add rcl lifecycle

* (refactor) add rcl_lifecycle package

* (refactor) cleanup free calls

* (fix) initialize state machine with external node handle

* (dev) use external typesupport

* (fix) use external typesupport

* (fix) cleanup states

* (fix) no pointer comparison in state machine

* (test) refactor for rcl testing purpose

* (test) test suite for lifecycle sequence

* (dev) change to rcl_ret_t

* (test) wrong transition test

* (fix) dependency for isolated build

* (clean) remove std_msgs as a dep

* (fix) enable correct visibility control

* (fix) correct test for initialization

* (fix) correct visibility attributes

* (dev) change default value to lifecycle_msgs

* (clean) style and lifecycle prefix

* (dev) cmake macro get_rcl_lifecycle_information

* (cleanup) remove unused files'

* (cleanup) remove callback pointer

* (debug) add print state machine function

* (review) address review comments

* (bugfix) correct export in information.cmake

* (fix) correct visibility control

* (vcs) fix convertion from size_t to unsigned int

* (typo) fix internal struct name

* const correctness

* get_available_states service

* new service msgs

* tes for multiple instances

* (dev) return codes

* initial refactor

* test default sequence

* refactor state machine

* apply upstream changes

* c++14

* disable state machine print

* address review comments

* uncrustify

* fix comparison with unsigned warning

rcl_lifecycle/CMakeLists.txt

@@ -0,0 +1,94 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rcl_lifecycle)
+
+find_package(ament_cmake REQUIRED)
+find_package(rcl REQUIRED)
+find_package(rmw REQUIRED)
+find_package(rmw_implementation_cmake REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
+
+include_directories(include)
+
+set(rcl_lifecycle_sources
+  src/com_interface.c
+  src/default_state_machine.c
+  src/rcl_lifecycle.c
+  src/transition_map.c)
+set_source_files_properties(
+  ${rcl_lifecycle_sources}
+  PROPERTIES language "C")
+
+macro(targets)
+  get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
+
+  ### C-Library depending only on RCL
+  add_library(
+    rcl_lifecycle${target_suffix}
+    SHARED
+    ${rcl_lifecycle_sources})
+
+  ament_target_dependencies(rcl_lifecycle${target_suffix}
+    "rcl${target_suffix}"
+    "lifecycle_msgs")
+
+  # Causes the visibility macros to use dllexport rather than dllimport,
+  # which is appropriate when building the dll but not consuming it.
+  target_compile_definitions(rcl_lifecycle${target_suffix} PRIVATE "RCL_LIFECYCLE_BUILDING_DLL")
+
+  install(TARGETS rcl_lifecycle${target_suffix}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin)
+endmacro()
+
+call_for_each_rmw_implementation(targets GENERATE_DEFAULT)
+
+if(BUILD_TESTING)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-std=c++14")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+  endif()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(rcl REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  # Gtests
+  ament_add_gtest(test_default_state_machine
+    test/test_default_state_machine.cpp
+  )
+  if(TARGET test_default_state_machine)
+    target_include_directories(test_default_state_machine PUBLIC
+      ${rcl_INCLUDE_DIRS}
+      ${rcl_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_default_state_machine ${PROJECT_NAME})
+  endif()
+  ament_add_gtest(test_multiple_instances
+    test/test_multiple_instances.cpp
+  )
+  if(TARGET test_multiple_instances)
+    target_include_directories(test_multiple_instances PUBLIC
+      ${rcl_INCLUDE_DIRS}
+      ${rcl_lifecycle_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_multiple_instances ${PROJECT_NAME})
+  endif()
+endif()
+
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(lifecycle_msgs)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_package(
+  CONFIG_EXTRAS rcl_lifecycle-extras.cmake)
+
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME})
+
+install(
+  DIRECTORY include/
+  DESTINATION include)