asterism 0.4.0 → 0.5.0

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data/CHANGELOG.md

@@ -1,10 +1,84 @@
 # Changelog
 
 All notable changes to asterism (the CRuby gem) and picoruby-asterism (the
-mrbgem; the same `mrblib/`). Nothing has been published to rubygems.org
-yet; the versions below are the ones in this repository. From 0.4.0 the
-two Zenoh bindings (asterism-zenoh, picoruby-asterism-zenoh) carry the
-same version number.
+mrbgem; the same `mrblib/`). 0.4.0 is the first version on rubygems.org;
+the earlier ones are only in this repository. From 0.4.0 the two Zenoh
+bindings (asterism-zenoh, picoruby-asterism-zenoh) carry the same minor
+version (a patch release of one may come without the other).
+
+## 0.5.0
+
+Node profiles; every 0.4.x call works as before. Needs asterism-zenoh /
+picoruby-asterism-zenoh 0.4.0 (unchanged).
+
+Added
+
+- Node profiles (README "Profiles"): `Asterism.profile(kind:, name:, host:,
+  icon:)` sets this node's profile (the fields given; the rest stay) and
+  returns it, `Asterism.profile` returns it, `Asterism.profile_of(node,
+  icon: true, timeout: 2.0)` asks another node's (nil when it does not
+  answer). The CRuby API: `net.profile`, `net.profile_of`. Answered on
+  `asterism/<node>/@profile` (a queryable of every connected application,
+  MessagePack Hash: `kind`, `host`, `name`, `icon`, `icon_hash`; the
+  parameter `icon=0` leaves the icon out), and put on the same key without
+  the icon at connect and on each change.
+- Defaults: `kind` is `cruby` on CRuby and `picoruby` on mruby / PicoRuby;
+  the icon is the file at `Asterism.default_icon_path` when it is there:
+  the gem's `data/icon.png` on CRuby (new; a ruby, 32x32), and
+  `/usr/share/asterism/icon.png` on the boards.
+- `Asterism::Profile`: `png_info` (the icon checks: PNG signature, chunks
+  from IHDR to IEND, 8 KB, 256x256; and `icon_hash`, the Adler-32 of the
+  chunks' CRCs), `check` (cleans a received profile: an icon that does not
+  pass is dropped), the limits as constants.
+- `rake test:mruby` and `host_test/`: the shared layer on mruby (built with
+  picoruby-asterism-zenoh, MRB_UTF8_STRING as on the boards), profiles
+  between two mruby processes. CI runs it.
+
+Changed
+
+- The "Ruby profile" (0.4.0) is now called the Ruby feature table, so that
+  it is not taken for a node's profile: `docs/ruby_profile.md` is
+  `docs/ruby_features.md`. The probes' directory `profile/` and its code
+  keep their names.
+
+## 0.4.1
+
+Additions and a fix; every 0.4.0 call works as before. Needs
+asterism-zenoh / picoruby-asterism-zenoh 0.4.0 (unchanged).
+
+Added
+
+- More bundled types (`data/msgs`, 62 -> 84 files): rcl_interfaces (Log for
+  `/rosout`, ParameterEvent, Parameter, ParameterValue), nav_msgs
+  (Odometry, Path, MapMetaData, OccupancyGrid), sensor_msgs (LaserScan,
+  PointField, PointCloud2, and CompressedImage for Marker),
+  diagnostic_msgs (DiagnosticArray, DiagnosticStatus, KeyValue),
+  tf2_msgs/TFMessage, visualization_msgs (Marker, MarkerArray, MeshFile,
+  UVCoordinate), geometry_msgs PoseWithCovariance and TwistWithCovariance
+  (for Odometry). Every type hash matches ROS 2 Jazzy's type description
+  JSON. tf2_msgs is under the BSD 3-Clause License
+  (`data/msgs/LICENSE-BSD-3-Clause-tf2_msgs.txt`); the gem's licenses are
+  now `MIT`, `Apache-2.0` and `BSD-3-Clause`.
+- `FIELD_TYPES` in every generated message: per field
+  `[name, base, kind, nested, capacity, string_capacity]`, plain Arrays,
+  Strings, Integers and nil (kind is `"scalar"`, `"array"`,
+  `"bounded_sequence"` or `"sequence"`). A string sequence and a number
+  sequence can now be told apart without the .msg.
+- `Asterism::ROS.field_types(type)`: the `FIELD_TYPES` of a type and of
+  every message type it is made of, `{ROS name => FIELD_TYPES}` (for a
+  service, its Request and Response).
+
+Fixed
+
+- `Asterism::ROS.require_type` checks the type name before it builds a
+  path: `pkg/msg/Name` or `pkg/srv/Name`, the package `[a-z][a-z0-9_]*`,
+  the name `[A-Z][A-Za-z0-9]*` (checked byte by byte; the boards have no
+  Regexp). A package name with `..` could point above a `TYPE_PATH`
+  directory. Anything else raises `ArgumentError`, as a malformed name did
+  before.
+
+Types generated by the 0.4.0 generator still load; regenerate them to get
+`FIELD_TYPES`.
 
