Build Status](https://travis-ci.org/ros2java-alfred/ros2_android.svg?branch=master)](https://travis-ci.org/ros2java-alfred/ros2_android)
 
 What is this?
 -------------
 
 This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS2
-applications for the JVM and Android.
+applications for the JVM and Android with design of rosjava (ROS1).
 
-Besides this repository itself, there's also:
-- https://github.com/esteve/ament_java, which adds support for Gradle to Ament
-- https://github.com/esteve/ament_gradle_plugin, a Gradle plugin that makes it easier to use ROS2 in Java and Android project, and which can be found published at the Gradle Central at https://plugins.gradle.org/plugin/org.ros2.tools.gradle
-- https://github.com/esteve/ros2_java_examples, examples for the Java Runtime Environment
-- https://github.com/esteve/ros2_android_examples, examples for Android
-
-Is this Java only?
-------------------
-
-No, any language that targets the JVM can be used to write ROS2 applications.
-
-Including Android?
-------------------
-
-Yep! Make sure to use [this fork](https://github.com/eProsima/Fast-RTPS/pull/26) as your DDS vendor.
-
-Features
---------
-
-The current set of features include:
-- Generation of all builtin and complex ROS types, including arrays, strings, nested types, constants, etc.
-- Support for publishers and subscriptions
-- Tunable Quality of Service (e.g. lossy networks, reliable delivery, etc.)
-- Clients and services
-- Support for Android
-
-Sounds great, how can I try this out?
--------------------------------------
-
-First of all, download the ament repositories in a separate workspace:
-
-```
-mkdir -p ~/ament_ws/src
-cd ~/ament_ws
-wget https://raw.githubusercontent.com/esteve/ament_java/master/ament_java.repos
-vcs import ~/ament_ws/src < ament_java.repos
-src/ament/ament_tools/scripts/ament.py build --symlink-install --isolated
-```
-
-You may wonder why this is needed if the ROS2 instructions already fetch Ament on the same workspace as ROS2.
-
-The reason is that this includes an additional build type for Gradle projects, and you'll need Ament to pick it up so it can build the examples, so this has to happen in a separate step.
-
-The following sections deal with building the `ros2_java` codebase for the desktop Java runtime and for Android.
-
-Desktop
--------
-
-```
-mkdir -p ~/ros2_java_ws/src
-cd ~/ros2_java_ws
-wget https://raw.githubusercontent.com/esteve/ros2_java/master/ros2_java_desktop.repos
-vcs import ~/ros2_java_ws/src < ros2_java_desktop.repos
-cd ~/ros2_java_ws
-. ~/ament_ws/install_isolated/local_setup.sh
-ament build --symlink-install --isolated
-```
-
-Now you can just run a couple of examples.
-
-Talker and Listener
--------------------
-
-Talker:
-
-```
-. ~/ament_ws/install_isolated/local_setup.sh
-. ~/ros2_java_ws/install_isolated/local_setup.sh
-cd ~/ros2_java_ws
-java -cp install_isolated/rcljava_common/share/rcljava_common/java/slf4j-jdk14-1.7.21.jar:install_isolated/rcljava_common/share/rcljava_common/java/slf4j-api-1.7.21.jar:install_isolated/std_msgs/share/std_msgs/java/std_msgs.jar:install_isolated/rcljava/share/rcljava/java/rcljava.jar:install_isolated/rcljava_examples/share/rcljava_examples/java/rcljava_examples.jar:install_isolated/example_interfaces/share/example_interfaces/java/example_interfaces.jar:install_isolated/rcljava_common/share/rcljava_common/java/rcljava_common.jar org.ros2.rcljava.examples.Talker
-```
-
-Listener:
-
-```
-. ~/ament_ws/install_isolated/local_setup.sh
-. ~/ros2_java_ws/install_isolated/local_setup.sh
-cd ~/ros2_java_ws
-java -cp install_isolated/rcljava_common/share/rcljava_common/java/slf4j-jdk14-1.7.21.jar:install_isolated/rcljava_common/share/rcljava_common/java/slf4j-api-1.7.21.jar:install_isolated/std_msgs/share/std_msgs/java/std_msgs.jar:install_isolated/rcljava/share/rcljava/java/rcljava.jar:install_isolated/rcljava_examples/share/rcljava_examples/java/rcljava_examples.jar:install_isolated/example_interfaces/share/example_interfaces/java/example_interfaces.jar:install_isolated/rcljava_common/share/rcljava_common/java/rcljava_common.jar org.ros2.rcljava.examples.Listener
-```
-
-Client and Service
-------------------
-
-Client:
-
-```
-. ~/ament_ws/install_isolated/local_setup.sh
-. ~/ros2_java_ws/install_isolated/local_setup.sh
-cd ~/ros2_java_ws
