asterism 0.4.0 → 0.5.0

data/data/msgs/std_msgs/msg/Header.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::Header < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Header_"
   TYPE_HASH = "RIHS01_f49fb3ae2cf070f793645ff749683ac6b06203e41c891e17701b1cb597ce6a01"
   FIELDS = [:stamp, :frame_id]
+  FIELD_TYPES = [
+    ["stamp", "builtin_interfaces/msg/Time", "scalar", "builtin_interfaces/msg/Time", nil, nil],
+    ["frame_id", "string", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :stamp, :frame_id
 

data/data/msgs/std_msgs/msg/Int16.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::Int16 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Int16_"
   TYPE_HASH = "RIHS01_1dcc3464e47c288a55f943a389d337cdb06804de3f5cd7a266b0de718eee17e5"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "int16", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/Int16MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::Int16MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Int16MultiArray_"
   TYPE_HASH = "RIHS01_b58810e8e5b90fb19a5062469eb8409f5ab11a446d60de7157a1457e52a076ce"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "int16", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/std_msgs/msg/Int32.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::Int32 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Int32_"
   TYPE_HASH = "RIHS01_b6578ded3c58c626cfe8d1a6fb6e04f706f97e9f03d2727c9ff4e74b1cef0deb"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "int32", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/Int32MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::Int32MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Int32MultiArray_"
   TYPE_HASH = "RIHS01_84a7346323525d1b4dfca899df3820f245e54009dac5a6b69217d14fdefd1701"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "int32", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/std_msgs/msg/Int64.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::Int64 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Int64_"
   TYPE_HASH = "RIHS01_8cd1048c2f186b6bd9a92472dc1ce51723c0833a221e2b7aecfff111774f4b49"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "int64", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/Int64MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::Int64MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Int64MultiArray_"
   TYPE_HASH = "RIHS01_e60f9fe34d697f0939ad49d33158693c1277fbac0e2f04b7c2995dc21c89b422"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "int64", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/std_msgs/msg/Int8.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::Int8 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Int8_"
   TYPE_HASH = "RIHS01_26525065a403d972cb672f0777e333f0c799ad444ae5fcd79e43d1e73bd0f440"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "int8", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/Int8MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::Int8MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Int8MultiArray_"
   TYPE_HASH = "RIHS01_f21998d4b492abd63330765d75d5831238d400740386f651f13a872a4d2188db"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "int8", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/std_msgs/msg/MultiArrayDimension.rb

@@ -11,6 +11,11 @@ class ::Asterism::ROS::StdMsgs::MultiArrayDimension < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::MultiArrayDimension_"
   TYPE_HASH = "RIHS01_5e773a60a4c7fc8a54985f307c7837aa2994252a126c301957a24e31282c9cbe"
   FIELDS = [:label, :size, :stride]
+  FIELD_TYPES = [
+    ["label", "string", "scalar", nil, nil, nil],
+    ["size", "uint32", "scalar", nil, nil, nil],
+    ["stride", "uint32", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :label, :size, :stride
 

data/data/msgs/std_msgs/msg/MultiArrayLayout.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::MultiArrayLayout < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::MultiArrayLayout_"
   TYPE_HASH = "RIHS01_4c66e6f78e740ac103a94cf63259f968e48c617e7699e829b63c21a5cb50dac6"
   FIELDS = [:dim, :data_offset]
+  FIELD_TYPES = [
+    ["dim", "std_msgs/msg/MultiArrayDimension", "sequence", "std_msgs/msg/MultiArrayDimension", nil, nil],
+    ["data_offset", "uint32", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :dim, :data_offset
 