 ## 0.4.0
 

data/NOTICE

@@ -4,7 +4,8 @@ Asterism's own code is under the MIT License (LICENSE).
 
 This repository also contains material made from ROS 2 message and service
 definitions, which are licensed under the Apache License, Version 2.0
-(data/msgs/LICENSE-Apache-2.0.txt):
+(data/msgs/LICENSE-Apache-2.0.txt), except tf2_msgs, which is under the BSD
+3-Clause License (data/msgs/LICENSE-BSD-3-Clause-tf2_msgs.txt):
 
 - tools/ros2_jazzy/: the .msg / .srv definitions and the package.xml of
   their packages as distributed with ROS 2 Jazzy
@@ -16,12 +17,16 @@ definitions, which are licensed under the Apache License, Version 2.0
 - test/msgs/golden_cdr.tsv and test/msgs/test_type_hashes.txt: values
   computed by ROS 2's tools (rclpy, rosidl) in a ROS 2 Jazzy image.
 
-The ROS 2 packages these come from, all "Apache License 2.0" in their
-package.xml:
+The ROS 2 packages these come from, with the license in their package.xml:
 
-- std_msgs, geometry_msgs, sensor_msgs (ros2/common_interfaces)
-- builtin_interfaces, service_msgs (ros2/rcl_interfaces)
-- example_interfaces (ros2/example_interfaces)
+- std_msgs, geometry_msgs, sensor_msgs, nav_msgs, diagnostic_msgs,
+  visualization_msgs (ros2/common_interfaces): "Apache License 2.0"
+- builtin_interfaces, service_msgs, rcl_interfaces (ros2/rcl_interfaces):
+  "Apache License 2.0"
+- example_interfaces (ros2/example_interfaces): "Apache License 2.0"
+- tf2_msgs (ros2/geometry2): "BSD" (the BSD 3-Clause License of that
+  repository; Copyright (c) 2008, Willow Garage, Inc.)
 
 Copyright in the definitions belongs to their authors (Open Source Robotics
-Foundation, Inc. and the ROS 2 contributors); see those repositories.
+Foundation, Inc., Willow Garage, Inc. and the ROS 2 contributors); see those
+repositories.

data/README.md

@@ -10,10 +10,12 @@ repository holds the pure Ruby layers, written once for every Ruby:
 | `mrblib/` | The layers: remote objects (`Asterism`), `Asterism::CDR`, `Asterism::ROS`. The source of truth for both forms below |
 | `mrbgem.rake` | The mrbgem `picoruby-asterism` (mruby / PicoRuby): compiles `mrblib/` |
 | `asterism.gemspec`, `lib/` | The CRuby gem `asterism`: `lib/asterism.rb` loads `mrblib/` as it is, `lib/asterism/cruby.rb` adds what CRuby needs, `lib/asterism/cruby/` the CRuby API (CRuby only) |
-| `data/msgs/` | ROS 2 message types generated from ROS 2 Jazzy's definitions (Apache-2.0, see NOTICE) |
+| `data/icon.png` | CRuby's default profile icon (32x32 PNG; [Profiles](#profiles)) |
+| `data/msgs/` | ROS 2 message types generated from ROS 2 Jazzy's definitions (Apache-2.0; tf2_msgs BSD-3-Clause; see NOTICE) |
 | `tools/` | The type generator `asterism_msggen.rb`, the Jazzy definitions it reads, `ros2_types.rb` (refreshes them from a ROS 2 image) |
-| `test/` | `test/msgs` (types, CDR; CRuby only), `test_asterism.rb` (objects and ROS between CRuby sessions), `test_api_*.rb` (the CRuby API) |
-| `examples/` | CRuby: `node.rb` (objects with a board), `node_polled.rb` (the same with the portable API of the boards), `ros2_talker.rb` (topics, a timer, services with ROS 2), `zenoh.rb` (plain Zenoh) |
+| `test/` | `test/msgs` (types, CDR; CRuby only), `test_asterism.rb` (objects and ROS between CRuby sessions), `test_profile.rb` (node profiles), `test_api_*.rb` (the CRuby API) |
+| `host_test/` | `rake test:mruby`: the shared layer on mruby (profiles between two mruby processes) |
+| `examples/` | CRuby: `node.rb` (objects with a board), `node_polled.rb` (the same with the portable API of the boards), `ros2_talker.rb` (topics, a timer, services with ROS 2), `ros2_rover.rb` (drive a ROS 2 robot: `/cmd_vel`, `/odom`, `/imu`), `zenoh.rb` (plain Zenoh), `mujoco/` (MuJoCo run from CRuby through Fiddle, its robot exposed as Asterism objects; see its README) |
 
