update camera

install/_local_setup_util_ps1.py

@@ -193,13 +193,12 @@ def process_dsv_file(
 ):
     commands = []
     if _include_comments():
-        commands.append(FORMAT_STR_COMMENT_LINE.format_map({
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
-            'comment': dsv_path}))
     with open(dsv_path, 'r') as h:
         content = h.read()
     lines = content.splitlines()
 
-    basename_map = OrderedDict()
+    basenames = OrderedDict()
     for i, line in enumerate(lines):
         # skip over empty or whitespace-only lines
         if not line.strip():
@@ -224,21 +223,21 @@ def process_dsv_file(
         else:
             # group remaining source lines by basename
             path_without_ext, ext = os.path.splitext(remainder)
-            if path_without_ext not in basename_map:
+            if path_without_ext not in basenames:
-                basename_map[path_without_ext] = set()
+                basenames[path_without_ext] = set()
             assert ext.startswith('.')
             ext = ext[1:]
             if ext in (primary_extension, additional_extension):
-                basename_map[path_without_ext].add(ext)
+                basenames[path_without_ext].add(ext)
 
     # add the dsv extension to each basename if the file exists
-    for basename, extensions in basename_map.items():
+    for basename, extensions in basenames.items():
         if not os.path.isabs(basename):
             basename = os.path.join(prefix, basename)
         if os.path.exists(basename + '.dsv'):
             extensions.add('dsv')
 
-    for basename, extensions in basename_map.items():
+    for basename, extensions in basenames.items():
         if not os.path.isabs(basename):
             basename = os.path.join(prefix, basename)
         if 'dsv' in extensions:
@@ -305,8 +304,8 @@ def handle_dsv_types_except_source(type_, remainder, prefix):
                 comment = f'skip extending {env_name} with not existing ' \
                     f'path: {value}'
                 if _include_comments():
-                    commands.append(FORMAT_STR_COMMENT_LINE.format_map({
+                    commands.append(
-                        'comment': comment}))
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
             elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
                 commands += _append_unique_value(env_name, value)
             else:
@@ -321,15 +320,15 @@ env_state = {}
 
 
 def _append_unique_value(name, value):
+    global env_state
     if name not in env_state:
         if os.environ.get(name):
             env_state[name] = set(os.environ[name].split(os.pathsep))
         else:
             env_state[name] = set()
-    # Append even if the variable has not been set yet, in case a shell script
+    # append even if the variable has not been set yet, in case a shell script sets the
-    # sets the same variable without the knowledge of this Python script.
+    # same variable without the knowledge of this Python script.
-    # Later, _remove_ending_separators() will cleanup any unintentional
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
-    # leading separator.
     extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
     line = FORMAT_STR_SET_ENV_VAR.format_map(
         {'name': name, 'value': extend + value})
@@ -343,15 +342,15 @@ def _append_unique_value(name, value):
 
 
 def _prepend_unique_value(name, value):
+    global env_state
     if name not in env_state:
         if os.environ.get(name):
             env_state[name] = set(os.environ[name].split(os.pathsep))
         else:
             env_state[name] = set()
-    # Prepend even if the variable has not been set yet, in case a shell script
+    # prepend even if the variable has not been set yet, in case a shell script sets the
-    # sets the same variable without the knowledge of this Python script.
+    # same variable without the knowledge of this Python script.
-    # Later, _remove_ending_separators() will cleanup any unintentional
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
-    # trailing separator.
     extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
     line = FORMAT_STR_SET_ENV_VAR.format_map(
         {'name': name, 'value': value + extend})
@@ -370,10 +369,10 @@ def _remove_ending_separators():
     if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
         return []
 
+    global env_state
     commands = []
     for name in env_state:
-        # skip variables that already had values before this script started
+        # skip variables that already had values before this script started prepending
-        # appending/prepending
         if name in os.environ:
             continue
         commands += [
@@ -383,6 +382,7 @@ def _remove_ending_separators():
 
 
 def _set(name, value):
+    global env_state
     env_state[name] = value
     line = FORMAT_STR_SET_ENV_VAR.format_map(
         {'name': name, 'value': value})
@@ -390,6 +390,7 @@ def _set(name, value):
 
 
 def _set_if_unset(name, value):
+    global env_state
     line = FORMAT_STR_SET_ENV_VAR.format_map(
         {'name': name, 'value': value})
     if env_state.get(name, os.environ.get(name)):

install/_local_setup_util_sh.py

@@ -12,8 +12,8 @@ FORMAT_STR_COMMENT_LINE = '# {comment}'
 FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
 FORMAT_STR_USE_ENV_VAR = '${name}'
 FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'  # noqa: E501
-FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'export {name}=${{{name}#:}}'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi'  # noqa: E501
-FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'export {name}=${{{name}%:}}'  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi'  # noqa: E501
 
 DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
 DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
@@ -193,13 +193,12 @@ def process_dsv_file(
 ):
     commands = []
     if _include_comments():
-        commands.append(FORMAT_STR_COMMENT_LINE.format_map({
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
-            'comment': dsv_path}))
     with open(dsv_path, 'r') as h:
         content = h.read()
     lines = content.splitlines()
 
-    basename_map = OrderedDict()
+    basenames = OrderedDict()
     for i, line in enumerate(lines):
         # skip over empty or whitespace-only lines
         if not line.strip():
@@ -224,21 +223,21 @@ def process_dsv_file(
         else:
             # group remaining source lines by basename
             path_without_ext, ext = os.path.splitext(remainder)
-            if path_without_ext not in basename_map:
+            if path_without_ext not in basenames:
-                basename_map[path_without_ext] = set()
+                basenames[path_without_ext] = set()
             assert ext.startswith('.')
             ext = ext[1:]
             if ext in (primary_extension, additional_extension):
-                basename_map[path_without_ext].add(ext)
+                basenames[path_without_ext].add(ext)
 
     # add the dsv extension to each basename if the file exists
-    for basename, extensions in basename_map.items():
+    for basename, extensions in basenames.items():
         if not os.path.isabs(basename):
             basename = os.path.join(prefix, basename)
         if os.path.exists(basename + '.dsv'):
             extensions.add('dsv')
 
-    for basename, extensions in basename_map.items():
+    for basename, extensions in basenames.items():
         if not os.path.isabs(basename):
             basename = os.path.join(prefix, basename)
         if 'dsv' in extensions:
@@ -305,8 +304,8 @@ def handle_dsv_types_except_source(type_, remainder, prefix):
                 comment = f'skip extending {env_name} with not existing ' \
                     f'path: {value}'
                 if _include_comments():
-                    commands.append(FORMAT_STR_COMMENT_LINE.format_map({
+                    commands.append(
-                        'comment': comment}))
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
             elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
                 commands += _append_unique_value(env_name, value)
             else:
@@ -321,15 +320,15 @@ env_state = {}
 
 
 def _append_unique_value(name, value):
+    global env_state
     if name not in env_state:
         if os.environ.get(name):
             env_state[name] = set(os.environ[name].split(os.pathsep))
         else:
             env_state[name] = set()
-    # Append even if the variable has not been set yet, in case a shell script
+    # append even if the variable has not been set yet, in case a shell script sets the
-    # sets the same variable without the knowledge of this Python script.
+    # same variable without the knowledge of this Python script.
-    # Later, _remove_ending_separators() will cleanup any unintentional
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
-    # leading separator.
     extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
     line = FORMAT_STR_SET_ENV_VAR.format_map(
         {'name': name, 'value': extend + value})
@@ -343,15 +342,15 @@ def _append_unique_value(name, value):
 
 
 def _prepend_unique_value(name, value):
+    global env_state
     if name not in env_state:
         if os.environ.get(name):
             env_state[name] = set(os.environ[name].split(os.pathsep))
         else:
             env_state[name] = set()
-    # Prepend even if the variable has not been set yet, in case a shell script
+    # prepend even if the variable has not been set yet, in case a shell script sets the
-    # sets the same variable without the knowledge of this Python script.
+    # same variable without the knowledge of this Python script.
-    # Later, _remove_ending_separators() will cleanup any unintentional
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
-    # trailing separator.
     extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
     line = FORMAT_STR_SET_ENV_VAR.format_map(
         {'name': name, 'value': value + extend})
@@ -370,10 +369,10 @@ def _remove_ending_separators():
     if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
         return []
 
+    global env_state
     commands = []
     for name in env_state:
-        # skip variables that already had values before this script started
+        # skip variables that already had values before this script started prepending
-        # appending/prepending
         if name in os.environ:
             continue
         commands += [
@@ -383,6 +382,7 @@ def _remove_ending_separators():
 
 
 def _set(name, value):
+    global env_state
     env_state[name] = value
     line = FORMAT_STR_SET_ENV_VAR.format_map(
         {'name': name, 'value': value})
@@ -390,6 +390,7 @@ def _set(name, value):
 
 
 def _set_if_unset(name, value):
+    global env_state
     line = FORMAT_STR_SET_ENV_VAR.format_map(
         {'name': name, 'value': value})
     if env_state.get(name, os.environ.get(name)):

install/bcr_bot/include/bcr_bot/bcr_bot/msg/rosidl_generator_c__visibility_control.h

@@ -0,0 +1,42 @@
+// generated from rosidl_generator_c/resource/rosidl_generator_c__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
+#define BCR_BOT__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_GENERATOR_C_EXPORT_bcr_bot __attribute__ ((dllexport))
+    #define ROSIDL_GENERATOR_C_IMPORT_bcr_bot __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_GENERATOR_C_EXPORT_bcr_bot __declspec(dllexport)
+    #define ROSIDL_GENERATOR_C_IMPORT_bcr_bot __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_GENERATOR_C_BUILDING_DLL_bcr_bot
+    #define ROSIDL_GENERATOR_C_PUBLIC_bcr_bot ROSIDL_GENERATOR_C_EXPORT_bcr_bot
+  #else
+    #define ROSIDL_GENERATOR_C_PUBLIC_bcr_bot ROSIDL_GENERATOR_C_IMPORT_bcr_bot
+  #endif
+#else
+  #define ROSIDL_GENERATOR_C_EXPORT_bcr_bot __attribute__ ((visibility("default")))
+  #define ROSIDL_GENERATOR_C_IMPORT_bcr_bot
+  #if __GNUC__ >= 4
+    #define ROSIDL_GENERATOR_C_PUBLIC_bcr_bot __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+  #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__MSG__ROSIDL_GENERATOR_C__VISIBILITY_CONTROL_H_

install/bcr_bot/include/bcr_bot/bcr_bot/msg/rosidl_generator_cpp__visibility_control.hpp

