use test_msgs instead of example_interfaces (#259)

rcl/package.xml

@@ -34,9 +34,9 @@
   <test_depend>rmw</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>launch</test_depend>
-  <test_depend>example_interfaces</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
   <test_depend>std_msgs</test_depend>
+  <test_depend>test_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rcl/test/CMakeLists.txt

@@ -1,8 +1,8 @@
 find_package(ament_cmake_gtest REQUIRED)
 find_package(ament_cmake_pytest REQUIRED)
 
-find_package(example_interfaces REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(test_msgs REQUIRED)
 
 find_package(rmw_implementation_cmake REQUIRED)
 
@@ -38,7 +38,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
   )
 
   rcl_add_custom_gtest(test_time${target_suffix}
@@ -99,7 +99,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
+    AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs" "test_msgs"
     ${SKIP_TEST}
   )
 
@@ -142,7 +142,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES "std_msgs" "example_interfaces"
+    AMENT_DEPENDENCIES "std_msgs" "test_msgs"
   )
 
   rcl_add_custom_gtest(test_guard_condition${target_suffix}
@@ -169,7 +169,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
   )
 
   rcl_add_custom_gtest(test_subscription${target_suffix}
@@ -196,7 +196,7 @@ function(test_target_function)
     ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
   )
 
   # Launch tests
@@ -205,14 +205,14 @@ function(test_target_function)
     SRCS rcl/service_fixture.cpp
     INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
   )
 
   rcl_add_custom_executable(client_fixture${target_suffix}
     SRCS rcl/client_fixture.cpp
     INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     LIBRARIES ${PROJECT_NAME}
-    AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
+    AMENT_DEPENDENCIES ${rmw_implementation} "test_msgs"
   )
 
   rcl_add_custom_launch_test(test_services

rcl/test/rcl/client_fixture.cpp

@@ -21,7 +21,7 @@
 #include "rcl/client.h"
 #include "rcl/rcl.h"
 
-#include "example_interfaces/srv/add_two_ints.h"
+#include "test_msgs/srv/primitives.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
@@ -130,12 +130,12 @@ int main(int argc, char ** argv)
     });
 
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
-    const char * topic = "add_two_ints";
+    const char * service_name = "primitives";
 
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_client_options_t client_options = rcl_client_get_default_options();
-    rcl_ret_t ret = rcl_client_init(&client, &node, ts, topic, &client_options);
+    rcl_ret_t ret = rcl_client_init(&client, &node, ts, service_name, &client_options);
     if (ret != RCL_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
         ROS_PACKAGE_NAME, "Error in client init: %s", rcl_get_error_string_safe())
@@ -157,10 +157,10 @@ int main(int argc, char ** argv)
     }
 
     // Initialize a request.
-    example_interfaces__srv__AddTwoInts_Request client_request;
+    test_msgs__srv__Primitives_Request client_request;
-    example_interfaces__srv__AddTwoInts_Request__init(&client_request);
+    test_msgs__srv__Primitives_Request__init(&client_request);
-    client_request.a = 1;
+    client_request.uint8_value = 1;
-    client_request.b = 2;
+    client_request.uint32_value = 2;
     int64_t sequence_number;
 
     if (rcl_send_request(&client, &client_request, &sequence_number)) {
@@ -174,11 +174,11 @@ int main(int argc, char ** argv)
       return -1;
     }
 
-    example_interfaces__srv__AddTwoInts_Request__fini(&client_request);
+    test_msgs__srv__Primitives_Request__fini(&client_request);
 
     // Initialize the response owned by the client and take the response.
-    example_interfaces__srv__AddTwoInts_Response client_response;
+    test_msgs__srv__Primitives_Response client_response;
-    example_interfaces__srv__AddTwoInts_Response__init(&client_response);
+    test_msgs__srv__Primitives_Response__init(&client_response);
 
     if (!wait_for_client_to_be_ready(&client, 1000, 100)) {
       RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Client never became ready")
@@ -191,7 +191,7 @@ int main(int argc, char ** argv)
       return -1;
     }
 
-    example_interfaces__srv__AddTwoInts_Response__fini(&client_response);
+    test_msgs__srv__Primitives_Response__fini(&client_response);
   }
 
   return main_ret;

rcl/test/rcl/service_fixture.cpp

@@ -22,7 +22,7 @@
 
 #include "rcl/rcl.h"
 
-#include "example_interfaces/srv/add_two_ints.h"
+#include "test_msgs/srv/primitives.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
@@ -103,12 +103,12 @@ int main(int argc, char ** argv)
     });
 
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
-    const char * topic = "add_two_ints";
+    const char * service_name = "primitives";
 
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_service_options_t service_options = rcl_service_get_default_options();
-    rcl_ret_t ret = rcl_service_init(&service, &node, ts, topic, &service_options);
+    rcl_ret_t ret = rcl_service_init(&service, &node, ts, service_name, &service_options);
     if (ret != RCL_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
         ROS_PACKAGE_NAME, "Error in service init: %s", rcl_get_error_string_safe())
@@ -124,10 +124,10 @@ int main(int argc, char ** argv)
     });
 