 The Zenoh binding underneath is a separate gem with the same Ruby API on
 each Ruby:
@@ -35,7 +37,9 @@ Both gems are on rubygems.org (`gem install asterism` installs
 asterism-zenoh too). What changed in each version is in
 [CHANGELOG.md](CHANGELOG.md); 0.4.0 is the first step toward 1.0
 ([docs/api_review.md](docs/api_review.md)) and only adds and deprecates
-(see [Deprecations and 1.0](#deprecations-and-10)).
+(see [Deprecations and 1.0](#deprecations-and-10)); 0.5.0 adds node
+profiles ([Profiles](#profiles): what a node runs on, where, a name and an
+icon).
 
 ## Which API?
 
@@ -83,7 +87,7 @@ build but not yet tested. To install from the repositories instead:
 
 ```
 (cd ../asterism-zenoh && rake gem) && rake gem
-gem install --local ../asterism-zenoh/pkg/asterism-zenoh-0.4.0.gem pkg/asterism-0.4.0.gem
+gem install --local ../asterism-zenoh/pkg/asterism-zenoh-0.4.0.gem pkg/asterism-0.5.0.gem
 ```
 
 From the working trees, without installing:
@@ -111,8 +115,17 @@ rake test:msgs        # generator, type hashes, CDR, bundled types (CRuby only;
 rake test:objects     # objects and Asterism::ROS between CRuby sessions over a local peer link
 rake test:api         # the CRuby API (blocks, receiving threads, Enumerators)
 ASTERISM_TEST_ROUTER=tcp/127.0.0.1:7447 rake test:objects test:api   # the same through a zenohd router
+rake test:mruby       # the shared layer on mruby (builds mruby; not part of `rake`)
 ```
 
+`test:mruby` builds mruby with picoruby-asterism-zenoh and this gem
+(MRB_UTF8_STRING, as on Family mruby's boards) and runs `host_test/`: two
+mruby processes over a local peer link. It takes the mruby and zenoh-pico
+pinned by a picoruby-asterism-zenoh checkout next to this one (its
+`rake mruby:fetch zenoh:fetch`), or `PICORUBY_ASTERISM_ZENOH_DIR` /
+`MRUBY_DIR`. A small MessagePack for the test is in
+`host_test/msgpack.rb` (the boards bring their own).
+
 `test:objects` and `test:api` need asterism-zenoh: built next to this repository
 (`../asterism-zenoh`, its `rake compile`), or `ASTERISM_ZENOH_DIR`, or the
 installed gem. The tests run with deprecated calls raising
@@ -131,6 +144,17 @@ ruby examples/node_polled.rb --router tcp/192.0.2.2:7447    # the same, polled
 # /cruby/add_two_ints served, AddTwoInts calls
 ruby examples/ros2_talker.rb --router tcp/192.0.2.2:7447 [--service NAME]
 
+# ROS 2: drive a robot (made for family-mruby's MuJoCo rover,
+# docker-compose.mujoco.yml): 1 m forward and 90 degrees left by /odom,
+# compared with /ground_truth/odom; or the keyboard
+ruby examples/ros2_rover.rb --router tcp/192.0.2.2:7447 [--keys]
+
+# MuJoCo from CRuby (Fiddle), the robot as objects mujoco/rover/{drive,state,world};
+# the MuJoCo release is fetched into examples/mujoco/vendor (examples/mujoco/README.md)
+ruby examples/mujoco/fetch.rb
+ruby examples/mujoco/rover.rb --router tcp/192.0.2.2:7447
+ruby examples/mujoco/drive.rb --router tcp/192.0.2.2:7447 [--keys]
+
 # plain Zenoh: run two with different --name
 ruby examples/zenoh.rb --router tcp/192.0.2.2:7447 --name pc1
 ```
@@ -227,6 +251,7 @@ end
 | `net.each(pattern = "**")` | the proxies alive now; an Enumerator without a block. With a block it returns their number (1.0: `self`, as Ruby's `each` does; `net.count` is the number) |
 | `net.on_join { \|node\| }` / `net.on_leave { \|node\| }` | `Asterism.on_join` / `on_leave` of the portable API (the same blocks, told from `Asterism.poll`), here on the receiving thread; what they raise goes to `on_error`. `net.off_join(proc)` / `off_leave(proc)` remove one |
 | `net.start` / `stop` / `run` / `running?` / `on_error` | as for Zenoh. A method of an exposed object that raises is answered to its caller as a `RemoteError`, as before; `on_error` gets what `on_join` / `on_leave` raise |
+| `net.profile(**fields)` / `net.profile_of(node, icon: true, timeout: 2.0)` | `Asterism.profile` / `profile_of` ([Profiles](#profiles)); `profile_of` waits for the receiving thread's ticks while it runs |
 | `net.nodes`, `node_id`, `app`, `connected?`, `lost_reason`, `poll`, `close` | |
 
