The ROS 2 core repository structure recently changed.
For those using Rolling via debs and rpms, this change will come to the Rolling testing and main repositories once the changes have been released.
For those building Rolling from source, you’ll need to fetch an updated
ros2.repos file and import it.
If you were previously depending on packages in
service_msgs you can now depend solely on
rosidl_defaults as these are included.
Here is an approximate* overview of the changes
- The packages in
rosidl_defaultshave been renamed to
rosidl_coreand moved into the ros2/rosidl_core repository.
- The new rosidl_defaults now depend on
- Now users can depend on
rosidl_defaultsand not have to explicitly depend on
service_msgsfor generating custom actions and services.
- A few “core” interface packages will depend directly on
rosidl_defaultin order to avoid dependency loops.
* approximate because I am on the sidelines of this change and so may have missed something when reviewing the meeting minutes for this post.