data/data/msgs/std_msgs/msg/String.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::String < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::String_"
   TYPE_HASH = "RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "string", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/UInt16.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::UInt16 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::UInt16_"
   TYPE_HASH = "RIHS01_08a406e4b022bc22e907f985d6a9e9dd1d4fbecae573549cf49350113e7757b1"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "uint16", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/UInt16MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::UInt16MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::UInt16MultiArray_"
   TYPE_HASH = "RIHS01_94fe73428ec63baecc774f8fb82406123e9291cf728f1b7c91caf5335129492b"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "uint16", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/std_msgs/msg/UInt32.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::UInt32 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::UInt32_"
   TYPE_HASH = "RIHS01_a5c874829b752bc5fa190024b0ad76f578cc278271e855c7d02a818b3516fb4a"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "uint32", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/UInt32MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::UInt32MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::UInt32MultiArray_"
   TYPE_HASH = "RIHS01_6c2577c7ad3cbdcc2164a41c12f1d5ad314ea320f3fb1ee47e78019fe16bb5b0"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "uint32", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/std_msgs/msg/UInt64.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::UInt64 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::UInt64_"
   TYPE_HASH = "RIHS01_fbdc52018fc13755dce18024d1a671c856aa8b4aaf63adfb095b608f98e8c943"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "uint64", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/UInt64MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::UInt64MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::UInt64MultiArray_"
   TYPE_HASH = "RIHS01_fc1c685c2f76bdc6983da025cb25d2db5fb5157b059e300f6d957d86f981b366"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "uint64", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/std_msgs/msg/UInt8.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::UInt8 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::UInt8_"
   TYPE_HASH = "RIHS01_6138bd83d8c3569cb80a667db03cfc1629f529fee79d944c39c34e352e72f010"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "uint8", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/UInt8MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::UInt8MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::UInt8MultiArray_"
   TYPE_HASH = "RIHS01_5687e861b8d307a5e48b7515467ae7a5fc2daf805bd0ce6d8e9e604bade9f385"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "uint8", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/tf2_msgs/msg/TFMessage.rb

@@ -0,0 +1,35 @@
+# tf2_msgs/msg/TFMessage (ROS 2 jazzy), generated by asterism_msggen.rb from
+# TFMessage.msg of the package tf2_msgs.
+# License: BSD, as the definition (package.xml of tf2_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("geometry_msgs/msg/TransformStamped")
+
+module ::Asterism::ROS::Tf2Msgs
+end
+
+class ::Asterism::ROS::Tf2Msgs::TFMessage < ::Asterism::ROS::Message
+  ROS_NAME = "tf2_msgs/msg/TFMessage"
+  TYPE_NAME = "tf2_msgs::msg::dds_::TFMessage_"
+  TYPE_HASH = "RIHS01_e369d0f05a23ae52508854b66f6aa0437f3449d652e8cbf22d5abe85d020f087"
+  FIELDS = [:transforms]
+  FIELD_TYPES = [
+    ["transforms", "geometry_msgs/msg/TransformStamped", "sequence", "geometry_msgs/msg/TransformStamped", nil, nil]
+  ]
+
+  attr_accessor :transforms
+
+  def initialize(transforms: nil)
+    @transforms = transforms.nil? ? [] : transforms.map { |e| ::Asterism::ROS::GeometryMsgs::TransformStamped.from(e) }
+  end
+
+  def self.write(w, m)
+    w.structs(::Asterism::ROS::GeometryMsgs::TransformStamped, m.transforms, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.transforms = r.structs(::Asterism::ROS::GeometryMsgs::TransformStamped, nil)
+    m
+  end
+end