     // Initialize a response.
-    example_interfaces__srv__AddTwoInts_Response service_response;
+    test_msgs__srv__Primitives_Response service_response;
-    example_interfaces__srv__AddTwoInts_Response__init(&service_response);
+    test_msgs__srv__Primitives_Response__init(&service_response);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
+      test_msgs__srv__Primitives_Response__fini(&service_response);
     });
 
     // Block until a client request comes in.
@@ -138,10 +138,10 @@ int main(int argc, char ** argv)
     }
 
     // Take the pending request.
-    example_interfaces__srv__AddTwoInts_Request service_request;
+    test_msgs__srv__Primitives_Request service_request;
-    example_interfaces__srv__AddTwoInts_Request__init(&service_request);
+    test_msgs__srv__Primitives_Request__init(&service_request);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      example_interfaces__srv__AddTwoInts_Request__fini(&service_request);
+      test_msgs__srv__Primitives_Request__fini(&service_request);
     });
     rmw_request_id_t header;
     // TODO(jacquelinekay) May have to check for timeout error codes
@@ -152,7 +152,7 @@ int main(int argc, char ** argv)
     }
 
     // Sum the request and send the response.
-    service_response.sum = service_request.a + service_request.b;
+    service_response.uint64_value = service_request.uint8_value + service_request.uint32_value;
     if (rcl_send_response(&service, &header, &service_response) != RCL_RET_OK) {
       RCUTILS_LOG_ERROR_NAMED(
         ROS_PACKAGE_NAME, "Error in send_response: %s", rcl_get_error_string_safe())

rcl/test/rcl/test_client.cpp

@@ -18,8 +18,8 @@
 
 #include "rcl/rcl.h"
 
-#include "example_interfaces/srv/add_two_ints.h"
 #include "rosidl_generator_c/string_functions.h"
+#include "test_msgs/srv/primitives.h"
 
 #include "./failing_allocator_functions.hpp"
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
@@ -64,7 +64,7 @@ TEST_F(TestClientFixture, test_client_nominal) {
   rcl_client_options_t client_options = rcl_client_get_default_options();
 
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-    example_interfaces, AddTwoInts);
+    test_msgs, Primitives);
   ret = rcl_client_init(&client, this->node_ptr, ts, topic_name, &client_options);
 
   // Check the return code of initialization and that the service name matches what's expected
@@ -77,10 +77,10 @@ TEST_F(TestClientFixture, test_client_nominal) {
   });
 
   // Initialize the client request.
-  example_interfaces__srv__AddTwoInts_Request req;
+  test_msgs__srv__Primitives_Request req;
-  example_interfaces__srv__AddTwoInts_Request__init(&req);
+  test_msgs__srv__Primitives_Request__init(&req);
-  req.a = 1;
+  req.uint8_value = 1;
-  req.b = 2;
+  req.uint32_value = 2;
 
   // Check that there were no errors while sending the request.
   int64_t sequence_number = 0;
@@ -98,7 +98,7 @@ TEST_F(TestClientFixture, test_client_init_fini) {
   rcl_client_t client;
 
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-    example_interfaces, AddTwoInts);
+    test_msgs, Primitives);
   const char * topic_name = "chatter";
   rcl_client_options_t default_client_options = rcl_client_get_default_options();
 

rcl/test/rcl/test_graph.cpp

@@ -33,7 +33,7 @@
 #include "rcutils/logging_macros.h"
 
 #include "std_msgs/msg/string.h"
-#include "example_interfaces/srv/add_two_ints.h"
+#include "test_msgs/srv/primitives.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
@@ -469,7 +469,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
   rcl_ret_t ret;
   // First create a client which will be used to call the function.
   rcl_client_t client = rcl_get_zero_initialized_client();
-  auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
+  auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, Primitives);
   const char * service_name = "/service_test_rcl_service_server_is_available";
   rcl_client_options_t client_options = rcl_client_get_default_options();
   ret = rcl_client_init(&client, this->node_ptr, ts, service_name, &client_options);

rcl/test/rcl/test_remap_integration.cpp

@@ -14,11 +14,12 @@
 
 #include <gtest/gtest.h>
 
-#include "example_interfaces/srv/add_two_ints.h"
 #include "rcl/rcl.h"
 #include "rcl/remap.h"
 #include "rcl/error_handling.h"
+
 #include "std_msgs/msg/int64.h"
+#include "test_msgs/srv/primitives.h"
 
 #include "./arg_macros.hpp"
 