 ### Over TLS (a router on the internet)
@@ -339,9 +364,11 @@ MIT (LICENSE) for Asterism's code. The ROS 2 definitions in
 `tools/ros2_jazzy/` (with the package.xml of their packages), the types
 generated from them in `data/msgs/` and the fixtures computed by ROS 2's
 tools in `test/msgs/` are under the Apache License 2.0 (NOTICE,
-`data/msgs/NOTICE`, `data/msgs/LICENSE-Apache-2.0.txt`). Each generated
-type names its package and license at its top. The gem `asterism` is
-therefore `MIT` and `Apache-2.0`, each for its own files.
+`data/msgs/NOTICE`, `data/msgs/LICENSE-Apache-2.0.txt`), except those of
+tf2_msgs, which are under the BSD 3-Clause License
+(`data/msgs/LICENSE-BSD-3-Clause-tf2_msgs.txt`). Each generated type names
+its package and license at its top. The gem `asterism` is therefore `MIT`,
+`Apache-2.0` and `BSD-3-Clause`, each for its own files.
 
 Not in this repository: the gems Asterism depends on are not bundled.
 `msgpack` (CRuby) and `asterism-zenoh` (the CRuby Zenoh binding, which in
@@ -398,6 +425,60 @@ Asterism.nodes                            # => ["linux", "fmruby-bbbbbb"]
 | `Asterism.nodes` | `[String]` | Node IDs alive now, this one first. |
 | `Asterism.connected?` / `node_id` / `app` / `exposed` / `lost_reason` | | |
 | `Asterism.close` | nil | Withdraws every exposed object. Idempotent. |
+| `Asterism.profile(kind:, name:, host:, icon:)` / `Asterism.profile` | Hash | This node's profile: sets the fields given and returns it; without arguments, returns it. See [Profiles](#profiles). |
+| `Asterism.profile_of(node, icon: true, timeout: 2.0)` | Hash or nil | Another node's profile, nil when it does not answer (an older version, a ROS 2 node). |
+
+## Profiles
+
+A node tells what it is (0.5.0): what Ruby runs it, where, a display name
+and an icon. A console draws it with that; anyone can ask.
+
+```ruby
+Asterism.profile(name: "Rover", icon: File.binread("rover.png"))   # this node's (any time)
+Asterism.profile
+# => {"kind" => "cruby", "name" => "Rover", "icon" => "\x89PNG...", "icon_hash" => "2a8c0626"}
+Asterism.profile_of("fmruby-aaaaaa")
+# => {"kind" => "family_mruby", "host" => "atoms3r", "icon" => "\x89PNG...", "icon_hash" => "..."}
+Asterism.profile_of("fmruby-aaaaaa", icon: false)   # the same without the icon bytes
+Asterism.profile_of("an-older-node")                 # => nil
+```
+
+| Field | Value | Default |
+|---|---|---|
+| `kind` | what Ruby runs the node: `family_mruby`, `picoruby`, `cruby`, `console` (a lower-case word: `a-z`, `0-9`, `_`, up to 32 bytes; other words are allowed) | `cruby` on CRuby, `picoruby` on mruby / PicoRuby; Family mruby's firmware sets `family_mruby` |
+| `host` | where it runs, e.g. `atoms3r`, `tab5`, `p4nano`, `browser`, `sim` (up to 32 bytes) | none; Family mruby's firmware sets it from the board |
+| `name` | a display name (up to 64 bytes) | none |
+| `icon` | the bytes of a PNG: at most 8 KB and 256x256 (32x32 is the size meant). PNG only: an SVG can carry scripts | the file at `Asterism.default_icon_path` when it is there: on CRuby the gem's `data/icon.png` (a ruby), on the boards `/usr/share/asterism/icon.png` |
+| `icon_hash` | set by Asterism, never given: the icon's summary (8 hex digits: the Adler-32 of the PNG's chunk CRCs, so a board computes it from a few bytes) | |
+
+- **Setting.** `Asterism.profile(**fields)` changes the fields given and keeps
+  the others; `nil` leaves `name` / `host` out, goes back to the default
+  `kind`, and means no icon for `icon:`. It raises `ArgumentError` for a
+  field it does not accept (an unknown name, a `kind` that is not a word, an
+  icon that is not a PNG, larger than 8 KB or 256x256). It may be called
+  before connecting and at any time after; the profile belongs to the
+  process (the VM on a board) and survives `close`. A firmware can set its
+  defaults with the same call before the application runs (Family mruby
+  sets `kind`, `host` and, through `/usr/share/asterism/icon.png`, the icon).
+- **Reading.** `Asterism.profile_of(node)` asks `asterism/<node>/@profile`
+  and waits like a call (`timeout:` / `timeout_ms:`); this node's own comes
+  without the network. The answer is cleaned (`Asterism::Profile.check`):
+  only the fields above, each checked; an icon that is not an acceptable
+  PNG is dropped with its hash, an answer without a valid `kind` is `nil`.
+  `icon: false` asks without the icon (the parameter `icon=0`): a reader
+  that already has the icon of that `icon_hash` asks this way.
+- **Following.** At each connect and at each change while connected, the
+  node also puts its profile without the icon on `asterism/<node>/@profile`;
+  subscribe to `asterism/*/@profile` to follow the changes (and fetch the
+  icon again only when `icon_hash` changed). Older nodes neither answer nor
+  put.
+- **Several applications of one node** (a board running two): each answers
+  for the node, and `profile_of` takes the first answer. Give them the same
+  profile (Family mruby's firmware defaults are the same in each), or set it
+  in one and read the notices, where the last change wins.
+- `Asterism::Profile.png_info(bytes)` gives `[width, height, icon_hash]` of
+  an acceptable PNG (nil otherwise), for a tool that wants to check an icon
+  first.
 