@@ -0,0 +1,42 @@
+// generated from rosidl_generator_cpp/resource/rosidl_generator_cpp__visibility_control.hpp.in
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
+#define BCR_BOT__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_GENERATOR_CPP_EXPORT_bcr_bot __attribute__ ((dllexport))
+    #define ROSIDL_GENERATOR_CPP_IMPORT_bcr_bot __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_GENERATOR_CPP_EXPORT_bcr_bot __declspec(dllexport)
+    #define ROSIDL_GENERATOR_CPP_IMPORT_bcr_bot __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_GENERATOR_CPP_BUILDING_DLL_bcr_bot
+    #define ROSIDL_GENERATOR_CPP_PUBLIC_bcr_bot ROSIDL_GENERATOR_CPP_EXPORT_bcr_bot
+  #else
+    #define ROSIDL_GENERATOR_CPP_PUBLIC_bcr_bot ROSIDL_GENERATOR_CPP_IMPORT_bcr_bot
+  #endif
+#else
+  #define ROSIDL_GENERATOR_CPP_EXPORT_bcr_bot __attribute__ ((visibility("default")))
+  #define ROSIDL_GENERATOR_CPP_IMPORT_bcr_bot
+  #if __GNUC__ >= 4
+    #define ROSIDL_GENERATOR_CPP_PUBLIC_bcr_bot __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_GENERATOR_CPP_PUBLIC_bcr_bot
+  #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__MSG__ROSIDL_GENERATOR_CPP__VISIBILITY_CONTROL_HPP_

install/bcr_bot/include/bcr_bot/bcr_bot/msg/rosidl_typesupport_fastrtps_c__visibility_control.h

@@ -0,0 +1,43 @@
+// generated from
+// rosidl_typesupport_fastrtps_c/resource/rosidl_typesupport_fastrtps_c__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
+#define BCR_BOT__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_bcr_bot __attribute__ ((dllexport))
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_bcr_bot __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_bcr_bot __declspec(dllexport)
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_bcr_bot __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_C_BUILDING_DLL_bcr_bot
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_bcr_bot
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_bcr_bot
+  #endif
+#else
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_EXPORT_bcr_bot __attribute__ ((visibility("default")))
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_bcr_bot
+  #if __GNUC__ >= 4
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot
+  #endif
+#endif
+
+#if __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_C__VISIBILITY_CONTROL_H_

install/bcr_bot/include/bcr_bot/bcr_bot/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h

@@ -0,0 +1,43 @@
+// generated from
+// rosidl_typesupport_fastrtps_cpp/resource/rosidl_typesupport_fastrtps_cpp__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
+#define BCR_BOT__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_bcr_bot __attribute__ ((dllexport))
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_bcr_bot __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_bcr_bot __declspec(dllexport)
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_bcr_bot __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL_bcr_bot
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_bcr_bot
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_bcr_bot
+  #endif
+#else
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_EXPORT_bcr_bot __attribute__ ((visibility("default")))
+  #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_IMPORT_bcr_bot
+  #if __GNUC__ >= 4
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+  #endif
+#endif
+
+#if __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__MSG__ROSIDL_TYPESUPPORT_FASTRTPS_CPP__VISIBILITY_CONTROL_H_

install/bcr_bot/include/bcr_bot/bcr_bot/msg/rosidl_typesupport_introspection_c__visibility_control.h

@@ -0,0 +1,43 @@
+// generated from
+// rosidl_typesupport_introspection_c/resource/rosidl_typesupport_introspection_c__visibility_control.h.in
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
+#define BCR_BOT__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_bcr_bot __attribute__ ((dllexport))
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_bcr_bot __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_bcr_bot __declspec(dllexport)
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_bcr_bot __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_TYPESUPPORT_INTROSPECTION_C_BUILDING_DLL_bcr_bot
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_bcr_bot ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_bcr_bot
+  #else
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_bcr_bot ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_bcr_bot
+  #endif
+#else
+  #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_bcr_bot __attribute__ ((visibility("default")))
+  #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT_bcr_bot
+  #if __GNUC__ >= 4
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_bcr_bot __attribute__ ((visibility("default")))
+  #else
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_bcr_bot
+  #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__MSG__ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__builder.hpp

@@ -0,0 +1,146 @@
+// generated from rosidl_generator_cpp/resource/idl__builder.hpp.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__BUILDER_HPP_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__BUILDER_HPP_
+
+#include <algorithm>
+#include <utility>
+
+#include "bcr_bot/srv/detail/get_visual_topics__struct.hpp"
+#include "rosidl_runtime_cpp/message_initialization.hpp"
+
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+namespace builder
+{
+
+class Init_GetVisualTopics_Request_refresh
+{
+public:
+  Init_GetVisualTopics_Request_refresh()
+  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
+  {}
+  ::bcr_bot::srv::GetVisualTopics_Request refresh(::bcr_bot::srv::GetVisualTopics_Request::_refresh_type arg)
+  {
+    msg_.refresh = std::move(arg);
+    return std::move(msg_);
+  }
+
+private:
+  ::bcr_bot::srv::GetVisualTopics_Request msg_;
+};
+
+}  // namespace builder
+
+}  // namespace srv
+
+template<typename MessageType>
+auto build();
+
+template<>
+inline
+auto build<::bcr_bot::srv::GetVisualTopics_Request>()
+{
+  return bcr_bot::srv::builder::Init_GetVisualTopics_Request_refresh();
+}
+
+}  // namespace bcr_bot
+
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+namespace builder
+{
+
+class Init_GetVisualTopics_Response_point_cloud_topics
+{
+public:
+  explicit Init_GetVisualTopics_Response_point_cloud_topics(::bcr_bot::srv::GetVisualTopics_Response & msg)
+  : msg_(msg)
+  {}
+  ::bcr_bot::srv::GetVisualTopics_Response point_cloud_topics(::bcr_bot::srv::GetVisualTopics_Response::_point_cloud_topics_type arg)
+  {
+    msg_.point_cloud_topics = std::move(arg);
+    return std::move(msg_);
+  }
+
+private:
+  ::bcr_bot::srv::GetVisualTopics_Response msg_;
+};
+
+class Init_GetVisualTopics_Response_camera_info_topics
+{
+public:
+  explicit Init_GetVisualTopics_Response_camera_info_topics(::bcr_bot::srv::GetVisualTopics_Response & msg)
+  : msg_(msg)
+  {}
+  Init_GetVisualTopics_Response_point_cloud_topics camera_info_topics(::bcr_bot::srv::GetVisualTopics_Response::_camera_info_topics_type arg)
+  {
+    msg_.camera_info_topics = std::move(arg);
+    return Init_GetVisualTopics_Response_point_cloud_topics(msg_);
+  }
+
+private:
+  ::bcr_bot::srv::GetVisualTopics_Response msg_;
+};
+
+class Init_GetVisualTopics_Response_rgb_image_topics
+{
+public:
+  explicit Init_GetVisualTopics_Response_rgb_image_topics(::bcr_bot::srv::GetVisualTopics_Response & msg)
+  : msg_(msg)
+  {}
+  Init_GetVisualTopics_Response_camera_info_topics rgb_image_topics(::bcr_bot::srv::GetVisualTopics_Response::_rgb_image_topics_type arg)
+  {
+    msg_.rgb_image_topics = std::move(arg);
+    return Init_GetVisualTopics_Response_camera_info_topics(msg_);
+  }
+
+private:
+  ::bcr_bot::srv::GetVisualTopics_Response msg_;
+};
+
+class Init_GetVisualTopics_Response_depth_image_topics
+{
+public:
+  Init_GetVisualTopics_Response_depth_image_topics()
+  : msg_(::rosidl_runtime_cpp::MessageInitialization::SKIP)
+  {}
+  Init_GetVisualTopics_Response_rgb_image_topics depth_image_topics(::bcr_bot::srv::GetVisualTopics_Response::_depth_image_topics_type arg)
+  {
+    msg_.depth_image_topics = std::move(arg);
+    return Init_GetVisualTopics_Response_rgb_image_topics(msg_);
+  }
+
+private:
+  ::bcr_bot::srv::GetVisualTopics_Response msg_;
+};
+
+}  // namespace builder
+
+}  // namespace srv
+
+template<typename MessageType>
+auto build();
+
+template<>
+inline
+auto build<::bcr_bot::srv::GetVisualTopics_Response>()
+{
+  return bcr_bot::srv::builder::Init_GetVisualTopics_Response_depth_image_topics();
+}
+
+}  // namespace bcr_bot
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__BUILDER_HPP_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__functions.c

