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/cmake/get_rcl_lifecycle_information.cmake

@@ -0,0 +1,89 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Get all information about rcl_lifecycle for a specific RMW implementation.
+#
+# It sets the common variables _DEFINITIONS, _INCLUDE_DIRS and _LIBRARIES
+# with the given prefix.
+#
+# :param rmw_implementation: the RMW implementation name
+# :type target: string
+# :param var_prefix: the prefix of all output variable names
+# :type var_prefix: string
+#
+# TODO(karsten1987): Copy/pasted from rclcpp/cmake/get_rclcpp_information.cmake.
+# Code duplication is evil. Don't do this at home, kids.
+
+macro(get_rcl_lifecycle_information rmw_implementation var_prefix)
+  # pretend to be a "package"
+  # so that the variables can be used by various functions / macros
+  set(${var_prefix}_FOUND TRUE)
+
+  # include directories
+  normalize_path(${var_prefix}_INCLUDE_DIRS "${rcl_lifecycle_DIR}/../../../include")
+
+  # libraries
+  set(_libs)
+  # search for library relative to this CMake file
+  set(_library_target "rcl_lifecycle")
+  get_available_rmw_implementations(_rmw_impls)
+  list(LENGTH _rmw_impls _rmw_impls_length)
+  if(_rmw_impls_length GREATER 1)
+    set(_library_target "${_library_target}__${rmw_implementation}")
+  endif()
+  set(_lib "NOTFOUND")
+  find_library(
+    _lib NAMES "${_library_target}"
+    PATHS "${rcl_lifecycle_DIR}/../../../lib"
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+  )
+  if(NOT _lib)
+    # warn about not existing library and ignore it
+    message(WARNING "Package 'rcl_lifecycle' doesn't contain the library '${_library_target}'")
+  elseif(NOT IS_ABSOLUTE "${_lib}")
+    # the found library must be an absolute path
+    message(FATAL_ERROR "Package 'rcl_lifecycle' found the library '${_library_target}' at '${_lib}' which is not an absolute path")
+  elseif(NOT EXISTS "${_lib}")
+    # the found library must exist
+    message(FATAL_ERROR "Package 'rcl_lifecycle' found the library '${_lib}' which doesn't exist")
+  else()
+    list(APPEND _libs "${_lib}")
+  endif()
+
+  # dependencies
+  set(_exported_dependencies
+    "rmw"
+    "${rmw_implementation}"
+    "rosidl_generator_c")
+  set(${var_prefix}_DEFINITIONS)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    if(${_dep}_DEFINITIONS)
+      list_append_unique(${var_prefix}_DEFINITIONS "${${_dep}_DEFINITIONS}")
+    endif()
+    if(${_dep}_INCLUDE_DIRS)
+      list_append_unique(${var_prefix}_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+    endif()
+    if(${_dep}_LIBRARIES)
+      list(APPEND _libs "${${_dep}_LIBRARIES}")
+    endif()
+  endforeach()
+  if(_libs)
+    ament_libraries_deduplicate(_libs "${_libs}")
+  endif()
+  set(${var_prefix}_LIBRARIES "${_libs}")
+endmacro()