 ## Errors
 
@@ -439,6 +520,7 @@ is closed (1.0: `Disconnected`, as the object layer).
 | Receiving interval of the CRuby API | 2 ms | `interval:` |
 | Calls waiting inside each other | 4 | `MAX_NESTING` |
 | Encoding depth of a value | 16 | `Codec::MAX_DEPTH` |
+| A profile icon | 8 KB, 256x256, PNG only | `Asterism::Profile::ICON_MAX`, `ICON_SIDE_MAX` |
 | `get` consolidation | `:none` (every reply; zenoh's own default is `:auto`, but services and the object layer want every reply) | `consolidation:` |
 
 ### Queues
@@ -528,8 +610,10 @@ caller gets `RemoteError` (`Asterism::EncodeError`). Nesting is limited to
 | `asterism/<node>/<app>/<object>/meta` | get / queryable | reply: `{"methods" => [[name, arity], ...]}` (arity `-1` when not declared). The object may be `*` in the query: one reply per object |
 | `asterism/<node>` | liveliness | the node is connected |
 | `asterism/<node>/<app>/<object>` | liveliness | the object is exposed |
+| `asterism/<node>/@profile` | get / queryable, and put | query (parameter `icon=0` for no icon): reply the node's profile, a Hash (`kind`, `host`, `name`, `icon`, `icon_hash`; [Profiles](#profiles)). The node also puts the profile without the icon at connect and on each change. `@profile` is a verbatim chunk, so `asterism/**` does not match it: the object layer's wildcards never see it. An application's own profile would go at `asterism/<node>/<app>/@profile` (not in 0.5.0) |
 
-One queryable per application (`asterism/<node>/<app>/**`). A call whose
+One queryable per application (`asterism/<node>/<app>/**`), and one for the
+profile (`asterism/<node>/@profile`). A call whose
 node or app is a wildcard reaches every application that exposes that
 object, each answering with its own key; `Asterism` itself only sends calls
 to one object.
@@ -599,7 +683,7 @@ nested type (`geometry_msgs/msg/Twist`) at start-up took 0.6 KB more.
   different on Family mruby's PicoRuby: `^x` of an outer local inside a
   block, `^(expr)`, `Const[...]` and `**rest` next to another key. The full
   list of what the boards' Ruby can and cannot do is in
-  [docs/ruby_profile.md](docs/ruby_profile.md).
+  [docs/ruby_features.md](docs/ruby_features.md) (the Ruby feature table).
 