@@ -0,0 +1,535 @@
+// generated from rosidl_generator_c/resource/idl__functions.c.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+#include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+
+#include <assert.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "rcutils/allocator.h"
+
+bool
+bcr_bot__srv__GetVisualTopics_Request__init(bcr_bot__srv__GetVisualTopics_Request * msg)
+{
+  if (!msg) {
+    return false;
+  }
+  // refresh
+  return true;
+}
+
+void
+bcr_bot__srv__GetVisualTopics_Request__fini(bcr_bot__srv__GetVisualTopics_Request * msg)
+{
+  if (!msg) {
+    return;
+  }
+  // refresh
+}
+
+bool
+bcr_bot__srv__GetVisualTopics_Request__are_equal(const bcr_bot__srv__GetVisualTopics_Request * lhs, const bcr_bot__srv__GetVisualTopics_Request * rhs)
+{
+  if (!lhs || !rhs) {
+    return false;
+  }
+  // refresh
+  if (lhs->refresh != rhs->refresh) {
+    return false;
+  }
+  return true;
+}
+
+bool
+bcr_bot__srv__GetVisualTopics_Request__copy(
+  const bcr_bot__srv__GetVisualTopics_Request * input,
+  bcr_bot__srv__GetVisualTopics_Request * output)
+{
+  if (!input || !output) {
+    return false;
+  }
+  // refresh
+  output->refresh = input->refresh;
+  return true;
+}
+
+bcr_bot__srv__GetVisualTopics_Request *
+bcr_bot__srv__GetVisualTopics_Request__create()
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  bcr_bot__srv__GetVisualTopics_Request * msg = (bcr_bot__srv__GetVisualTopics_Request *)allocator.allocate(sizeof(bcr_bot__srv__GetVisualTopics_Request), allocator.state);
+  if (!msg) {
+    return NULL;
+  }
+  memset(msg, 0, sizeof(bcr_bot__srv__GetVisualTopics_Request));
+  bool success = bcr_bot__srv__GetVisualTopics_Request__init(msg);
+  if (!success) {
+    allocator.deallocate(msg, allocator.state);
+    return NULL;
+  }
+  return msg;
+}
+
+void
+bcr_bot__srv__GetVisualTopics_Request__destroy(bcr_bot__srv__GetVisualTopics_Request * msg)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  if (msg) {
+    bcr_bot__srv__GetVisualTopics_Request__fini(msg);
+  }
+  allocator.deallocate(msg, allocator.state);
+}
+
+
+bool
+bcr_bot__srv__GetVisualTopics_Request__Sequence__init(bcr_bot__srv__GetVisualTopics_Request__Sequence * array, size_t size)
+{
+  if (!array) {
+    return false;
+  }
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  bcr_bot__srv__GetVisualTopics_Request * data = NULL;
+
+  if (size) {
+    data = (bcr_bot__srv__GetVisualTopics_Request *)allocator.zero_allocate(size, sizeof(bcr_bot__srv__GetVisualTopics_Request), allocator.state);
+    if (!data) {
+      return false;
+    }
+    // initialize all array elements
+    size_t i;
+    for (i = 0; i < size; ++i) {
+      bool success = bcr_bot__srv__GetVisualTopics_Request__init(&data[i]);
+      if (!success) {
+        break;
+      }
+    }
+    if (i < size) {
+      // if initialization failed finalize the already initialized array elements
+      for (; i > 0; --i) {
+        bcr_bot__srv__GetVisualTopics_Request__fini(&data[i - 1]);
+      }
+      allocator.deallocate(data, allocator.state);
+      return false;
+    }
+  }
+  array->data = data;
+  array->size = size;
+  array->capacity = size;
+  return true;
+}
+
+void
+bcr_bot__srv__GetVisualTopics_Request__Sequence__fini(bcr_bot__srv__GetVisualTopics_Request__Sequence * array)
+{
+  if (!array) {
+    return;
+  }
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+
+  if (array->data) {
+    // ensure that data and capacity values are consistent
+    assert(array->capacity > 0);
+    // finalize all array elements
+    for (size_t i = 0; i < array->capacity; ++i) {
+      bcr_bot__srv__GetVisualTopics_Request__fini(&array->data[i]);
+    }
+    allocator.deallocate(array->data, allocator.state);
+    array->data = NULL;
+    array->size = 0;
+    array->capacity = 0;
+  } else {
+    // ensure that data, size, and capacity values are consistent
+    assert(0 == array->size);
+    assert(0 == array->capacity);
+  }
+}
+
+bcr_bot__srv__GetVisualTopics_Request__Sequence *
+bcr_bot__srv__GetVisualTopics_Request__Sequence__create(size_t size)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  bcr_bot__srv__GetVisualTopics_Request__Sequence * array = (bcr_bot__srv__GetVisualTopics_Request__Sequence *)allocator.allocate(sizeof(bcr_bot__srv__GetVisualTopics_Request__Sequence), allocator.state);
+  if (!array) {
+    return NULL;
+  }
+  bool success = bcr_bot__srv__GetVisualTopics_Request__Sequence__init(array, size);
+  if (!success) {
+    allocator.deallocate(array, allocator.state);
+    return NULL;
+  }
+  return array;
+}
+
+void
+bcr_bot__srv__GetVisualTopics_Request__Sequence__destroy(bcr_bot__srv__GetVisualTopics_Request__Sequence * array)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  if (array) {
+    bcr_bot__srv__GetVisualTopics_Request__Sequence__fini(array);
+  }
+  allocator.deallocate(array, allocator.state);
+}
+
+bool
+bcr_bot__srv__GetVisualTopics_Request__Sequence__are_equal(const bcr_bot__srv__GetVisualTopics_Request__Sequence * lhs, const bcr_bot__srv__GetVisualTopics_Request__Sequence * rhs)
+{
+  if (!lhs || !rhs) {
+    return false;
+  }
+  if (lhs->size != rhs->size) {
+    return false;
+  }
+  for (size_t i = 0; i < lhs->size; ++i) {
+    if (!bcr_bot__srv__GetVisualTopics_Request__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
+      return false;
+    }
+  }
+  return true;
+}
+
+bool
+bcr_bot__srv__GetVisualTopics_Request__Sequence__copy(
+  const bcr_bot__srv__GetVisualTopics_Request__Sequence * input,
+  bcr_bot__srv__GetVisualTopics_Request__Sequence * output)
+{
+  if (!input || !output) {
+    return false;
+  }
+  if (output->capacity < input->size) {
+    const size_t allocation_size =
+      input->size * sizeof(bcr_bot__srv__GetVisualTopics_Request);
+    rcutils_allocator_t allocator = rcutils_get_default_allocator();
+    bcr_bot__srv__GetVisualTopics_Request * data =
+      (bcr_bot__srv__GetVisualTopics_Request *)allocator.reallocate(
+      output->data, allocation_size, allocator.state);
+    if (!data) {
+      return false;
+    }
+    // If reallocation succeeded, memory may or may not have been moved
+    // to fulfill the allocation request, invalidating output->data.
+    output->data = data;
+    for (size_t i = output->capacity; i < input->size; ++i) {
+      if (!bcr_bot__srv__GetVisualTopics_Request__init(&output->data[i])) {
+        // If initialization of any new item fails, roll back
+        // all previously initialized items. Existing items
+        // in output are to be left unmodified.
+        for (; i-- > output->capacity; ) {
+          bcr_bot__srv__GetVisualTopics_Request__fini(&output->data[i]);
+        }
+        return false;
+      }
+    }
+    output->capacity = input->size;
+  }
+  output->size = input->size;
+  for (size_t i = 0; i < input->size; ++i) {
+    if (!bcr_bot__srv__GetVisualTopics_Request__copy(
+        &(input->data[i]), &(output->data[i])))
+    {
+      return false;
+    }
+  }
+  return true;
+}
+
+
+// Include directives for member types
+// Member `depth_image_topics`
+// Member `rgb_image_topics`
+// Member `camera_info_topics`
+// Member `point_cloud_topics`
+#include "rosidl_runtime_c/string_functions.h"
+
+bool
+bcr_bot__srv__GetVisualTopics_Response__init(bcr_bot__srv__GetVisualTopics_Response * msg)
+{
+  if (!msg) {
+    return false;
+  }
+  // depth_image_topics
+  if (!rosidl_runtime_c__String__Sequence__init(&msg->depth_image_topics, 0)) {
+    bcr_bot__srv__GetVisualTopics_Response__fini(msg);
+    return false;
+  }
+  // rgb_image_topics
+  if (!rosidl_runtime_c__String__Sequence__init(&msg->rgb_image_topics, 0)) {
+    bcr_bot__srv__GetVisualTopics_Response__fini(msg);
+    return false;
+  }
+  // camera_info_topics
+  if (!rosidl_runtime_c__String__Sequence__init(&msg->camera_info_topics, 0)) {
+    bcr_bot__srv__GetVisualTopics_Response__fini(msg);
+    return false;
+  }
+  // point_cloud_topics
+  if (!rosidl_runtime_c__String__Sequence__init(&msg->point_cloud_topics, 0)) {
+    bcr_bot__srv__GetVisualTopics_Response__fini(msg);
+    return false;
+  }
+  return true;
+}
+
+void