data/data/msgs/visualization_msgs/msg/Marker.rb

@@ -0,0 +1,132 @@
+# visualization_msgs/msg/Marker (ROS 2 jazzy), generated by asterism_msggen.rb from
+# Marker.msg of the package visualization_msgs.
+# License: Apache License 2.0, as the definition (package.xml of visualization_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("builtin_interfaces/msg/Duration")
+::Asterism::ROS.require_type("geometry_msgs/msg/Point")
+::Asterism::ROS.require_type("geometry_msgs/msg/Pose")
+::Asterism::ROS.require_type("geometry_msgs/msg/Vector3")
+::Asterism::ROS.require_type("sensor_msgs/msg/CompressedImage")
+::Asterism::ROS.require_type("std_msgs/msg/ColorRGBA")
+::Asterism::ROS.require_type("std_msgs/msg/Header")
+::Asterism::ROS.require_type("visualization_msgs/msg/MeshFile")
+::Asterism::ROS.require_type("visualization_msgs/msg/UVCoordinate")
+
+module ::Asterism::ROS::VisualizationMsgs
+end
+
+class ::Asterism::ROS::VisualizationMsgs::Marker < ::Asterism::ROS::Message
+  ROS_NAME = "visualization_msgs/msg/Marker"
+  TYPE_NAME = "visualization_msgs::msg::dds_::Marker_"
+  TYPE_HASH = "RIHS01_45b13ccf791f225962bf74e746f9644518855d783a6f42ba0cc14fde2b4f3ce0"
+  FIELDS = [:header, :ns, :id, :type, :action, :pose, :scale, :color, :lifetime, :frame_locked, :points, :colors, :texture_resource, :texture, :uv_coordinates, :text, :mesh_resource, :mesh_file, :mesh_use_embedded_materials]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["ns", "string", "scalar", nil, nil, nil],
+    ["id", "int32", "scalar", nil, nil, nil],
+    ["type", "int32", "scalar", nil, nil, nil],
+    ["action", "int32", "scalar", nil, nil, nil],
+    ["pose", "geometry_msgs/msg/Pose", "scalar", "geometry_msgs/msg/Pose", nil, nil],
+    ["scale", "geometry_msgs/msg/Vector3", "scalar", "geometry_msgs/msg/Vector3", nil, nil],
+    ["color", "std_msgs/msg/ColorRGBA", "scalar", "std_msgs/msg/ColorRGBA", nil, nil],
+    ["lifetime", "builtin_interfaces/msg/Duration", "scalar", "builtin_interfaces/msg/Duration", nil, nil],
+    ["frame_locked", "bool", "scalar", nil, nil, nil],
+    ["points", "geometry_msgs/msg/Point", "sequence", "geometry_msgs/msg/Point", nil, nil],
+    ["colors", "std_msgs/msg/ColorRGBA", "sequence", "std_msgs/msg/ColorRGBA", nil, nil],
+    ["texture_resource", "string", "scalar", nil, nil, nil],
+    ["texture", "sensor_msgs/msg/CompressedImage", "scalar", "sensor_msgs/msg/CompressedImage", nil, nil],
+    ["uv_coordinates", "visualization_msgs/msg/UVCoordinate", "sequence", "visualization_msgs/msg/UVCoordinate", nil, nil],
+    ["text", "string", "scalar", nil, nil, nil],
+    ["mesh_resource", "string", "scalar", nil, nil, nil],
+    ["mesh_file", "visualization_msgs/msg/MeshFile", "scalar", "visualization_msgs/msg/MeshFile", nil, nil],
+    ["mesh_use_embedded_materials", "bool", "scalar", nil, nil, nil]
+  ]
+  ARROW = 0
+  CUBE = 1
+  SPHERE = 2
+  CYLINDER = 3
+  LINE_STRIP = 4
+  LINE_LIST = 5
+  CUBE_LIST = 6
+  SPHERE_LIST = 7
+  POINTS = 8
+  TEXT_VIEW_FACING = 9
+  MESH_RESOURCE = 10
+  TRIANGLE_LIST = 11
+  ARROW_STRIP = 12
+  ADD = 0
+  MODIFY = 0
+  DELETE = 2
+  DELETEALL = 3
+
+  attr_accessor :header, :ns, :id, :type, :action, :pose, :scale, :color, :lifetime, :frame_locked, :points, :colors, :texture_resource, :texture, :uv_coordinates, :text, :mesh_resource, :mesh_file, :mesh_use_embedded_materials
+
+  def initialize(header: nil, ns: nil, id: nil, type: nil, action: nil, pose: nil, scale: nil, color: nil, lifetime: nil, frame_locked: nil, points: nil, colors: nil, texture_resource: nil, texture: nil, uv_coordinates: nil, text: nil, mesh_resource: nil, mesh_file: nil, mesh_use_embedded_materials: nil)
+    @header = ::Asterism::ROS::StdMsgs::Header.from(header)
+    @ns = ns.nil? ? "" : ns
+    @id = id.nil? ? 0 : id
+    @type = type.nil? ? 0 : type
+    @action = action.nil? ? 0 : action
+    @pose = ::Asterism::ROS::GeometryMsgs::Pose.from(pose)
+    @scale = ::Asterism::ROS::GeometryMsgs::Vector3.from(scale)
+    @color = ::Asterism::ROS::StdMsgs::ColorRGBA.from(color)
+    @lifetime = ::Asterism::ROS::BuiltinInterfaces::Duration.from(lifetime)
+    @frame_locked = frame_locked.nil? ? false : frame_locked
+    @points = points.nil? ? [] : points.map { |e| ::Asterism::ROS::GeometryMsgs::Point.from(e) }
+    @colors = colors.nil? ? [] : colors.map { |e| ::Asterism::ROS::StdMsgs::ColorRGBA.from(e) }
+    @texture_resource = texture_resource.nil? ? "" : texture_resource
+    @texture = ::Asterism::ROS::SensorMsgs::CompressedImage.from(texture)
+    @uv_coordinates = uv_coordinates.nil? ? [] : uv_coordinates.map { |e| ::Asterism::ROS::VisualizationMsgs::UVCoordinate.from(e) }
+    @text = text.nil? ? "" : text
+    @mesh_resource = mesh_resource.nil? ? "" : mesh_resource
+    @mesh_file = ::Asterism::ROS::VisualizationMsgs::MeshFile.from(mesh_file)
+    @mesh_use_embedded_materials = mesh_use_embedded_materials.nil? ? false : mesh_use_embedded_materials
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::Header.write(w, ::Asterism::ROS::StdMsgs::Header.from(m.header))
+    w.string(m.ns)
+    w.int32(m.id)
+    w.int32(m.type)
+    w.int32(m.action)
+    ::Asterism::ROS::GeometryMsgs::Pose.write(w, ::Asterism::ROS::GeometryMsgs::Pose.from(m.pose))
+    ::Asterism::ROS::GeometryMsgs::Vector3.write(w, ::Asterism::ROS::GeometryMsgs::Vector3.from(m.scale))
+    ::Asterism::ROS::StdMsgs::ColorRGBA.write(w, ::Asterism::ROS::StdMsgs::ColorRGBA.from(m.color))
+    ::Asterism::ROS::BuiltinInterfaces::Duration.write(w, ::Asterism::ROS::BuiltinInterfaces::Duration.from(m.lifetime))
+    w.bool(m.frame_locked)
+    w.structs(::Asterism::ROS::GeometryMsgs::Point, m.points, nil, nil)
+    w.structs(::Asterism::ROS::StdMsgs::ColorRGBA, m.colors, nil, nil)
+    w.string(m.texture_resource)
+    ::Asterism::ROS::SensorMsgs::CompressedImage.write(w, ::Asterism::ROS::SensorMsgs::CompressedImage.from(m.texture))
+    w.structs(::Asterism::ROS::VisualizationMsgs::UVCoordinate, m.uv_coordinates, nil, nil)
+    w.string(m.text)
+    w.string(m.mesh_resource)
+    ::Asterism::ROS::VisualizationMsgs::MeshFile.write(w, ::Asterism::ROS::VisualizationMsgs::MeshFile.from(m.mesh_file))
+    w.bool(m.mesh_use_embedded_materials)
+  end
+
+  def self.read(r)
+    m = new
+    m.header = ::Asterism::ROS::StdMsgs::Header.read(r)
+    m.ns = r.string
+    m.id = r.int32
+    m.type = r.int32
+    m.action = r.int32
+    m.pose = ::Asterism::ROS::GeometryMsgs::Pose.read(r)
+    m.scale = ::Asterism::ROS::GeometryMsgs::Vector3.read(r)
+    m.color = ::Asterism::ROS::StdMsgs::ColorRGBA.read(r)
+    m.lifetime = ::Asterism::ROS::BuiltinInterfaces::Duration.read(r)
+    m.frame_locked = r.bool
+    m.points = r.structs(::Asterism::ROS::GeometryMsgs::Point, nil)
+    m.colors = r.structs(::Asterism::ROS::StdMsgs::ColorRGBA, nil)
+    m.texture_resource = r.string
+    m.texture = ::Asterism::ROS::SensorMsgs::CompressedImage.read(r)
+    m.uv_coordinates = r.structs(::Asterism::ROS::VisualizationMsgs::UVCoordinate, nil)
+    m.text = r.string
+    m.mesh_resource = r.string
+    m.mesh_file = ::Asterism::ROS::VisualizationMsgs::MeshFile.read(r)
+    m.mesh_use_embedded_materials = r.bool
+    m
+  end
+end