 ## ROS 2 (rmw_zenoh): `Asterism::ROS` and `Asterism::CDR`
 
@@ -738,11 +822,51 @@ std_msgs (Bool, Byte, Char, String, Empty, the integer and float types,
 Header, ColorRGBA, MultiArrayDimension / Layout and every *MultiArray),
 builtin_interfaces (Time, Duration), geometry_msgs (Vector3, Point, Point32,
 Quaternion, Pose, Pose2D, Twist, Accel, Transform, Wrench and their
-*Stamped), sensor_msgs (Imu, BatteryState, Temperature, Range,
-MagneticField, Illuminance, FluidPressure, RelativeHumidity, JointState,
-NavSatStatus, NavSatFix), example_interfaces/srv/AddTwoInts. The list is
-`tools/bundled_types.txt`. Nothing of them is compiled into the mrbgem: an
-application loads what it uses, and each file loads the types it is made of.
+*Stamped, PoseWithCovariance, TwistWithCovariance), sensor_msgs (Imu,
+BatteryState, Temperature, Range, MagneticField, Illuminance,
+FluidPressure, RelativeHumidity, JointState, NavSatStatus, NavSatFix,
+LaserScan, PointField, PointCloud2, CompressedImage), nav_msgs (Odometry,
+Path, MapMetaData, OccupancyGrid), diagnostic_msgs (DiagnosticArray,
+DiagnosticStatus, KeyValue), tf2_msgs/TFMessage, visualization_msgs
+(Marker, MarkerArray, MeshFile, UVCoordinate), rcl_interfaces (Log for
+`/rosout`, ParameterEvent, Parameter, ParameterValue),
+example_interfaces/srv/AddTwoInts. The list is `tools/bundled_types.txt`
+(84 files, 0.23 MB). Nothing of them is compiled into the mrbgem: an
+application loads what it uses, and each file loads the types it is made
+of.
+
+### Field types
+
+Each generated message has `FIELD_TYPES` next to `FIELDS`: what each field
+is, as plain Arrays, Strings, Integers and nil (the same on the boards),
+one `[name, base, kind, nested, capacity, string_capacity]` per field:
+
+| Element | Value |
+|---|---|
+| `name` | the field name (a String) |
+| `base` | the .msg type: `"float64"`, `"string"`, `"uint8"`, ..., or the full name of a message (`"std_msgs/msg/Header"`) |
+| `kind` | `"scalar"`, `"array"` (`T[N]`), `"bounded_sequence"` (`T[<=N]`) or `"sequence"` (`T[]`) |
+| `nested` | the full name of the message type, or nil |
+| `capacity` | N of an array or a bounded sequence, else nil |
+| `string_capacity` | N of `string<=N`, else nil |
+
+```ruby
+Asterism::ROS::SensorMsgs::JointState::FIELD_TYPES
+# => [["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+#     ["name", "string", "sequence", nil, nil, nil],
+#     ["position", "float64", "sequence", nil, nil, nil], ...]
+Asterism::ROS.field_types("sensor_msgs/msg/Imu")
+# => {"sensor_msgs/msg/Imu" => [...], "std_msgs/msg/Header" => [...],
+#     "geometry_msgs/msg/Quaternion" => [...], "geometry_msgs/msg/Vector3" => [...],
+#     "builtin_interfaces/msg/Time" => [...]}
+```
+
+`Asterism::ROS.field_types(type)` takes a type or its name, loads the
+types it is made of and gives the `FIELD_TYPES` of each, the type first
+(for a service, its Request and Response). A byte array or sequence
+(`uint8`, `byte`, `char`) is a binary String in Ruby (see the table
+above). Types generated before 0.4.1 have no `FIELD_TYPES`; regenerate
+them (`field_types` raises `Asterism::ROS::UnknownType` for them).
 
 ### Making types: `tools/asterism_msggen.rb`
 
@@ -783,8 +907,9 @@ the hashes from Jazzy's JSON (`type_hashes.txt`) that the tests
 (`rake test:msgs`) compare with. `tools/ros2_types.rb` refreshes both, and
 `data/msgs`, from a ROS 2 Jazzy docker image (`rake types:refresh` with
 `ASTERISM_ROS2_IMAGE`; `rake types:check` only compares). The definitions
-are from ros2/common_interfaces, ros2/rcl_interfaces and
-ros2/example_interfaces (Apache License 2.0, see NOTICE).
+are from ros2/common_interfaces, ros2/rcl_interfaces,
+ros2/example_interfaces (Apache License 2.0) and ros2/geometry2 (tf2_msgs,
+BSD 3-Clause License); see NOTICE.
 
 ### Loading
 
@@ -797,3 +922,9 @@ Time and Quaternion 32.8 KB more, std_msgs/Float32MultiArray with its
 layout types 20.0 KB more (68 KB for nine files, 340 ms). Evaluating a file
 compiles it on the caller's stack (about 2.5 KB deeper than the update
 loop); load the types in `on_create`, not in a deep call chain.
+
+A type name may come from the network, so `require_type` checks it before
+it builds a path: `pkg/msg/Name` or `pkg/srv/Name`, the package
+`[a-z][a-z0-9_]*`, the name `[A-Z][A-Za-z0-9]*` (ROS 2's rules for
+interface names). Anything else (`../msg/Foo`, an empty part, an upper-case
+package, more slashes, NUL) raises `ArgumentError`.

data/data/msgs/LICENSE-BSD-3-Clause-tf2_msgs.txt

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2008, Willow Garage, Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

data/data/msgs/NOTICE

@@ -1,17 +1,23 @@
 ROS 2 message and service types for Asterism (Asterism::ROS).
 