+bcr_bot__srv__GetVisualTopics_Response__fini(bcr_bot__srv__GetVisualTopics_Response * msg)
+{
+  if (!msg) {
+    return;
+  }
+  // depth_image_topics
+  rosidl_runtime_c__String__Sequence__fini(&msg->depth_image_topics);
+  // rgb_image_topics
+  rosidl_runtime_c__String__Sequence__fini(&msg->rgb_image_topics);
+  // camera_info_topics
+  rosidl_runtime_c__String__Sequence__fini(&msg->camera_info_topics);
+  // point_cloud_topics
+  rosidl_runtime_c__String__Sequence__fini(&msg->point_cloud_topics);
+}
+
+bool
+bcr_bot__srv__GetVisualTopics_Response__are_equal(const bcr_bot__srv__GetVisualTopics_Response * lhs, const bcr_bot__srv__GetVisualTopics_Response * rhs)
+{
+  if (!lhs || !rhs) {
+    return false;
+  }
+  // depth_image_topics
+  if (!rosidl_runtime_c__String__Sequence__are_equal(
+      &(lhs->depth_image_topics), &(rhs->depth_image_topics)))
+  {
+    return false;
+  }
+  // rgb_image_topics
+  if (!rosidl_runtime_c__String__Sequence__are_equal(
+      &(lhs->rgb_image_topics), &(rhs->rgb_image_topics)))
+  {
+    return false;
+  }
+  // camera_info_topics
+  if (!rosidl_runtime_c__String__Sequence__are_equal(
+      &(lhs->camera_info_topics), &(rhs->camera_info_topics)))
+  {
+    return false;
+  }
+  // point_cloud_topics
+  if (!rosidl_runtime_c__String__Sequence__are_equal(
+      &(lhs->point_cloud_topics), &(rhs->point_cloud_topics)))
+  {
+    return false;
+  }
+  return true;
+}
+
+bool
+bcr_bot__srv__GetVisualTopics_Response__copy(
+  const bcr_bot__srv__GetVisualTopics_Response * input,
+  bcr_bot__srv__GetVisualTopics_Response * output)
+{
+  if (!input || !output) {
+    return false;
+  }
+  // depth_image_topics
+  if (!rosidl_runtime_c__String__Sequence__copy(
+      &(input->depth_image_topics), &(output->depth_image_topics)))
+  {
+    return false;
+  }
+  // rgb_image_topics
+  if (!rosidl_runtime_c__String__Sequence__copy(
+      &(input->rgb_image_topics), &(output->rgb_image_topics)))
+  {
+    return false;
+  }
+  // camera_info_topics
+  if (!rosidl_runtime_c__String__Sequence__copy(
+      &(input->camera_info_topics), &(output->camera_info_topics)))
+  {
+    return false;
+  }
+  // point_cloud_topics
+  if (!rosidl_runtime_c__String__Sequence__copy(
+      &(input->point_cloud_topics), &(output->point_cloud_topics)))
+  {
+    return false;
+  }
+  return true;
+}
+
+bcr_bot__srv__GetVisualTopics_Response *
+bcr_bot__srv__GetVisualTopics_Response__create()
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  bcr_bot__srv__GetVisualTopics_Response * msg = (bcr_bot__srv__GetVisualTopics_Response *)allocator.allocate(sizeof(bcr_bot__srv__GetVisualTopics_Response), allocator.state);
+  if (!msg) {
+    return NULL;
+  }
+  memset(msg, 0, sizeof(bcr_bot__srv__GetVisualTopics_Response));
+  bool success = bcr_bot__srv__GetVisualTopics_Response__init(msg);
+  if (!success) {
+    allocator.deallocate(msg, allocator.state);
+    return NULL;
+  }
+  return msg;
+}
+
+void
+bcr_bot__srv__GetVisualTopics_Response__destroy(bcr_bot__srv__GetVisualTopics_Response * msg)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  if (msg) {
+    bcr_bot__srv__GetVisualTopics_Response__fini(msg);
+  }
+  allocator.deallocate(msg, allocator.state);
+}
+
+
+bool
+bcr_bot__srv__GetVisualTopics_Response__Sequence__init(bcr_bot__srv__GetVisualTopics_Response__Sequence * array, size_t size)
+{
+  if (!array) {
+    return false;
+  }
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  bcr_bot__srv__GetVisualTopics_Response * data = NULL;
+
+  if (size) {
+    data = (bcr_bot__srv__GetVisualTopics_Response *)allocator.zero_allocate(size, sizeof(bcr_bot__srv__GetVisualTopics_Response), allocator.state);
+    if (!data) {
+      return false;
+    }
+    // initialize all array elements
+    size_t i;
+    for (i = 0; i < size; ++i) {
+      bool success = bcr_bot__srv__GetVisualTopics_Response__init(&data[i]);
+      if (!success) {
+        break;
+      }
+    }
+    if (i < size) {
+      // if initialization failed finalize the already initialized array elements
+      for (; i > 0; --i) {
+        bcr_bot__srv__GetVisualTopics_Response__fini(&data[i - 1]);
+      }
+      allocator.deallocate(data, allocator.state);
+      return false;
+    }
+  }
+  array->data = data;
+  array->size = size;
+  array->capacity = size;
+  return true;
+}
+
+void
+bcr_bot__srv__GetVisualTopics_Response__Sequence__fini(bcr_bot__srv__GetVisualTopics_Response__Sequence * array)
+{
+  if (!array) {
+    return;
+  }
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+
+  if (array->data) {
+    // ensure that data and capacity values are consistent
+    assert(array->capacity > 0);
+    // finalize all array elements
+    for (size_t i = 0; i < array->capacity; ++i) {
+      bcr_bot__srv__GetVisualTopics_Response__fini(&array->data[i]);
+    }
+    allocator.deallocate(array->data, allocator.state);
+    array->data = NULL;
+    array->size = 0;
+    array->capacity = 0;
+  } else {
+    // ensure that data, size, and capacity values are consistent
+    assert(0 == array->size);
+    assert(0 == array->capacity);
+  }
+}
+
+bcr_bot__srv__GetVisualTopics_Response__Sequence *
+bcr_bot__srv__GetVisualTopics_Response__Sequence__create(size_t size)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  bcr_bot__srv__GetVisualTopics_Response__Sequence * array = (bcr_bot__srv__GetVisualTopics_Response__Sequence *)allocator.allocate(sizeof(bcr_bot__srv__GetVisualTopics_Response__Sequence), allocator.state);
+  if (!array) {
+    return NULL;
+  }
+  bool success = bcr_bot__srv__GetVisualTopics_Response__Sequence__init(array, size);
+  if (!success) {
+    allocator.deallocate(array, allocator.state);
+    return NULL;
+  }
+  return array;
+}
+
+void
+bcr_bot__srv__GetVisualTopics_Response__Sequence__destroy(bcr_bot__srv__GetVisualTopics_Response__Sequence * array)
+{
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  if (array) {
+    bcr_bot__srv__GetVisualTopics_Response__Sequence__fini(array);
+  }
+  allocator.deallocate(array, allocator.state);
+}
+
+bool
+bcr_bot__srv__GetVisualTopics_Response__Sequence__are_equal(const bcr_bot__srv__GetVisualTopics_Response__Sequence * lhs, const bcr_bot__srv__GetVisualTopics_Response__Sequence * rhs)
+{
+  if (!lhs || !rhs) {
+    return false;
+  }
+  if (lhs->size != rhs->size) {
+    return false;
+  }
+  for (size_t i = 0; i < lhs->size; ++i) {
+    if (!bcr_bot__srv__GetVisualTopics_Response__are_equal(&(lhs->data[i]), &(rhs->data[i]))) {
+      return false;
+    }
+  }
+  return true;
+}
+
+bool
+bcr_bot__srv__GetVisualTopics_Response__Sequence__copy(
+  const bcr_bot__srv__GetVisualTopics_Response__Sequence * input,
+  bcr_bot__srv__GetVisualTopics_Response__Sequence * output)
+{
+  if (!input || !output) {
+    return false;
+  }
+  if (output->capacity < input->size) {
+    const size_t allocation_size =
+      input->size * sizeof(bcr_bot__srv__GetVisualTopics_Response);
+    rcutils_allocator_t allocator = rcutils_get_default_allocator();
+    bcr_bot__srv__GetVisualTopics_Response * data =
+      (bcr_bot__srv__GetVisualTopics_Response *)allocator.reallocate(
+      output->data, allocation_size, allocator.state);
+    if (!data) {
+      return false;
+    }
+    // If reallocation succeeded, memory may or may not have been moved
+    // to fulfill the allocation request, invalidating output->data.
+    output->data = data;
+    for (size_t i = output->capacity; i < input->size; ++i) {
+      if (!bcr_bot__srv__GetVisualTopics_Response__init(&output->data[i])) {
+        // If initialization of any new item fails, roll back
+        // all previously initialized items. Existing items
+        // in output are to be left unmodified.
+        for (; i-- > output->capacity; ) {
+          bcr_bot__srv__GetVisualTopics_Response__fini(&output->data[i]);
+        }
+        return false;
+      }
+    }
+    output->capacity = input->size;
+  }
+  output->size = input->size;
+  for (size_t i = 0; i < input->size; ++i) {
+    if (!bcr_bot__srv__GetVisualTopics_Response__copy(
+        &(input->data[i]), &(output->data[i])))
+    {
+      return false;
+    }
+  }
+  return true;
+}

