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[Iron]Add ~/get_type_description service (rep2011) (backport #1052)#1082

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[Iron]Add ~/get_type_description service (rep2011) (backport #1052)#1082
clalancette merged 3 commits intoironfrom
mergify/bp/iron/pr-1052

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@mergify mergify bot commented Jul 6, 2023

This is an automatic backport of pull request #1052 done by Mergify.

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@achim-k @mergify
Add ~/get_type_description service (rep2011) (#1052)
0682168 
* Add ~/get_type_description service API
* Add node type cache
* Register subscription, publication, service and action types with node type cache
* Add functions to convert between rosidl_runtime_c / type_description_interfaces structs

RCL does not initialize the get_type_description service itself, instead providing a full enough API for full language clients to initialize it and register its callback within their threading/execution framework

Signed-off-by: Hans-Joachim Krauch <achim.krauch@gmail.com>
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

(cherry picked from commit a4633b8)
@mergify mergify bot requested review from audrow, ivanpauno and wjwwood as code owners July 6, 2023 19:45
@mergify mergify bot mentioned this pull request Jul 6, 2023
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@emersonknapp emersonknapp self-assigned this Jul 6, 2023
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emersonknapp requested changes Jul 6, 2023
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@emersonknapp
Revert removal of node_options enable_type_description_service
73a1892 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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emersonknapp commented Jul 6, 2023 •
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Pulls: #1082
Gist: https://gist.githubusercontent.com/emersonknapp/61d26c17c20db2ffe486cf46d9e231a2/raw/d68aba806afdee3687a31ae2557b6d40f77ecbe2/ros2.repos
BUILD args: --packages-above-and-dependencies rcl rcl_action
TEST args: --packages-above rcl rcl_action
ROS Distro: iron
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/12335

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This was referenced Jul 7, 2023
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clalancette reviewed Jul 12, 2023
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I've left just one comment to think about. This otherwise looks good to me.

@emersonknapp
Initialize the enable_type_description_service member
6e488b9 
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
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emersonknapp commented Jul 17, 2023 •
edited by clalancette
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Pulls: #1082, ros2/rclcpp#2236, ros2/system_tests#521, ros2/rclpy#1140, ros2/ros2cli#839
Gist: https://gist.githubusercontent.com/emersonknapp/05bdac69737f3b9ead83ab407dacc401/raw/66da570b925141182d96d88ed28387f17f917899/ros2.repos
BUILD args:
TEST args:
ROS Distro: iron
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/12392

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@emersonknapp emersonknapp changed the title Add ~/get_type_description service (rep2011) (backport #1052) [Iron]Add ~/get_type_description service (rep2011) (backport #1052) Jul 17, 2023
@clalancette clalancette merged commit 3db75e5 into iron Jul 18, 2023
@clalancette clalancette deleted the mergify/bp/iron/pr-1052 branch July 18, 2023 12:24
@emersonknapp emersonknapp mentioned this pull request Aug 29, 2023
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