 Each .rb file here was generated by Asterism's tools/asterism_msggen.rb
-from the ROS 2 Jazzy definition it names (packages std_msgs,
-geometry_msgs, sensor_msgs, builtin_interfaces, service_msgs,
-example_interfaces). The definitions are licensed under the Apache
-License, Version 2.0 (LICENSE-Apache-2.0.txt), and so are these files.
-Copyright in the definitions belongs to their authors (Open Source
-Robotics Foundation, Inc. and the ROS 2 contributors).
+from the ROS 2 Jazzy definition it names. Each file states its package and
+the license of that package at its top, and is under the same license as
+the definition it was made from:
 
-The definitions come from https://github.com/ros2/common_interfaces
-(std_msgs, geometry_msgs, sensor_msgs), https://github.com/ros2/rcl_interfaces
-(builtin_interfaces, service_msgs) and https://github.com/ros2/example_interfaces,
-as distributed with ROS 2 Jazzy. Each file states its package and license at
-its top. The asterism repository (https://github.com/ruby-asterism/asterism)
-keeps the definitions themselves (tools/ros2_jazzy) and the generator; its
-own code is under the MIT License.
+- Apache License, Version 2.0 (LICENSE-Apache-2.0.txt): std_msgs,
+  geometry_msgs, sensor_msgs, nav_msgs, diagnostic_msgs,
+  visualization_msgs (https://github.com/ros2/common_interfaces),
+  builtin_interfaces, service_msgs, rcl_interfaces
+  (https://github.com/ros2/rcl_interfaces) and example_interfaces
+  (https://github.com/ros2/example_interfaces). Copyright in these
+  definitions belongs to their authors (Open Source Robotics Foundation,
+  Inc. and the ROS 2 contributors).
+- BSD 3-Clause License (LICENSE-BSD-3-Clause-tf2_msgs.txt, "BSD" in its
+  package.xml): tf2_msgs (https://github.com/ros2/geometry2).
+  Copyright (c) 2008, Willow Garage, Inc.
+
+The definitions are as distributed with ROS 2 Jazzy. The asterism
+repository (https://github.com/ruby-asterism/asterism) keeps the
+definitions themselves (tools/ros2_jazzy) and the generator; its own code
+is under the MIT License.

data/data/msgs/builtin_interfaces/msg/Duration.rb

@@ -11,6 +11,10 @@ class ::Asterism::ROS::BuiltinInterfaces::Duration < ::Asterism::ROS::Message
   TYPE_NAME = "builtin_interfaces::msg::dds_::Duration_"
   TYPE_HASH = "RIHS01_e8d009f659816f758b75334ee1a9ca5b5c0b859843261f14c7f937349599d93b"
   FIELDS = [:sec, :nanosec]
+  FIELD_TYPES = [
+    ["sec", "int32", "scalar", nil, nil, nil],
+    ["nanosec", "uint32", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :sec, :nanosec
 

data/data/msgs/builtin_interfaces/msg/Time.rb

@@ -11,6 +11,10 @@ class ::Asterism::ROS::BuiltinInterfaces::Time < ::Asterism::ROS::Message
   TYPE_NAME = "builtin_interfaces::msg::dds_::Time_"
   TYPE_HASH = "RIHS01_b106235e25a4c5ed35098aa0a61a3ee9c9b18d197f398b0e4206cea9acf9c197"
   FIELDS = [:sec, :nanosec]
+  FIELD_TYPES = [
+    ["sec", "int32", "scalar", nil, nil, nil],
+    ["nanosec", "uint32", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :sec, :nanosec
 

data/data/msgs/diagnostic_msgs/msg/DiagnosticArray.rb

@@ -0,0 +1,40 @@
+# diagnostic_msgs/msg/DiagnosticArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# DiagnosticArray.msg of the package diagnostic_msgs.
+# License: Apache License 2.0, as the definition (package.xml of diagnostic_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("diagnostic_msgs/msg/DiagnosticStatus")
+::Asterism::ROS.require_type("std_msgs/msg/Header")
+
+module ::Asterism::ROS::DiagnosticMsgs
+end
+
+class ::Asterism::ROS::DiagnosticMsgs::DiagnosticArray < ::Asterism::ROS::Message
+  ROS_NAME = "diagnostic_msgs/msg/DiagnosticArray"
+  TYPE_NAME = "diagnostic_msgs::msg::dds_::DiagnosticArray_"
+  TYPE_HASH = "RIHS01_5a8a36efb05fb25070fa0fb3810290c0e6cd4862b54a8fb975a1ee8dc55a333e"
+  FIELDS = [:header, :status]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["status", "diagnostic_msgs/msg/DiagnosticStatus", "sequence", "diagnostic_msgs/msg/DiagnosticStatus", nil, nil]
+  ]
+
+  attr_accessor :header, :status
+
+  def initialize(header: nil, status: nil)
+    @header = ::Asterism::ROS::StdMsgs::Header.from(header)
+    @status = status.nil? ? [] : status.map { |e| ::Asterism::ROS::DiagnosticMsgs::DiagnosticStatus.from(e) }
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::Header.write(w, ::Asterism::ROS::StdMsgs::Header.from(m.header))
+    w.structs(::Asterism::ROS::DiagnosticMsgs::DiagnosticStatus, m.status, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.header = ::Asterism::ROS::StdMsgs::Header.read(r)
+    m.status = r.structs(::Asterism::ROS::DiagnosticMsgs::DiagnosticStatus, nil)
+    m
+  end
+end