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__functions.h

@@ -0,0 +1,329 @@
+// generated from rosidl_generator_c/resource/idl__functions.h.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__FUNCTIONS_H_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__FUNCTIONS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdbool.h>
+#include <stdlib.h>
+
+#include "rosidl_runtime_c/visibility_control.h"
+#include "bcr_bot/msg/rosidl_generator_c__visibility_control.h"
+
+#include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+
+/// Initialize srv/GetVisualTopics message.
+/**
+ * If the init function is called twice for the same message without
+ * calling fini inbetween previously allocated memory will be leaked.
+ * \param[in,out] msg The previously allocated message pointer.
+ * Fields without a default value will not be initialized by this function.
+ * You might want to call memset(msg, 0, sizeof(
+ * bcr_bot__srv__GetVisualTopics_Request
+ * )) before or use
+ * bcr_bot__srv__GetVisualTopics_Request__create()
+ * to allocate and initialize the message.
+ * \return true if initialization was successful, otherwise false
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Request__init(bcr_bot__srv__GetVisualTopics_Request * msg);
+
+/// Finalize srv/GetVisualTopics message.
+/**
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+void
+bcr_bot__srv__GetVisualTopics_Request__fini(bcr_bot__srv__GetVisualTopics_Request * msg);
+
+/// Create srv/GetVisualTopics message.
+/**
+ * It allocates the memory for the message, sets the memory to zero, and
+ * calls
+ * bcr_bot__srv__GetVisualTopics_Request__init().
+ * \return The pointer to the initialized message if successful,
+ * otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bcr_bot__srv__GetVisualTopics_Request *
+bcr_bot__srv__GetVisualTopics_Request__create();
+
+/// Destroy srv/GetVisualTopics message.
+/**
+ * It calls
+ * bcr_bot__srv__GetVisualTopics_Request__fini()
+ * and frees the memory of the message.
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+void
+bcr_bot__srv__GetVisualTopics_Request__destroy(bcr_bot__srv__GetVisualTopics_Request * msg);
+
+/// Check for srv/GetVisualTopics message equality.
+/**
+ * \param[in] lhs The message on the left hand size of the equality operator.
+ * \param[in] rhs The message on the right hand size of the equality operator.
+ * \return true if messages are equal, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Request__are_equal(const bcr_bot__srv__GetVisualTopics_Request * lhs, const bcr_bot__srv__GetVisualTopics_Request * rhs);
+
+/// Copy a srv/GetVisualTopics message.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source message pointer.
+ * \param[out] output The target message pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer is null
+ *   or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Request__copy(
+  const bcr_bot__srv__GetVisualTopics_Request * input,
+  bcr_bot__srv__GetVisualTopics_Request * output);
+
+/// Initialize array of srv/GetVisualTopics messages.
+/**
+ * It allocates the memory for the number of elements and calls
+ * bcr_bot__srv__GetVisualTopics_Request__init()
+ * for each element of the array.
+ * \param[in,out] array The allocated array pointer.
+ * \param[in] size The size / capacity of the array.
+ * \return true if initialization was successful, otherwise false
+ * If the array pointer is valid and the size is zero it is guaranteed
+ # to return true.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Request__Sequence__init(bcr_bot__srv__GetVisualTopics_Request__Sequence * array, size_t size);
+
+/// Finalize array of srv/GetVisualTopics messages.
+/**
+ * It calls
+ * bcr_bot__srv__GetVisualTopics_Request__fini()
+ * for each element of the array and frees the memory for the number of
+ * elements.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+void
+bcr_bot__srv__GetVisualTopics_Request__Sequence__fini(bcr_bot__srv__GetVisualTopics_Request__Sequence * array);
+
+/// Create array of srv/GetVisualTopics messages.
+/**
+ * It allocates the memory for the array and calls
+ * bcr_bot__srv__GetVisualTopics_Request__Sequence__init().
+ * \param[in] size The size / capacity of the array.
+ * \return The pointer to the initialized array if successful, otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bcr_bot__srv__GetVisualTopics_Request__Sequence *
+bcr_bot__srv__GetVisualTopics_Request__Sequence__create(size_t size);
+
+/// Destroy array of srv/GetVisualTopics messages.
+/**
+ * It calls
+ * bcr_bot__srv__GetVisualTopics_Request__Sequence__fini()
+ * on the array,
+ * and frees the memory of the array.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+void
+bcr_bot__srv__GetVisualTopics_Request__Sequence__destroy(bcr_bot__srv__GetVisualTopics_Request__Sequence * array);
+
+/// Check for srv/GetVisualTopics message array equality.
+/**
+ * \param[in] lhs The message array on the left hand size of the equality operator.
+ * \param[in] rhs The message array on the right hand size of the equality operator.
+ * \return true if message arrays are equal in size and content, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Request__Sequence__are_equal(const bcr_bot__srv__GetVisualTopics_Request__Sequence * lhs, const bcr_bot__srv__GetVisualTopics_Request__Sequence * rhs);
+
+/// Copy an array of srv/GetVisualTopics messages.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source array pointer.
+ * \param[out] output The target array pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer
+ *   is null or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Request__Sequence__copy(
+  const bcr_bot__srv__GetVisualTopics_Request__Sequence * input,
+  bcr_bot__srv__GetVisualTopics_Request__Sequence * output);
+
+/// Initialize srv/GetVisualTopics message.
+/**
+ * If the init function is called twice for the same message without
+ * calling fini inbetween previously allocated memory will be leaked.
+ * \param[in,out] msg The previously allocated message pointer.
+ * Fields without a default value will not be initialized by this function.
+ * You might want to call memset(msg, 0, sizeof(
+ * bcr_bot__srv__GetVisualTopics_Response
+ * )) before or use
+ * bcr_bot__srv__GetVisualTopics_Response__create()
+ * to allocate and initialize the message.
+ * \return true if initialization was successful, otherwise false
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Response__init(bcr_bot__srv__GetVisualTopics_Response * msg);
+
+/// Finalize srv/GetVisualTopics message.
+/**
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+void
+bcr_bot__srv__GetVisualTopics_Response__fini(bcr_bot__srv__GetVisualTopics_Response * msg);
+
+/// Create srv/GetVisualTopics message.
+/**
+ * It allocates the memory for the message, sets the memory to zero, and
+ * calls
+ * bcr_bot__srv__GetVisualTopics_Response__init().
+ * \return The pointer to the initialized message if successful,
+ * otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bcr_bot__srv__GetVisualTopics_Response *
+bcr_bot__srv__GetVisualTopics_Response__create();
+
+/// Destroy srv/GetVisualTopics message.
+/**
+ * It calls
+ * bcr_bot__srv__GetVisualTopics_Response__fini()
+ * and frees the memory of the message.
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+void
+bcr_bot__srv__GetVisualTopics_Response__destroy(bcr_bot__srv__GetVisualTopics_Response * msg);
+
+/// Check for srv/GetVisualTopics message equality.
+/**
+ * \param[in] lhs The message on the left hand size of the equality operator.
+ * \param[in] rhs The message on the right hand size of the equality operator.
+ * \return true if messages are equal, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Response__are_equal(const bcr_bot__srv__GetVisualTopics_Response * lhs, const bcr_bot__srv__GetVisualTopics_Response * rhs);
+
+/// Copy a srv/GetVisualTopics message.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source message pointer.
+ * \param[out] output The target message pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer is null
+ *   or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Response__copy(
+  const bcr_bot__srv__GetVisualTopics_Response * input,
+  bcr_bot__srv__GetVisualTopics_Response * output);
+
+/// Initialize array of srv/GetVisualTopics messages.
+/**
+ * It allocates the memory for the number of elements and calls
+ * bcr_bot__srv__GetVisualTopics_Response__init()
+ * for each element of the array.
+ * \param[in,out] array The allocated array pointer.
+ * \param[in] size The size / capacity of the array.
+ * \return true if initialization was successful, otherwise false
+ * If the array pointer is valid and the size is zero it is guaranteed
+ # to return true.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Response__Sequence__init(bcr_bot__srv__GetVisualTopics_Response__Sequence * array, size_t size);
+
+/// Finalize array of srv/GetVisualTopics messages.
+/**
+ * It calls
+ * bcr_bot__srv__GetVisualTopics_Response__fini()
+ * for each element of the array and frees the memory for the number of
+ * elements.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+void
+bcr_bot__srv__GetVisualTopics_Response__Sequence__fini(bcr_bot__srv__GetVisualTopics_Response__Sequence * array);
+
+/// Create array of srv/GetVisualTopics messages.
+/**
+ * It allocates the memory for the array and calls
+ * bcr_bot__srv__GetVisualTopics_Response__Sequence__init().
+ * \param[in] size The size / capacity of the array.
+ * \return The pointer to the initialized array if successful, otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bcr_bot__srv__GetVisualTopics_Response__Sequence *
+bcr_bot__srv__GetVisualTopics_Response__Sequence__create(size_t size);
+
+/// Destroy array of srv/GetVisualTopics messages.
+/**
+ * It calls
+ * bcr_bot__srv__GetVisualTopics_Response__Sequence__fini()
+ * on the array,
+ * and frees the memory of the array.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+void
+bcr_bot__srv__GetVisualTopics_Response__Sequence__destroy(bcr_bot__srv__GetVisualTopics_Response__Sequence * array);
+
+/// Check for srv/GetVisualTopics message array equality.
+/**
+ * \param[in] lhs The message array on the left hand size of the equality operator.
+ * \param[in] rhs The message array on the right hand size of the equality operator.
+ * \return true if message arrays are equal in size and content, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Response__Sequence__are_equal(const bcr_bot__srv__GetVisualTopics_Response__Sequence * lhs, const bcr_bot__srv__GetVisualTopics_Response__Sequence * rhs);
+
+/// Copy an array of srv/GetVisualTopics messages.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source array pointer.
+ * \param[out] output The target array pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer
+ *   is null or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+bool
+bcr_bot__srv__GetVisualTopics_Response__Sequence__copy(
+  const bcr_bot__srv__GetVisualTopics_Response__Sequence * input,
+  bcr_bot__srv__GetVisualTopics_Response__Sequence * output);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__FUNCTIONS_H_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__rosidl_typesupport_fastrtps_c.h

@@ -0,0 +1,89 @@
+// generated from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_
+
+
+#include <stddef.h>
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "bcr_bot/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot
+size_t get_serialized_size_bcr_bot__srv__GetVisualTopics_Request(
+  const void * untyped_ros_message,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot
+size_t max_serialized_size_bcr_bot__srv__GetVisualTopics_Request(
+  bool & full_bounded,
+  bool & is_plain,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, bcr_bot, srv, GetVisualTopics_Request)();
+
+#ifdef __cplusplus
+}
+#endif
+
+// already included above
+// #include <stddef.h>
+// already included above
+// #include "rosidl_runtime_c/message_type_support_struct.h"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "bcr_bot/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot
+size_t get_serialized_size_bcr_bot__srv__GetVisualTopics_Response(
+  const void * untyped_ros_message,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot
+size_t max_serialized_size_bcr_bot__srv__GetVisualTopics_Response(
+  bool & full_bounded,
+  bool & is_plain,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, bcr_bot, srv, GetVisualTopics_Response)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#include "rosidl_runtime_c/service_type_support_struct.h"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "bcr_bot/msg/rosidl_typesupport_fastrtps_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_bcr_bot
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, bcr_bot, srv, GetVisualTopics)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_FASTRTPS_C_H_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__rosidl_typesupport_fastrtps_cpp.hpp