-java -cp install_isolated/rcljava_common/share/rcljava_common/java/slf4j-jdk14-1.7.21.jar:install_isolated/rcljava_common/share/rcljava_common/java/slf4j-api-1.7.21.jar:install_isolated/std_msgs/share/std_msgs/java/std_msgs.jar:install_isolated/rcljava/share/rcljava/java/rcljava.jar:install_isolated/rcljava_examples/share/rcljava_examples/java/rcljava_examples.jar:install_isolated/example_interfaces/share/example_interfaces/java/example_interfaces.jar:install_isolated/rcljava_common/share/rcljava_common/java/rcljava_common.jar org.ros2.rcljava.examples.AddTwoIntsClient
-```
-
-Service:
-
-```
-. ~/ament_ws/install_isolated/local_setup.sh
-. ~/ros2_java_ws/install_isolated/local_setup.sh
-cd ~/ros2_java_ws
-java -cp install_isolated/rcljava_common/share/rcljava_common/java/slf4j-jdk14-1.7.21.jar:install_isolated/rcljava_common/share/rcljava_common/java/slf4j-api-1.7.21.jar:install_isolated/std_msgs/share/std_msgs/java/std_msgs.jar:install_isolated/rcljava/share/rcljava/java/rcljava.jar:install_isolated/rcljava_examples/share/rcljava_examples/java/rcljava_examples.jar:install_isolated/example_interfaces/share/example_interfaces/java/example_interfaces.jar:install_isolated/rcljava_common/share/rcljava_common/java/rcljava_common.jar org.ros2.rcljava.examples.AddTwoIntsService
-```
-
-You can also combine any scenario where the talker/listener or client/service are written in Java, Python and C++ and they should talk to each other.
-
-Android
--------
-
-The Android setup is slightly more complex, you'll need the SDK and NDK installed, and an Android device where you can run the examples.
-
-Make sure to download at least the SDK for Android Lollipop (or greater), the examples require the API level 21 at least.
-
-You may download the Android NDK from [the official](https://developer.android.com/ndk/downloads/index.html) website, let's assume you unpack it to `~/android_ndk`
-
-```
-mkdir -p ~/ros2_android_ws/src
-cd ~/ros2_android_ws
-wget https://raw.githubusercontent.com/esteve/ros2_java/master/ros2_java_android.repos
-vcs import ~/ros2_android_ws/src < ros2_java_android.repos
-cd ~/ros2_android_ws/src/ros2/rosidl
-touch python_cmake_module/AMENT_IGNORE
-touch rosidl_generator_py/AMENT_IGNORE
-cd ~/ros2_android_ws/src/eProsima/Fast-RTPS
-git submodule init
-git submodule update
-cd ~/ros2_android_ws
-. ~/ament_ws/install_isolated/local_setup.sh
-ament build --isolated --cmake-args \
-  -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_TOOLCHAIN_FILE=$HOME/android_ndk/android-ndk-r13b/build/cmake/android.toolchain.cmake \
-  -DANDROID_FUNCTION_LEVEL_LINKING=OFF -DANDROID_NATIVE_API_LEVEL=android-21 \
-  -DANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang -DANDROID_STL=gnustl_shared \
-  -DANDROID_ABI=armeabi-v7a -DANDROID_NDK=$HOME/android_ndk/android-ndk-r13b -DTHIRDPARTY=ON -DCOMPILE_EXAMPLES=OFF -DCMAKE_FIND_ROOT_PATH="$HOME/ament_ws/install_isolated;$HOME/ros2_android_ws/install_isolated" \
-  -DANDROID_CPP_FEATURES="exceptions rtti" -- \
-  --ament-cmake-args \
-  -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_TOOLCHAIN_FILE=$HOME/android_ndk/android-ndk-r13b/build/cmake/android.toolchain.cmake \
-  -DANDROID_FUNCTION_LEVEL_LINKING=OFF -DANDROID_NATIVE_API_LEVEL=android-21 \
-  -DANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang -DANDROID_STL=gnustl_shared \
-  -DANDROID_ABI=armeabi-v7a -DANDROID_NDK=$HOME/android_ndk/android-ndk-r13b -DTHIRDPARTY=ON -DCOMPILE_EXAMPLES=OFF -DCMAKE_FIND_ROOT_PATH="$HOME/ament_ws/install_isolated;$HOME/ros2_android_ws/install_isolated" \
-  -DANDROID_CPP_FEATURES="exceptions rtti" -- \
-  --ament-gradle-args \
-  -Pament.android_stl=gnustl_shared -Pament.android_abi=armeabi-v7a -Pament.android_ndk=$HOME/android_ndk/android-ndk-r13b --
-```
-
-The talker and listener example Android apps can be installed via adb, plug your Android device to your computer with a USB cable and type the following:
-
-Talker:
-
-```
-adb install ~/ros2_android_ws/install_isolated/ros2_talker_android/ros2_talker_android-debug.apk
-```
-
-Listener:
-
-```
-adb install ~/ros2_android_ws/install_isolated/ros2_listener_android/ros2_listener_android-debug.apk
-```
-
-You can try out running the talker on the desktop and the listener on your Android device or viceversa.
-
-Enjoy!
-
-Acknowledgements
-----------------
-
-Thanks all those who have contributed:
-
-Mickael Gaillard (https://github.com/Theosakamg)
-
-TODO
-----
-
-There's a bunch of features missing, including efficient intraprocess communication and DDS domain separation.
-
-Large messages would benefit from Java's NIO.
-
-And of course, this wouldn't be a proper opensource project if it didn't lack tests and documentation, so there's that too.
+To start => [Wiki](https://github.com/ros2java-alfred/ros2_java/wiki)