data/data/msgs/visualization_msgs/msg/MarkerArray.rb

@@ -0,0 +1,35 @@
+# visualization_msgs/msg/MarkerArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# MarkerArray.msg of the package visualization_msgs.
+# License: Apache License 2.0, as the definition (package.xml of visualization_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("visualization_msgs/msg/Marker")
+
+module ::Asterism::ROS::VisualizationMsgs
+end
+
+class ::Asterism::ROS::VisualizationMsgs::MarkerArray < ::Asterism::ROS::Message
+  ROS_NAME = "visualization_msgs/msg/MarkerArray"
+  TYPE_NAME = "visualization_msgs::msg::dds_::MarkerArray_"
+  TYPE_HASH = "RIHS01_86cb8800b6fb05b5eff1abd7a56f62a5641d3ae9a1c29e78e67e704f1d067dcf"
+  FIELDS = [:markers]
+  FIELD_TYPES = [
+    ["markers", "visualization_msgs/msg/Marker", "sequence", "visualization_msgs/msg/Marker", nil, nil]
+  ]
+
+  attr_accessor :markers
+
+  def initialize(markers: nil)
+    @markers = markers.nil? ? [] : markers.map { |e| ::Asterism::ROS::VisualizationMsgs::Marker.from(e) }
+  end
+
+  def self.write(w, m)
+    w.structs(::Asterism::ROS::VisualizationMsgs::Marker, m.markers, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.markers = r.structs(::Asterism::ROS::VisualizationMsgs::Marker, nil)
+    m
+  end
+end