data/data/msgs/diagnostic_msgs/msg/DiagnosticStatus.rb

@@ -0,0 +1,55 @@
+# diagnostic_msgs/msg/DiagnosticStatus (ROS 2 jazzy), generated by asterism_msggen.rb from
+# DiagnosticStatus.msg of the package diagnostic_msgs.
+# License: Apache License 2.0, as the definition (package.xml of diagnostic_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("diagnostic_msgs/msg/KeyValue")
+
+module ::Asterism::ROS::DiagnosticMsgs
+end
+
+class ::Asterism::ROS::DiagnosticMsgs::DiagnosticStatus < ::Asterism::ROS::Message
+  ROS_NAME = "diagnostic_msgs/msg/DiagnosticStatus"
+  TYPE_NAME = "diagnostic_msgs::msg::dds_::DiagnosticStatus_"
+  TYPE_HASH = "RIHS01_b0e3e692ea2d54a8af2f4ef1930e81556a2db55216b771f8a7d2724ed47bf0e4"
+  FIELDS = [:level, :name, :message, :hardware_id, :values]
+  FIELD_TYPES = [
+    ["level", "byte", "scalar", nil, nil, nil],
+    ["name", "string", "scalar", nil, nil, nil],
+    ["message", "string", "scalar", nil, nil, nil],
+    ["hardware_id", "string", "scalar", nil, nil, nil],
+    ["values", "diagnostic_msgs/msg/KeyValue", "sequence", "diagnostic_msgs/msg/KeyValue", nil, nil]
+  ]
+  OK = 0
+  WARN = 1
+  ERROR = 2
+  STALE = 3
+
+  attr_accessor :level, :name, :message, :hardware_id, :values
+
+  def initialize(level: nil, name: nil, message: nil, hardware_id: nil, values: nil)
+    @level = level.nil? ? 0 : level
+    @name = name.nil? ? "" : name
+    @message = message.nil? ? "" : message
+    @hardware_id = hardware_id.nil? ? "" : hardware_id
+    @values = values.nil? ? [] : values.map { |e| ::Asterism::ROS::DiagnosticMsgs::KeyValue.from(e) }
+  end
+
+  def self.write(w, m)
+    w.uint8(m.level)
+    w.string(m.name)
+    w.string(m.message)
+    w.string(m.hardware_id)
+    w.structs(::Asterism::ROS::DiagnosticMsgs::KeyValue, m.values, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.level = r.uint8
+    m.name = r.string
+    m.message = r.string
+    m.hardware_id = r.string
+    m.values = r.structs(::Asterism::ROS::DiagnosticMsgs::KeyValue, nil)
+    m
+  end
+end

data/data/msgs/diagnostic_msgs/msg/KeyValue.rb

@@ -0,0 +1,37 @@
+# diagnostic_msgs/msg/KeyValue (ROS 2 jazzy), generated by asterism_msggen.rb from
+# KeyValue.msg of the package diagnostic_msgs.
+# License: Apache License 2.0, as the definition (package.xml of diagnostic_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::DiagnosticMsgs
+end
+
+class ::Asterism::ROS::DiagnosticMsgs::KeyValue < ::Asterism::ROS::Message
+  ROS_NAME = "diagnostic_msgs/msg/KeyValue"
+  TYPE_NAME = "diagnostic_msgs::msg::dds_::KeyValue_"
+  TYPE_HASH = "RIHS01_d68081eaa540288c5440753baecef0c4e16e81a5f78ad68902ded5100413bb42"
+  FIELDS = [:key, :value]
+  FIELD_TYPES = [
+    ["key", "string", "scalar", nil, nil, nil],
+    ["value", "string", "scalar", nil, nil, nil]
+  ]
+
+  attr_accessor :key, :value
+
+  def initialize(key: nil, value: nil)
+    @key = key.nil? ? "" : key
+    @value = value.nil? ? "" : value
+  end
+
+  def self.write(w, m)
+    w.string(m.key)
+    w.string(m.value)
+  end
+
+  def self.read(r)
+    m = new
+    m.key = r.string
+    m.value = r.string
+    m
+  end
+end