This repository contains a set of packages that primarily contain interface files (.msg and .srv) which are used both to implement client library concepts and for testing.

rcl_interface packages

• action_msgs: Messages and services for ROS 2 actions
• builtin_interfaces: Message definitions for types in the OMG IDL Platform Specific Model
• composition_interfaces: Services for managing composeable nodes.
• lifecycle_msgs: Message and service definitions for managing lifecycle nodes.
• rcl_interfaces: Message and service definitions for ROS client libraries
• rosgraph_msgs: Message definitions relating the ROS Computation Graph
• test_msgs: Used exclusively for testing purposes