@@ -81,7 +82,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
   }
   {  // Client service name gets remapped
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@@ -91,7 +92,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_g
   }
   {  // Server service name gets remapped
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@@ -147,7 +148,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
   }
   {  // Client service name does not get remapped
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@@ -157,7 +158,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), ignore_global
   }
   {  // Server service name does not get remapped
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@@ -214,7 +215,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
   }
   {  // Client service name
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, "/foo/bar", &client_options);
@@ -224,7 +225,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), local_rules_b
   }
   {  // Server service name
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, "/foo/bar", &service_options);
@@ -266,7 +267,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
   }
   {  // Client service name
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
     rcl_client_options_t client_options = rcl_client_get_default_options();
     rcl_client_t client = rcl_get_zero_initialized_client();
     rcl_ret_t ret = rcl_client_init(&client, &node, ts, "bar", &client_options);
@@ -276,7 +277,7 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
   }
   {  // Server service name
     const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-      example_interfaces, AddTwoInts);
+      test_msgs, Primitives);
     rcl_service_options_t service_options = rcl_service_get_default_options();
     rcl_service_t service = rcl_get_zero_initialized_service();
     rcl_ret_t ret = rcl_service_init(&service, &node, ts, "bar", &service_options);

rcl/test/rcl/test_service.cpp

@@ -22,7 +22,7 @@
 
 #include "rcl/rcl.h"
 
-#include "example_interfaces/srv/add_two_ints.h"
+#include "test_msgs/srv/primitives.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
@@ -102,9 +102,9 @@ wait_for_service_to_be_ready(
 TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal) {
   rcl_ret_t ret;
   const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
-    example_interfaces, AddTwoInts);
+    test_msgs, Primitives);
-  const char * topic = "add_two_ints";
+  const char * topic = "primitives";
-  const char * expected_topic = "/add_two_ints";
+  const char * expected_topic = "/primitives";
 
   rcl_service_t service = rcl_get_zero_initialized_service();
   rcl_service_options_t service_options = rcl_service_get_default_options();
@@ -149,14 +149,14 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 
   // Initialize a request.
-  example_interfaces__srv__AddTwoInts_Request client_request;
+  test_msgs__srv__Primitives_Request client_request;
-  example_interfaces__srv__AddTwoInts_Request__init(&client_request);
+  test_msgs__srv__Primitives_Request__init(&client_request);
-  client_request.a = 1;
+  client_request.uint8_value = 1;
-  client_request.b = 2;
+  client_request.uint32_value = 2;
   int64_t sequence_number;
   ret = rcl_send_request(&client, &client_request, &sequence_number);
   EXPECT_EQ(sequence_number, 1);
-  example_interfaces__srv__AddTwoInts_Request__fini(&client_request);
+  test_msgs__srv__Primitives_Request__fini(&client_request);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
   bool success;
@@ -167,35 +167,35 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_service_nominal)
   // test take_request/send_response in a single-threaded, deterministic execution.
   {
     // Initialize a response.
-    example_interfaces__srv__AddTwoInts_Response service_response;
+    test_msgs__srv__Primitives_Response service_response;
-    example_interfaces__srv__AddTwoInts_Response__init(&service_response);
+    test_msgs__srv__Primitives_Response__init(&service_response);
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
-      example_interfaces__srv__AddTwoInts_Response__fini(&service_response);
+      test_msgs__srv__Primitives_Response__fini(&service_response);
     });
 
     // Initialize a separate instance of the request and take the pending request.
-    example_interfaces__srv__AddTwoInts_Request service_request;
+    test_msgs__srv__Primitives_Request service_request;
-    example_interfaces__srv__AddTwoInts_Request__init(&service_request);
+    test_msgs__srv__Primitives_Request__init(&service_request);
     rmw_request_id_t header;
     ret = rcl_take_request(&service, &header, &service_request);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
 
-    EXPECT_EQ(1, service_request.a);
+    EXPECT_EQ(1, service_request.uint8_value);
-    EXPECT_EQ(2, service_request.b);
+    EXPECT_EQ(2UL, service_request.uint32_value);
     // Simulate a response callback by summing the request and send the response..
-    service_response.sum = service_request.a + service_request.b;
+    service_response.uint64_value = service_request.uint8_value + service_request.uint32_value;
     ret = rcl_send_response(&service, &header, &service_response);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
   }
   wait_for_service_to_be_ready(&service, 10, 100, success);
 
   // Initialize the response owned by the client and take the response.
-  example_interfaces__srv__AddTwoInts_Response client_response;
+  test_msgs__srv__Primitives_Response client_response;
-  example_interfaces__srv__AddTwoInts_Response__init(&client_response);
+  test_msgs__srv__Primitives_Response__init(&client_response);
 
   rmw_request_id_t header;
   ret = rcl_take_response(&client, &header, &client_response);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
-  EXPECT_EQ(client_response.sum, 3);
+  EXPECT_EQ(client_response.uint64_value, 3ULL);
   EXPECT_EQ(header.sequence_number, 1);
 }

rcl/test/test_namespace.cpp

@@ -22,8 +22,8 @@
 #include "rcl/rcl.h"
 #include "rcl/graph.h"
 
-#include "example_interfaces/srv/add_two_ints.h"
 #include "rosidl_generator_c/string_functions.h"
+#include "test_msgs/srv/primitives.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
@@ -61,7 +61,7 @@ public:
  */
 TEST_F(TestNamespaceFixture, test_client_server) {
   rcl_ret_t ret;
-  auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, AddTwoInts);
+  auto ts = ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, Primitives);
   const char * service_name = "/my/namespace/test_namespace_client_server";
   const char * unmatched_client_name = "/your/namespace/test_namespace_client_server";
   const char * matched_client_name = "/my/namespace/test_namespace_client_server";