@@ -0,0 +1,177 @@
+// generated from rosidl_typesupport_fastrtps_cpp/resource/idl__rosidl_typesupport_fastrtps_cpp.hpp.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "bcr_bot/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
+#include "bcr_bot/srv/detail/get_visual_topics__struct.hpp"
+
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wunused-parameter"
+# ifdef __clang__
+#  pragma clang diagnostic ignored "-Wdeprecated-register"
+#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
+# endif
+#endif
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
+#include "fastcdr/Cdr.h"
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+namespace typesupport_fastrtps_cpp
+{
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+cdr_serialize(
+  const bcr_bot::srv::GetVisualTopics_Request & ros_message,
+  eprosima::fastcdr::Cdr & cdr);
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+cdr_deserialize(
+  eprosima::fastcdr::Cdr & cdr,
+  bcr_bot::srv::GetVisualTopics_Request & ros_message);
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+get_serialized_size(
+  const bcr_bot::srv::GetVisualTopics_Request & ros_message,
+  size_t current_alignment);
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+max_serialized_size_GetVisualTopics_Request(
+  bool & full_bounded,
+  bool & is_plain,
+  size_t current_alignment);
+
+}  // namespace typesupport_fastrtps_cpp
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, bcr_bot, srv, GetVisualTopics_Request)();
+
+#ifdef __cplusplus
+}
+#endif
+
+// already included above
+// #include "rosidl_runtime_c/message_type_support_struct.h"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "bcr_bot/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__struct.hpp"
+
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wunused-parameter"
+# ifdef __clang__
+#  pragma clang diagnostic ignored "-Wdeprecated-register"
+#  pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
+# endif
+#endif
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+
+// already included above
+// #include "fastcdr/Cdr.h"
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+namespace typesupport_fastrtps_cpp
+{
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+cdr_serialize(
+  const bcr_bot::srv::GetVisualTopics_Response & ros_message,
+  eprosima::fastcdr::Cdr & cdr);
+
+bool
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+cdr_deserialize(
+  eprosima::fastcdr::Cdr & cdr,
+  bcr_bot::srv::GetVisualTopics_Response & ros_message);
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+get_serialized_size(
+  const bcr_bot::srv::GetVisualTopics_Response & ros_message,
+  size_t current_alignment);
+
+size_t
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+max_serialized_size_GetVisualTopics_Response(
+  bool & full_bounded,
+  bool & is_plain,
+  size_t current_alignment);
+
+}  // namespace typesupport_fastrtps_cpp
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, bcr_bot, srv, GetVisualTopics_Response)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#include "rmw/types.h"
+#include "rosidl_typesupport_cpp/service_type_support.hpp"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "bcr_bot/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_bcr_bot
+const rosidl_service_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, bcr_bot, srv, GetVisualTopics)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_FASTRTPS_CPP_HPP_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__rosidl_typesupport_introspection_c.h

@@ -0,0 +1,47 @@
+// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "bcr_bot/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics_Request)();
+
+// already included above
+// #include "rosidl_runtime_c/message_type_support_struct.h"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "bcr_bot/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics_Response)();
+
+#include "rosidl_runtime_c/service_type_support_struct.h"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "bcr_bot/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_bcr_bot
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__rosidl_typesupport_introspection_cpp.hpp

@@ -0,0 +1,67 @@
+// generated from rosidl_typesupport_introspection_cpp/resource/idl__rosidl_typesupport_introspection_cpp.h.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_
+
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// TODO(dirk-thomas) these visibility macros should be message package specific
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, bcr_bot, srv, GetVisualTopics_Request)();
+
+#ifdef __cplusplus
+}
+#endif
+
+// already included above
+// #include "rosidl_runtime_c/message_type_support_struct.h"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// TODO(dirk-thomas) these visibility macros should be message package specific
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, bcr_bot, srv, GetVisualTopics_Response)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#include "rosidl_runtime_c/service_type_support_struct.h"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_service_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, bcr_bot, srv, GetVisualTopics)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_HPP_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__struct.h

@@ -0,0 +1,69 @@
+// generated from rosidl_generator_c/resource/idl__struct.h.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__STRUCT_H_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__STRUCT_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+
+// Constants defined in the message
+
+/// Struct defined in srv/GetVisualTopics in the package bcr_bot.
+typedef struct bcr_bot__srv__GetVisualTopics_Request
+{
+  bool refresh;
+} bcr_bot__srv__GetVisualTopics_Request;
+
+// Struct for a sequence of bcr_bot__srv__GetVisualTopics_Request.
+typedef struct bcr_bot__srv__GetVisualTopics_Request__Sequence
+{
+  bcr_bot__srv__GetVisualTopics_Request * data;
+  /// The number of valid items in data
+  size_t size;
+  /// The number of allocated items in data
+  size_t capacity;
+} bcr_bot__srv__GetVisualTopics_Request__Sequence;
+
+
+// Constants defined in the message
+
+// Include directives for member types
+// Member 'depth_image_topics'
+// Member 'rgb_image_topics'
+// Member 'camera_info_topics'
+// Member 'point_cloud_topics'
+#include "rosidl_runtime_c/string.h"
+
+/// Struct defined in srv/GetVisualTopics in the package bcr_bot.
+typedef struct bcr_bot__srv__GetVisualTopics_Response
+{
+  rosidl_runtime_c__String__Sequence depth_image_topics;
+  rosidl_runtime_c__String__Sequence rgb_image_topics;
+  rosidl_runtime_c__String__Sequence camera_info_topics;
+  rosidl_runtime_c__String__Sequence point_cloud_topics;
+} bcr_bot__srv__GetVisualTopics_Response;
+
+// Struct for a sequence of bcr_bot__srv__GetVisualTopics_Response.
+typedef struct bcr_bot__srv__GetVisualTopics_Response__Sequence
+{
+  bcr_bot__srv__GetVisualTopics_Response * data;
+  /// The number of valid items in data
+  size_t size;
+  /// The number of allocated items in data
+  size_t capacity;
+} bcr_bot__srv__GetVisualTopics_Response__Sequence;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__STRUCT_H_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__struct.hpp

@@ -0,0 +1,290 @@
+// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__STRUCT_HPP_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__STRUCT_HPP_
+
+#include <algorithm>
+#include <array>
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rosidl_runtime_cpp/bounded_vector.hpp"
+#include "rosidl_runtime_cpp/message_initialization.hpp"
+
+
+#ifndef _WIN32
+# define DEPRECATED__bcr_bot__srv__GetVisualTopics_Request __attribute__((deprecated))
+#else
+# define DEPRECATED__bcr_bot__srv__GetVisualTopics_Request __declspec(deprecated)
+#endif
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+// message struct
+template<class ContainerAllocator>
+struct GetVisualTopics_Request_
+{
+  using Type = GetVisualTopics_Request_<ContainerAllocator>;
+
+  explicit GetVisualTopics_Request_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
+  {
+    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
+      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
+    {
+      this->refresh = false;
+    }
+  }
+
+  explicit GetVisualTopics_Request_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
+  {
+    (void)_alloc;
+    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
+      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
+    {
+      this->refresh = false;
+    }
+  }
+
+  // field types and members
+  using _refresh_type =
+    bool;
+  _refresh_type refresh;
+
+  // setters for named parameter idiom
+  Type & set__refresh(
+    const bool & _arg)
+  {
+    this->refresh = _arg;
+    return *this;
+  }
+
+  // constant declarations
+
+  // pointer types
+  using RawPtr =
+    bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator> *;
+  using ConstRawPtr =
+    const bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator> *;
+  using SharedPtr =
+    std::shared_ptr<bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator>>;
+  using ConstSharedPtr =
+    std::shared_ptr<bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator> const>;
+
+  template<typename Deleter = std::default_delete<
+      bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator>>>
+  using UniquePtrWithDeleter =
+    std::unique_ptr<bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator>, Deleter>;
+
+  using UniquePtr = UniquePtrWithDeleter<>;
+
+  template<typename Deleter = std::default_delete<
+      bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator>>>
+  using ConstUniquePtrWithDeleter =
+    std::unique_ptr<bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator> const, Deleter>;
+  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
+
+  using WeakPtr =
+    std::weak_ptr<bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator>>;
+  using ConstWeakPtr =
+    std::weak_ptr<bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator> const>;
+
+  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
+  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
+  typedef DEPRECATED__bcr_bot__srv__GetVisualTopics_Request
+    std::shared_ptr<bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator>>
+    Ptr;
+  typedef DEPRECATED__bcr_bot__srv__GetVisualTopics_Request
+    std::shared_ptr<bcr_bot::srv::GetVisualTopics_Request_<ContainerAllocator> const>
+    ConstPtr;
+
+  // comparison operators
+  bool operator==(const GetVisualTopics_Request_ & other) const
+  {
+    if (this->refresh != other.refresh) {
+      return false;
+    }
+    return true;
+  }
+  bool operator!=(const GetVisualTopics_Request_ & other) const
+  {
+    return !this->operator==(other);
+  }
+};  // struct GetVisualTopics_Request_
+
+// alias to use template instance with default allocator
+using GetVisualTopics_Request =
+  bcr_bot::srv::GetVisualTopics_Request_<std::allocator<void>>;
+
+// constant definitions
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+
+#ifndef _WIN32
+# define DEPRECATED__bcr_bot__srv__GetVisualTopics_Response __attribute__((deprecated))
+#else
+# define DEPRECATED__bcr_bot__srv__GetVisualTopics_Response __declspec(deprecated)
+#endif
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+// message struct
+template<class ContainerAllocator>
+struct GetVisualTopics_Response_
+{
+  using Type = GetVisualTopics_Response_<ContainerAllocator>;
+
+  explicit GetVisualTopics_Response_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
+  {
+    (void)_init;
+  }
+
+  explicit GetVisualTopics_Response_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
+  {
+    (void)_init;
+    (void)_alloc;
+  }
+
+  // field types and members
+  using _depth_image_topics_type =
+    std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>>;
+  _depth_image_topics_type depth_image_topics;
+  using _rgb_image_topics_type =
+    std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>>;
+  _rgb_image_topics_type rgb_image_topics;
+  using _camera_info_topics_type =
+    std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>>;
+  _camera_info_topics_type camera_info_topics;
+  using _point_cloud_topics_type =
+    std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>>;
+  _point_cloud_topics_type point_cloud_topics;
+
+  // setters for named parameter idiom
+  Type & set__depth_image_topics(
+    const std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>> & _arg)
+  {
+    this->depth_image_topics = _arg;
+    return *this;
+  }
+  Type & set__rgb_image_topics(
+    const std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>> & _arg)
+  {
+    this->rgb_image_topics = _arg;
+    return *this;
+  }
+  Type & set__camera_info_topics(
+    const std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>> & _arg)
+  {
+    this->camera_info_topics = _arg;
+    return *this;
+  }
+  Type & set__point_cloud_topics(
+    const std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>> & _arg)
+  {
+    this->point_cloud_topics = _arg;
+    return *this;
+  }
+
+  // constant declarations
+
+  // pointer types
+  using RawPtr =
+    bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator> *;
+  using ConstRawPtr =
+    const bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator> *;
+  using SharedPtr =
+    std::shared_ptr<bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator>>;
+  using ConstSharedPtr =
+    std::shared_ptr<bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator> const>;
+
+  template<typename Deleter = std::default_delete<
+      bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator>>>
+  using UniquePtrWithDeleter =
+    std::unique_ptr<bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator>, Deleter>;
+
+  using UniquePtr = UniquePtrWithDeleter<>;
+
+  template<typename Deleter = std::default_delete<
+      bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator>>>
+  using ConstUniquePtrWithDeleter =
+    std::unique_ptr<bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator> const, Deleter>;
+  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;
+
+  using WeakPtr =
+    std::weak_ptr<bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator>>;
+  using ConstWeakPtr =
+    std::weak_ptr<bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator> const>;
+
+  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
+  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
+  typedef DEPRECATED__bcr_bot__srv__GetVisualTopics_Response
+    std::shared_ptr<bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator>>
+    Ptr;
+  typedef DEPRECATED__bcr_bot__srv__GetVisualTopics_Response
+    std::shared_ptr<bcr_bot::srv::GetVisualTopics_Response_<ContainerAllocator> const>
+    ConstPtr;
+
+  // comparison operators
+  bool operator==(const GetVisualTopics_Response_ & other) const
+  {
+    if (this->depth_image_topics != other.depth_image_topics) {
+      return false;
+    }
+    if (this->rgb_image_topics != other.rgb_image_topics) {
+      return false;
+    }
+    if (this->camera_info_topics != other.camera_info_topics) {
+      return false;
+    }
+    if (this->point_cloud_topics != other.point_cloud_topics) {
+      return false;
+    }
+    return true;
+  }
+  bool operator!=(const GetVisualTopics_Response_ & other) const
+  {
+    return !this->operator==(other);
+  }
+};  // struct GetVisualTopics_Response_
+
+// alias to use template instance with default allocator
+using GetVisualTopics_Response =
+  bcr_bot::srv::GetVisualTopics_Response_<std::allocator<void>>;
+
+// constant definitions
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+struct GetVisualTopics
+{
+  using Request = bcr_bot::srv::GetVisualTopics_Request;
+  using Response = bcr_bot::srv::GetVisualTopics_Response;
+};
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__STRUCT_HPP_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__traits.hpp

