Action introspection rosbag2 support

[fujitatomoya]

REP for ros2/ros2#1543

[fujitatomoya]

CC: @Barry-Xu-2018

[ros-discourse]

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/action-introspection-rosbag2-action-record-replay-support/38163/1

[Barry-Xu-2018]

Here's a roadmap to implement this feature:

• rcl: Introspection interface for action (Add new interfaces to enable intropsection for action ros2/rcl#1207)
• rclcpp: Introspection interface for action (Add new interfaces to enable intropsection for action ros2/rclcpp#2743)
• rclpy: Introspection interface for action (Add new interfaces to enable intropsection for action ros2/rclpy#1413)
• ros2cli action echo support (Support 'ros2 action echo' ros2/ros2cli#978)
• Demo
  • cpp demo: Update action cpp demos to support setting introspection ros2/demos#709
  • python demo: Update action python demos to support setting introspection ros2/demos#708
• typesupport helper support action (Support action typesupport helper ros2/rclcpp#2750)
• Implement GenericActionClient (Implement action generic client ros2/rclcpp#2759)
• rosbag2 support action
  • Design [Design] Add design doc for actions recording and replay ros2/rosbag2#1928
  • record & Info Implement action recording and display info about recorded action ros2/rosbag2#1939
  • play Implement rosbag2 action play ros2/rosbag2#1955

[fujitatomoya]

@Barry-Xu-2018 just checking that rmw_zenoh is coming as Tier 1 implementation. as far as i understand, this feature has no dependency for rmw implementation, so it should also work on rmw_zenoh, right? i am almost sure about this, just in case trying to make sure if i am missing anything.

[fujitatomoya]

@Barry-Xu-2018

i am assuming that your plan is to merge is the following?

action type support / introspection helper

those are not dependent on any other PRs, so can be merged as 1st step.

• Support action typesupport helper ros2/rclcpp#2750
• Add new interfaces to enable intropsection for action ros2/rcl#1207

client (rclcpp, rclpy, and ros2action) support

• Add new interfaces to enable intropsection for action ros2/rclcpp#2743
• Add new interfaces to enable intropsection for action ros2/rclpy#1413
• Support 'ros2 action echo' ros2/ros2cli#978
• Update action cpp demos to support setting introspection ros2/demos#709
• Update action python demos to support setting introspection ros2/demos#708

GenericActionClient/Server

This is actually for rosbag2 to record the action data.
and finally rosbag2 action record, play and info. (maybe this can be included this stage)

[Barry-Xu-2018]

i am assuming that your plan is to merge is the following?

action type support / introspection helper

those are not dependent on any other PRs, so can be merged as 1st step.

• Support action typesupport helper ros2/rclcpp#2750
• Add new interfaces to enable intropsection for action ros2/rcl#1207

Yes. You are right.

client (rclcpp, rclpy, and ros2action) support

• Add new interfaces to enable intropsection for action ros2/rclcpp#2743
• Add new interfaces to enable intropsection for action ros2/rclpy#1413
• Support 'ros2 action echo' ros2/ros2cli#978
• Update action cpp demos to support setting introspection ros2/demos#709
• Update action python demos to support setting introspection ros2/demos#708

Yes

GenericActionClient/Server

This is actually for rosbag2 to record the action data. and finally rosbag2 action record, play and info. (maybe this can be included this stage)

Yes. But we only want to rosbag2 as action client. So GenericActionServer isn't implemented now.

[Barry-Xu-2018]

@Barry-Xu-2018 just checking that rmw_zenoh is coming as Tier 1 implementation. as far as i understand, this feature has no dependency for rmw implementation, so it should also work on rmw_zenoh, right? i am almost sure about this, just in case trying to make sure if i am missing anything.

Yes. I also think so.

[fujitatomoya]

@Barry-Xu-2018 base introspection interfaces are now merged, can you update the other PRs that are draft?

[Barry-Xu-2018]

base introspection interfaces are now merged, can you update the other PRs that are draft?

Okay. PR for rclcpp and rclpy are ready to be reviewed.

[fujitatomoya]

@Barry-Xu-2018 please let me know once ros2cli and demos are ready 👍

[Barry-Xu-2018]

@Barry-Xu-2018 please let me know once ros2cli and demos are ready 👍

Okay. I will set open once ros2/rclcpp#2743 and ros2/rclpy#1413 are merged.

[fujitatomoya]

@Barry-Xu-2018 now we bring up the action introspection up to rclcpp and rclpy client layer, can you open the official PRs for ros2cli and demos?

[Barry-Xu-2018]

@fujitatomoya Thanks. I opened PRS for ros2cli and demos.