# rcl_interfaces **Repository Path**: simonaxi/rcl_interfaces ## Basic Information - **Project Name**: rcl_interfaces - **Description**: A repository for messages and services used by the ROS client libraries. - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 7 - **Created**: 2022-01-24 - **Last Updated**: 2023-05-11 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # rcl_interfaces #### 介绍 rcl_interfaces节点 该存储库包含一组主要包含接口文件（.msg和.srv）的包，这些文件既用于实现客户端库概念，也用于测试。 * [action_msgs](action_msgs/README.md): Messages 和 services for [ROS 2 actions](http://design.ros2.org/articles/actions.html) * [builtin_interfaces](builtin_interfaces/README.md): Message IDL 平台特定模型中类型的消息定义 * [composition_interfaces](composition_interfaces/README.md): Services 用于管理可组合节点。 * [lifecycle_msgs](lifecycle_msgs/README.md): Message 和 service 管理生命周期节点。 * [rcl_interfaces](rcl_interfaces/README.md): Message 和 service ROS client 库 * [rosgraph_msgs](rosgraph_msgs/README.md): Message 用于ROS图形计算 * test_msgs: 用于测试 #### 软件架构 软件架构说明 https://github.com/ros2/rcl_interfaces.git 文件内容: ``` . ├── action_msgs │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── msg │   │   ├── GoalInfo.msg │   │   ├── GoalStatusArray.msg │   │   └── GoalStatus.msg │   ├── package.xml │   ├── QUALITY_DECLARATION.md │   ├── README.md │   └── srv │   └── CancelGoal.srv ├── builtin_interfaces │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── msg │   │   ├── Duration.msg │   │   └── Time.msg │   ├── package.xml │   ├── QUALITY_DECLARATION.md │   └── README.md ├── composition_interfaces │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── package.xml │   ├── QUALITY_DECLARATION.md │   ├── README.md │   └── srv │   ├── ListNodes.srv │   ├── LoadNode.srv │   └── UnloadNode.srv ├── CONTRIBUTING.md ├── LICENSE ├── lifecycle_msgs │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── msg │   │   ├── State.msg │   │   ├── TransitionDescription.msg │   │   ├── TransitionEvent.msg │   │   └── Transition.msg │   ├── package.xml │   ├── QUALITY_DECLARATION.md │   ├── README.md │   └── srv │   ├── ChangeState.srv │   ├── GetAvailableStates.srv │   ├── GetAvailableTransitions.srv │   └── GetState.srv ├── rcl_interfaces │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── mapping_rules.yaml │   ├── msg │   │   ├── FloatingPointRange.msg │   │   ├── IntegerRange.msg │   │   ├── ListParametersResult.msg │   │   ├── Log.msg │   │   ├── ParameterDescriptor.msg │   │   ├── ParameterEventDescriptors.msg │   │   ├── ParameterEvent.msg │   │   ├── Parameter.msg │   │   ├── ParameterType.msg │   │   ├── ParameterValue.msg │   │   └── SetParametersResult.msg │   ├── package.xml │   ├── QUALITY_DECLARATION.md │   ├── README.md │   └── srv │   ├── DescribeParameters.srv │   ├── GetParameters.srv │   ├── GetParameterTypes.srv │   ├── ListParameters.srv │   ├── SetParametersAtomically.srv │   └── SetParameters.srv ├── README.md ├── rosgraph_msgs │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── msg │   │   └── Clock.msg │   ├── package.xml │   ├── QUALITY_DECLARATION.md │   └── README.md ├── statistics_msgs │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── msg │   │   ├── MetricsMessage.msg │   │   ├── StatisticDataPoint.msg │   │   └── StatisticDataType.msg │   ├── package.xml │   ├── QUALITY_DECLARATION.md │   └── README.md └── test_msgs ├── action │   └── NestedMessage.action ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │   └── test_msgs ├── msg │   └── Builtins.msg ├── package.xml ├── src │   └── test_msgs └── test ├── test_cpp_type_support.cpp └── test_c_type_support.cpp ``` #### 安装教程 1. 下载rpm包 aarch64: ``` wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/rcl_interfaces/ros2-foxy-ros2-rcl_interfaces-1.0.0-2.oe2203.aarch64.rpm ``` x86_64: ``` wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/rcl_interfaces/ros2-foxy-ros2-rcl_interfaces-1.0.0-2.oe2203.x86_64.rpm ``` 2. 安装rpm包 aarch64: ``` sudo rpm -ivh --nodeps --force ros2-foxy-rcl_interfaces-1.0.0-2.oe2203.aarch64.rpm ``` x86_64: ``` sudo rpm -ivh --nodeps --force ros2-foxy-rcl_interfaces-1.0.0-2.oe2203.x86_64.rpm ``` #### 使用说明 依赖环境安装: ``` sh /opt/ros/foxy/install_dependence.sh ``` 安装完成以后，在/opt/ros/foxy/目录下如下输出,则表示安装成功。 输出: ``` ./ ├── bin ├── COLCON_IGNORE ├── include │   ├── rcl_interfaces │   ├── rcppmath │   ├── rcpputils │   ├── rcutils │   ├── rosgraph_msgs │   ├── rosidl_runtime_c │   ├── rosidl_runtime_cpp │   ├── rosidl_typesupport_cpp │   ├── rosidl_typesupport_interface │   ├── rosidl_typesupport_introspection_c │   ├── rosidl_typesupport_introspection_cpp │   ├── statistics_msgs │   ├── test_msgs │   └── unique_identifier_msgs ├── lib │   ├── cmake │   ├── librcl_interfaces__rosidl_generator_c.so │   ├── librcl_interfaces__rosidl_typesupport_introspection_cpp.so │   ├── librcl_interfaces__rosidl_typesupport_introspection_c.so │   ├── python3.9 │   ├── rosidl_adapter │   ├── rosidl_generator_c │   ├── rosidl_generator_cpp │   ├── rosidl_generator_dds_idl │   ├── rosidl_parser │   ├── rosidl_typesupport_introspection_c │   └── rosidl_typesupport_introspection_cpp ├── lib64 ├── local_setup.bash ├── local_setup.ps1 ├── local_setup.sh ├── _local_setup_util_ps1.py ├── _local_setup_util_sh.py ├── local_setup.zsh ├── setup.bash ├── setup.ps1 ├── setup.sh ├── setup.zsh ├── share │   ├── rcl_interfaces │   ├── rcpputils │   ├── rcutils │   ├── ros2launch │   ├── rosgraph_msgs │   ├── rosidl_adapter │   ├── rosidl_cmake │   ├── rosidl_default_generators │   ├── rosidl_default_runtime │   ├── rosidl_generator_c │   ├── rosidl_generator_cpp │   ├── rosidl_generator_dds_idl │   ├── rosidl_parser │   ├── rosidl_runtime_c │   ├── rosidl_runtime_cpp │   ├── rosidl_typesupport_interface │   ├── rosidl_typesupport_introspection_c │   ├── rosidl_typesupport_introspection_cpp │   ├── statistics_msgs │   ├── test_interface_files │   ├── test_launch_ros │   ├── test_launch_testing │   ├── test_msgs │   ├── test_osrf_testing_tools_cpp │   ├── uncrustify_vendor │   └── unique_identifier_msgs └── src ├── gmock_vendor └── gtest_vendor ``` #### 参与贡献 1. 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