@@ -0,0 +1,391 @@
+// generated from rosidl_generator_cpp/resource/idl__traits.hpp.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__TRAITS_HPP_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__TRAITS_HPP_
+
+#include <stdint.h>
+
+#include <sstream>
+#include <string>
+#include <type_traits>
+
+#include "bcr_bot/srv/detail/get_visual_topics__struct.hpp"
+#include "rosidl_runtime_cpp/traits.hpp"
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+inline void to_flow_style_yaml(
+  const GetVisualTopics_Request & msg,
+  std::ostream & out)
+{
+  out << "{";
+  // member: refresh
+  {
+    out << "refresh: ";
+    rosidl_generator_traits::value_to_yaml(msg.refresh, out);
+  }
+  out << "}";
+}  // NOLINT(readability/fn_size)
+
+inline void to_block_style_yaml(
+  const GetVisualTopics_Request & msg,
+  std::ostream & out, size_t indentation = 0)
+{
+  // member: refresh
+  {
+    if (indentation > 0) {
+      out << std::string(indentation, ' ');
+    }
+    out << "refresh: ";
+    rosidl_generator_traits::value_to_yaml(msg.refresh, out);
+    out << "\n";
+  }
+}  // NOLINT(readability/fn_size)
+
+inline std::string to_yaml(const GetVisualTopics_Request & msg, bool use_flow_style = false)
+{
+  std::ostringstream out;
+  if (use_flow_style) {
+    to_flow_style_yaml(msg, out);
+  } else {
+    to_block_style_yaml(msg, out);
+  }
+  return out.str();
+}
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+namespace rosidl_generator_traits
+{
+
+[[deprecated("use bcr_bot::srv::to_block_style_yaml() instead")]]
+inline void to_yaml(
+  const bcr_bot::srv::GetVisualTopics_Request & msg,
+  std::ostream & out, size_t indentation = 0)
+{
+  bcr_bot::srv::to_block_style_yaml(msg, out, indentation);
+}
+
+[[deprecated("use bcr_bot::srv::to_yaml() instead")]]
+inline std::string to_yaml(const bcr_bot::srv::GetVisualTopics_Request & msg)
+{
+  return bcr_bot::srv::to_yaml(msg);
+}
+
+template<>
+inline const char * data_type<bcr_bot::srv::GetVisualTopics_Request>()
+{
+  return "bcr_bot::srv::GetVisualTopics_Request";
+}
+
+template<>
+inline const char * name<bcr_bot::srv::GetVisualTopics_Request>()
+{
+  return "bcr_bot/srv/GetVisualTopics_Request";
+}
+
+template<>
+struct has_fixed_size<bcr_bot::srv::GetVisualTopics_Request>
+  : std::integral_constant<bool, true> {};
+
+template<>
+struct has_bounded_size<bcr_bot::srv::GetVisualTopics_Request>
+  : std::integral_constant<bool, true> {};
+
+template<>
+struct is_message<bcr_bot::srv::GetVisualTopics_Request>
+  : std::true_type {};
+
+}  // namespace rosidl_generator_traits
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+inline void to_flow_style_yaml(
+  const GetVisualTopics_Response & msg,
+  std::ostream & out)
+{
+  out << "{";
+  // member: depth_image_topics
+  {
+    if (msg.depth_image_topics.size() == 0) {
+      out << "depth_image_topics: []";
+    } else {
+      out << "depth_image_topics: [";
+      size_t pending_items = msg.depth_image_topics.size();
+      for (auto item : msg.depth_image_topics) {
+        rosidl_generator_traits::value_to_yaml(item, out);
+        if (--pending_items > 0) {
+          out << ", ";
+        }
+      }
+      out << "]";
+    }
+    out << ", ";
+  }
+
+  // member: rgb_image_topics
+  {
+    if (msg.rgb_image_topics.size() == 0) {
+      out << "rgb_image_topics: []";
+    } else {
+      out << "rgb_image_topics: [";
+      size_t pending_items = msg.rgb_image_topics.size();
+      for (auto item : msg.rgb_image_topics) {
+        rosidl_generator_traits::value_to_yaml(item, out);
+        if (--pending_items > 0) {
+          out << ", ";
+        }
+      }
+      out << "]";
+    }
+    out << ", ";
+  }
+
+  // member: camera_info_topics
+  {
+    if (msg.camera_info_topics.size() == 0) {
+      out << "camera_info_topics: []";
+    } else {
+      out << "camera_info_topics: [";
+      size_t pending_items = msg.camera_info_topics.size();
+      for (auto item : msg.camera_info_topics) {
+        rosidl_generator_traits::value_to_yaml(item, out);
+        if (--pending_items > 0) {
+          out << ", ";
+        }
+      }
+      out << "]";
+    }
+    out << ", ";
+  }
+
+  // member: point_cloud_topics
+  {
+    if (msg.point_cloud_topics.size() == 0) {
+      out << "point_cloud_topics: []";
+    } else {
+      out << "point_cloud_topics: [";
+      size_t pending_items = msg.point_cloud_topics.size();
+      for (auto item : msg.point_cloud_topics) {
+        rosidl_generator_traits::value_to_yaml(item, out);
+        if (--pending_items > 0) {
+          out << ", ";
+        }
+      }
+      out << "]";
+    }
+  }
+  out << "}";
+}  // NOLINT(readability/fn_size)
+
+inline void to_block_style_yaml(
+  const GetVisualTopics_Response & msg,
+  std::ostream & out, size_t indentation = 0)
+{
+  // member: depth_image_topics
+  {
+    if (indentation > 0) {
+      out << std::string(indentation, ' ');
+    }
+    if (msg.depth_image_topics.size() == 0) {
+      out << "depth_image_topics: []\n";
+    } else {
+      out << "depth_image_topics:\n";
+      for (auto item : msg.depth_image_topics) {
+        if (indentation > 0) {
+          out << std::string(indentation, ' ');
+        }
+        out << "- ";
+        rosidl_generator_traits::value_to_yaml(item, out);
+        out << "\n";
+      }
+    }
+  }
+
+  // member: rgb_image_topics
+  {
+    if (indentation > 0) {
+      out << std::string(indentation, ' ');
+    }
+    if (msg.rgb_image_topics.size() == 0) {
+      out << "rgb_image_topics: []\n";
+    } else {
+      out << "rgb_image_topics:\n";
+      for (auto item : msg.rgb_image_topics) {
+        if (indentation > 0) {
+          out << std::string(indentation, ' ');
+        }
+        out << "- ";
+        rosidl_generator_traits::value_to_yaml(item, out);
+        out << "\n";
+      }
+    }
+  }
+
+  // member: camera_info_topics
+  {
+    if (indentation > 0) {
+      out << std::string(indentation, ' ');
+    }
+    if (msg.camera_info_topics.size() == 0) {
+      out << "camera_info_topics: []\n";
+    } else {
+      out << "camera_info_topics:\n";
+      for (auto item : msg.camera_info_topics) {
+        if (indentation > 0) {
+          out << std::string(indentation, ' ');
+        }
+        out << "- ";
+        rosidl_generator_traits::value_to_yaml(item, out);
+        out << "\n";
+      }
+    }
+  }
+
+  // member: point_cloud_topics
+  {
+    if (indentation > 0) {
+      out << std::string(indentation, ' ');
+    }
+    if (msg.point_cloud_topics.size() == 0) {
+      out << "point_cloud_topics: []\n";
+    } else {
+      out << "point_cloud_topics:\n";
+      for (auto item : msg.point_cloud_topics) {
+        if (indentation > 0) {
+          out << std::string(indentation, ' ');
+        }
+        out << "- ";
+        rosidl_generator_traits::value_to_yaml(item, out);
+        out << "\n";
+      }
+    }
+  }
+}  // NOLINT(readability/fn_size)
+
+inline std::string to_yaml(const GetVisualTopics_Response & msg, bool use_flow_style = false)
+{
+  std::ostringstream out;
+  if (use_flow_style) {
+    to_flow_style_yaml(msg, out);
+  } else {
+    to_block_style_yaml(msg, out);
+  }
+  return out.str();
+}
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+namespace rosidl_generator_traits
+{
+
+[[deprecated("use bcr_bot::srv::to_block_style_yaml() instead")]]
+inline void to_yaml(
+  const bcr_bot::srv::GetVisualTopics_Response & msg,
+  std::ostream & out, size_t indentation = 0)
+{
+  bcr_bot::srv::to_block_style_yaml(msg, out, indentation);
+}
+
+[[deprecated("use bcr_bot::srv::to_yaml() instead")]]
+inline std::string to_yaml(const bcr_bot::srv::GetVisualTopics_Response & msg)
+{
+  return bcr_bot::srv::to_yaml(msg);
+}
+
+template<>
+inline const char * data_type<bcr_bot::srv::GetVisualTopics_Response>()
+{
+  return "bcr_bot::srv::GetVisualTopics_Response";
+}
+
+template<>
+inline const char * name<bcr_bot::srv::GetVisualTopics_Response>()
+{
+  return "bcr_bot/srv/GetVisualTopics_Response";
+}
+
+template<>
+struct has_fixed_size<bcr_bot::srv::GetVisualTopics_Response>
+  : std::integral_constant<bool, false> {};
+
+template<>
+struct has_bounded_size<bcr_bot::srv::GetVisualTopics_Response>
+  : std::integral_constant<bool, false> {};
+
+template<>
+struct is_message<bcr_bot::srv::GetVisualTopics_Response>
+  : std::true_type {};
+
+}  // namespace rosidl_generator_traits
+
+namespace rosidl_generator_traits
+{
+
+template<>
+inline const char * data_type<bcr_bot::srv::GetVisualTopics>()
+{
+  return "bcr_bot::srv::GetVisualTopics";
+}
+
+template<>
+inline const char * name<bcr_bot::srv::GetVisualTopics>()
+{
+  return "bcr_bot/srv/GetVisualTopics";
+}
+
+template<>
+struct has_fixed_size<bcr_bot::srv::GetVisualTopics>
+  : std::integral_constant<
+    bool,
+    has_fixed_size<bcr_bot::srv::GetVisualTopics_Request>::value &&
+    has_fixed_size<bcr_bot::srv::GetVisualTopics_Response>::value
+  >
+{
+};
+
+template<>
+struct has_bounded_size<bcr_bot::srv::GetVisualTopics>
+  : std::integral_constant<
+    bool,
+    has_bounded_size<bcr_bot::srv::GetVisualTopics_Request>::value &&
+    has_bounded_size<bcr_bot::srv::GetVisualTopics_Response>::value
+  >
+{
+};
+
+template<>
+struct is_service<bcr_bot::srv::GetVisualTopics>
+  : std::true_type
+{
+};
+
+template<>
+struct is_service_request<bcr_bot::srv::GetVisualTopics_Request>
+  : std::true_type
+{
+};
+
+template<>
+struct is_service_response<bcr_bot::srv::GetVisualTopics_Response>
+  : std::true_type
+{
+};
+
+}  // namespace rosidl_generator_traits
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__TRAITS_HPP_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__type_support.c