data/data/msgs/visualization_msgs/msg/MeshFile.rb

@@ -0,0 +1,37 @@
+# visualization_msgs/msg/MeshFile (ROS 2 jazzy), generated by asterism_msggen.rb from
+# MeshFile.msg of the package visualization_msgs.
+# License: Apache License 2.0, as the definition (package.xml of visualization_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::VisualizationMsgs
+end
+
+class ::Asterism::ROS::VisualizationMsgs::MeshFile < ::Asterism::ROS::Message
+  ROS_NAME = "visualization_msgs/msg/MeshFile"
+  TYPE_NAME = "visualization_msgs::msg::dds_::MeshFile_"
+  TYPE_HASH = "RIHS01_7710ece15a148fb7c9b546364cfb215bb06098087bd6394fe5b73a493508f8c4"
+  FIELDS = [:filename, :data]
+  FIELD_TYPES = [
+    ["filename", "string", "scalar", nil, nil, nil],
+    ["data", "uint8", "sequence", nil, nil, nil]
+  ]
+
+  attr_accessor :filename, :data
+
+  def initialize(filename: nil, data: nil)
+    @filename = filename.nil? ? "" : filename
+    @data = data.nil? ? "" : data
+  end
+
+  def self.write(w, m)
+    w.string(m.filename)
+    w.bytes(m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.filename = r.string
+    m.data = r.bytes(nil)
+    m
+  end
+end

data/data/msgs/visualization_msgs/msg/UVCoordinate.rb

@@ -0,0 +1,37 @@
+# visualization_msgs/msg/UVCoordinate (ROS 2 jazzy), generated by asterism_msggen.rb from
+# UVCoordinate.msg of the package visualization_msgs.
+# License: Apache License 2.0, as the definition (package.xml of visualization_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::VisualizationMsgs
+end
+
+class ::Asterism::ROS::VisualizationMsgs::UVCoordinate < ::Asterism::ROS::Message
+  ROS_NAME = "visualization_msgs/msg/UVCoordinate"
+  TYPE_NAME = "visualization_msgs::msg::dds_::UVCoordinate_"
+  TYPE_HASH = "RIHS01_f27f7ed21fe360c6066944f856b801a0c0d1e94e815b6886444b42d90b196a26"
+  FIELDS = [:u, :v]
+  FIELD_TYPES = [
+    ["u", "float32", "scalar", nil, nil, nil],
+    ["v", "float32", "scalar", nil, nil, nil]
+  ]
+
+  attr_accessor :u, :v
+
+  def initialize(u: nil, v: nil)
+    @u = u.nil? ? 0.0 : u
+    @v = v.nil? ? 0.0 : v
+  end
+
+  def self.write(w, m)
+    w.float32(m.u)
+    w.float32(m.v)
+  end
+
+  def self.read(r)
+    m = new
+    m.u = r.float32
+    m.v = r.float32
+    m
+  end
+end

data/lib/asterism/cruby/objects.rb

@@ -26,7 +26,8 @@ module Asterism
   # The portable API, entered under LOCK. Prepended to the Asterism module's
   # singleton class, so the shared methods themselves are not changed.
   module Locked
-    %i[expose unexpose poll nodes [] call_async meta connected? exposed on_join on_leave off_join off_leave].each do |m|
+    %i[expose unexpose poll nodes [] call_async meta connected? exposed on_join on_leave off_join off_leave
+       profile profile_async].each do |m|
       define_method(m) do |*args, **kw, &blk|
         ::Asterism::LOCK.synchronize { super(*args, **kw, &blk) }
       end
@@ -147,6 +148,17 @@ module Asterism
       ::Asterism.unexpose(name)
     end
 
