Remove action_tutorials_interfaces. (#701)

We have this message duplicated three times in the core;
once in here, once in example_interfaces, and once in
test_interface_files.  That seems a bit excessive, so
remove this third copy and make the action_tutorials
use the example_interfaces version of Fibonacci.action
instead.

This change obviously changes the dependencies of the
action_tutorials_cpp and action_tutorials_py packages,
in that it removes action_tutorials_interfaces and adds
in example_interfaces.  I believe that this should be
fine from an inter-repository standpoint, as the demos
repository already contains other packages (composition,
quality_of_service_demo_cpp, demo_nodes_py, demo_nodes_cpp)
that depend on example_interfaces.

Signed-off-by: Chris Lalancette <[email protected]>

Author: clalancette

action_tutorials/README.md

@@ -17,5 +17,3 @@ Once the action is finished executing, the action client logs the resulting sequ
 
 - [action_tutorials_cpp](./action_tutorials_cpp) implements the described action server and client using the rclcpp library in C++.
 - [action_tutorials_py](./action_tutorials_py) implements the described action server and client using the rclpy library in Python.
-- [action_tutorials_interfaces](./action_tutorials_interfaces) defines the interface for the Fibonacci action.
-This interface takes an *order* as a goal, returns a *partial sequence* as feedback and a *sequence* as a result.

action_tutorials/action_tutorials_cpp/CMakeLists.txt

@@ -18,28 +18,29 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(action_tutorials_interfaces REQUIRED)
+find_package(example_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_components REQUIRED)
 
-include_directories(include)
-
 add_library(action_tutorials SHARED
   src/fibonacci_action_client.cpp
   src/fibonacci_action_server.cpp)
 rclcpp_components_register_node(action_tutorials PLUGIN "action_tutorials_cpp::FibonacciActionClient" EXECUTABLE fibonacci_action_client)
 rclcpp_components_register_node(action_tutorials PLUGIN "action_tutorials_cpp::FibonacciActionServer" EXECUTABLE fibonacci_action_server)
 target_compile_definitions(action_tutorials
   PRIVATE "ACTION_TUTORIALS_CPP_BUILDING_DLL")
-ament_target_dependencies(action_tutorials
-  "action_tutorials_interfaces"
-  "rclcpp"
-  "rclcpp_action"
-  "rclcpp_components")
-
-install(TARGETS
-  action_tutorials
+target_include_directories(action_tutorials PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(action_tutorials PRIVATE
+  ${example_interfaces_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+  rclcpp_components::component
+)
+
+install(TARGETS action_tutorials
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)

action_tutorials/action_tutorials_cpp/package.xml

@@ -15,7 +15,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>action_tutorials_interfaces</depend>
+  <depend>example_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_components</depend>

action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp

@@ -16,7 +16,7 @@
 #include <string>
 #include <sstream>
 
-#include "action_tutorials_interfaces/action/fibonacci.hpp"
+#include "example_interfaces/action/fibonacci.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
@@ -28,7 +28,7 @@ namespace action_tutorials_cpp
 class FibonacciActionClient : public rclcpp::Node
 {
 public:
-  using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
+  using Fibonacci = example_interfaces::action::Fibonacci;
   using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>;
 
   ACTION_TUTORIALS_CPP_PUBLIC
@@ -82,7 +82,7 @@ class FibonacciActionClient : public rclcpp::Node
       {
         std::stringstream ss;
         ss << "Next number in sequence received: ";
-        for (auto number : feedback->partial_sequence) {
+        for (auto number : feedback->sequence) {
           ss << number << " ";
         }
         RCLCPP_INFO(this->get_logger(), "%s", ss.str().c_str());

action_tutorials/action_tutorials_cpp/src/fibonacci_action_server.cpp

@@ -14,7 +14,7 @@
 
 #include <memory>
 
-#include "action_tutorials_interfaces/action/fibonacci.hpp"
+#include "example_interfaces/action/fibonacci.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
@@ -26,7 +26,7 @@ namespace action_tutorials_cpp
 class FibonacciActionServer : public rclcpp::Node
 {
 public:
-  using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
+  using Fibonacci = example_interfaces::action::Fibonacci;
   using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
 
   ACTION_TUTORIALS_CPP_PUBLIC
@@ -85,7 +85,7 @@ class FibonacciActionServer : public rclcpp::Node
     rclcpp::Rate loop_rate(1);
     const auto goal = goal_handle->get_goal();
     auto feedback = std::make_shared<Fibonacci::Feedback>();
-    auto & sequence = feedback->partial_sequence;
+    auto & sequence = feedback->sequence;
     sequence.push_back(0);
     sequence.push_back(1);
     auto result = std::make_shared<Fibonacci::Result>();