common_interfaces_full.diff

@@ -0,0 +1,35 @@
+diff --git a/sensor_msgs/CMakeLists.txt b/sensor_msgs/CMakeLists.txt
+index 5d85e46..5ce78ba 100644
+--- a/sensor_msgs/CMakeLists.txt
++++ b/sensor_msgs/CMakeLists.txt
+@@ -20,8 +20,8 @@ set(msg_files
+   "msg/CameraInfo.msg"
+   "msg/ChannelFloat32.msg"
+   "msg/CompressedImage.msg"
+-  # "msg/FluidPressure.msg"
+-  # "msg/Illuminance.msg"
++  "msg/FluidPressure.msg"
++  "msg/Illuminance.msg"
+   "msg/Image.msg"
+   "msg/Imu.msg"
+   # "msg/JointState.msg"
+@@ -30,7 +30,7 @@ set(msg_files
+   # "msg/JoyFeedbackArray.msg"
+   # "msg/LaserEcho.msg"
+   "msg/LaserScan.msg"
+-  # "msg/MagneticField.msg"
++  "msg/MagneticField.msg"
+   # "msg/MultiDOFJointState.msg"
+   # "msg/MultiEchoLaserScan.msg"
+   # "msg/NavSatFix.msg"
+@@ -40,8 +40,8 @@ set(msg_files
+   "msg/PointField.msg"
+   # "msg/Range.msg"
+   "msg/RegionOfInterest.msg"
+-  # "msg/RelativeHumidity.msg"
+-  # "msg/Temperature.msg"
++  "msg/RelativeHumidity.msg"
++  "msg/Temperature.msg"
+   # "msg/TimeReference.msg"
+ )
+ set(srv_files

rcljava/.gitignore

@@ -0,0 +1,2 @@
+/bin/
+.classpath