+    # Asterism.profile: this node's profile (with keywords, sets fields).
+    def profile(**fields)
+      ::Asterism.profile(**fields)
+    end
+
+    # Asterism.profile_of: another node's profile, or nil. Waits like a
+    # call (for the receiving thread's ticks while it runs).
+    def profile_of(node, icon: true, timeout: nil, timeout_ms: nil)
+      ::Asterism.profile_of(node, icon: icon, timeout: timeout, timeout_ms: timeout_ms)
+    end
+
     # A proxy for <node>/<app>/<object>; timeout: in seconds (or
     # timeout_ms:).
     def [](path, timeout: nil, timeout_ms: nil)

data/lib/asterism/cruby.rb

@@ -24,6 +24,44 @@ module Asterism
     Process.clock_gettime(Process::CLOCK_MONOTONIC, :millisecond)
   end
 
+  # The profile's defaults on CRuby (mrblib/profile.rb): kind "cruby" and
+  # the icon bundled with the gem (replace it with Asterism.profile(icon:)).
+  ICON_FILE = File.expand_path("../../data/icon.png", __dir__)
+
+  def self.default_profile_kind
+    "cruby"
+  end
+
+  def self.default_icon_path
+    ICON_FILE
+  end
+
+  def self.read_icon_file(path)
+    File.binread(path)
+  rescue SystemCallError
+    nil
+  end
+
+  module Profile
+    # Icons come out of MessagePack as UTF-8 Strings: hand them out as the
+    # bytes they are.
+    class << self
+      alias_method :check_portable, :check
+
+      def check(h)
+        out = check_portable(h)
+        out["icon"] = out["icon"].b if out&.key?("icon")
+        out
+      end
+
+      alias_method :icon_portable!, :icon!
+
+      def icon!(v)
+        icon_portable!(v).b.freeze
+      end
+    end
+  end
+
   def self.error_reply(klass, message)
     ::MessagePack.pack(["error", klass.to_s, message.to_s], compatibility_mode: true)
   end

data/lib/asterism/version.rb

@@ -1,5 +1,6 @@
 module Asterism
-  # The gem's version (the CRuby gem asterism; it depends on asterism-zenoh
-  # of the same version).
-  VERSION = "0.4.0"
+  # The gem's version (the CRuby gem asterism). The Zenoh binding it needs
+  # is in asterism.gemspec (asterism-zenoh ~> 0.4.0 for 0.5.0: the bindings
+  # did not change; see CHANGELOG.md).
+  VERSION = "0.5.0"
 end

data/lib/asterism.rb

@@ -12,7 +12,7 @@ require "asterism/zenoh"
 require_relative "asterism/version"
 
 # The same order as an mrbgem's mrblib (alphabetical).
-%w[asterism cdr future proxy ros].each do |f|
+%w[asterism cdr future profile proxy ros].each do |f|
   require_relative "../mrblib/#{f}"
 end
 require_relative "asterism/cruby"

data/mrblib/asterism.rb

@@ -14,6 +14,7 @@
 #   asterism/<node>/<app>/<object>/meta   get: reply {"methods" => [[name, arity], ...]}
 #   asterism/<node>                       liveliness: the node is up
 #   asterism/<node>/<app>/<object>        liveliness: the object is exposed
+#   asterism/<node>/@profile              get: reply the node's profile (profile.rb)
 #
 # Everything is polled: nothing runs behind the application's back. A call
 # that waits for its answer keeps polling meanwhile and answers the calls
@@ -221,6 +222,7 @@ module Asterism
       @node_token = s.liveliness("#{ROOT}/#{node}")
       @queryable = s.queryable("#{ROOT}/#{node}/#{app}/**", depth: 32)
       @watch = s.liveliness_watch("#{ROOT}/**", depth: watch_depth)
+      @profile_queryable = s.queryable("#{ROOT}/#{node}/#{Profile::KEY}", depth: 4)
     rescue Asterism::Zenoh::Error => e
       s.close
       raise Disconnected, e.message
@@ -235,6 +237,7 @@ module Asterism
     @depth = 0
     @lost = nil
     @known = []    # the other nodes told to on_join so far
+    tell_profile   # for those who follow the profiles (the reply is the queryable's)
     self
   end
 
@@ -300,6 +303,7 @@ module Asterism
     @node_token = nil
     @queryable = nil
     @watch = nil
+    @profile_queryable = nil
   end
 
   # @api private
@@ -447,6 +451,7 @@ module Asterism
       return false
     end
     answer_calls
+    answer_profile
     follow_liveliness
     !@session.nil?
   rescue Asterism::Zenoh::Error => e