@@ -0,0 +1,506 @@
+// generated from rosidl_typesupport_introspection_c/resource/idl__type_support.c.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#include <stddef.h>
+#include "bcr_bot/srv/detail/get_visual_topics__rosidl_typesupport_introspection_c.h"
+#include "bcr_bot/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+#include "rosidl_typesupport_introspection_c/field_types.h"
+#include "rosidl_typesupport_introspection_c/identifier.h"
+#include "rosidl_typesupport_introspection_c/message_introspection.h"
+#include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+#include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+void bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_init_function(
+  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
+{
+  // TODO(karsten1987): initializers are not yet implemented for typesupport c
+  // see https://github.com/ros2/ros2/issues/397
+  (void) _init;
+  bcr_bot__srv__GetVisualTopics_Request__init(message_memory);
+}
+
+void bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_fini_function(void * message_memory)
+{
+  bcr_bot__srv__GetVisualTopics_Request__fini(message_memory);
+}
+
+static rosidl_typesupport_introspection_c__MessageMember bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_message_member_array[1] = {
+  {
+    "refresh",  // name
+    rosidl_typesupport_introspection_c__ROS_TYPE_BOOLEAN,  // type
+    0,  // upper bound of string
+    NULL,  // members of sub message
+    false,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot__srv__GetVisualTopics_Request, refresh),  // bytes offset in struct
+    NULL,  // default value
+    NULL,  // size() function pointer
+    NULL,  // get_const(index) function pointer
+    NULL,  // get(index) function pointer
+    NULL,  // fetch(index, &value) function pointer
+    NULL,  // assign(index, value) function pointer
+    NULL  // resize(index) function pointer
+  }
+};
+
+static const rosidl_typesupport_introspection_c__MessageMembers bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_message_members = {
+  "bcr_bot__srv",  // message namespace
+  "GetVisualTopics_Request",  // message name
+  1,  // number of fields
+  sizeof(bcr_bot__srv__GetVisualTopics_Request),
+  bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_message_member_array,  // message members
+  bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_init_function,  // function to initialize message memory (memory has to be allocated)
+  bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_fini_function  // function to terminate message instance (will not free memory)
+};
+
+// this is not const since it must be initialized on first access
+// since C does not allow non-integral compile-time constants
+static rosidl_message_type_support_t bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_message_type_support_handle = {
+  0,
+  &bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_message_members,
+  get_message_typesupport_handle_function,
+};
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_bcr_bot
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics_Request)() {
+  if (!bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_message_type_support_handle.typesupport_identifier) {
+    bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_message_type_support_handle.typesupport_identifier =
+      rosidl_typesupport_introspection_c__identifier;
+  }
+  return &bcr_bot__srv__GetVisualTopics_Request__rosidl_typesupport_introspection_c__GetVisualTopics_Request_message_type_support_handle;
+}
+#ifdef __cplusplus
+}
+#endif
+
+// already included above
+// #include <stddef.h>
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__rosidl_typesupport_introspection_c.h"
+// already included above
+// #include "bcr_bot/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+// already included above
+// #include "rosidl_typesupport_introspection_c/field_types.h"
+// already included above
+// #include "rosidl_typesupport_introspection_c/identifier.h"
+// already included above
+// #include "rosidl_typesupport_introspection_c/message_introspection.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+
+
+// Include directives for member types
+// Member `depth_image_topics`
+// Member `rgb_image_topics`
+// Member `camera_info_topics`
+// Member `point_cloud_topics`
+#include "rosidl_runtime_c/string_functions.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_init_function(
+  void * message_memory, enum rosidl_runtime_c__message_initialization _init)
+{
+  // TODO(karsten1987): initializers are not yet implemented for typesupport c
+  // see https://github.com/ros2/ros2/issues/397
+  (void) _init;
+  bcr_bot__srv__GetVisualTopics_Response__init(message_memory);
+}
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_fini_function(void * message_memory)
+{
+  bcr_bot__srv__GetVisualTopics_Response__fini(message_memory);
+}
+
+size_t bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__size_function__GetVisualTopics_Response__depth_image_topics(
+  const void * untyped_member)
+{
+  const rosidl_runtime_c__String__Sequence * member =
+    (const rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return member->size;
+}
+
+const void * bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__depth_image_topics(
+  const void * untyped_member, size_t index)
+{
+  const rosidl_runtime_c__String__Sequence * member =
+    (const rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return &member->data[index];
+}
+
+void * bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__depth_image_topics(
+  void * untyped_member, size_t index)
+{
+  rosidl_runtime_c__String__Sequence * member =
+    (rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return &member->data[index];
+}
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__fetch_function__GetVisualTopics_Response__depth_image_topics(
+  const void * untyped_member, size_t index, void * untyped_value)
+{
+  const rosidl_runtime_c__String * item =
+    ((const rosidl_runtime_c__String *)
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__depth_image_topics(untyped_member, index));
+  rosidl_runtime_c__String * value =
+    (rosidl_runtime_c__String *)(untyped_value);
+  *value = *item;
+}
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__assign_function__GetVisualTopics_Response__depth_image_topics(
+  void * untyped_member, size_t index, const void * untyped_value)
+{
+  rosidl_runtime_c__String * item =
+    ((rosidl_runtime_c__String *)
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__depth_image_topics(untyped_member, index));
+  const rosidl_runtime_c__String * value =
+    (const rosidl_runtime_c__String *)(untyped_value);
+  *item = *value;
+}
+
+bool bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__resize_function__GetVisualTopics_Response__depth_image_topics(
+  void * untyped_member, size_t size)
+{
+  rosidl_runtime_c__String__Sequence * member =
+    (rosidl_runtime_c__String__Sequence *)(untyped_member);
+  rosidl_runtime_c__String__Sequence__fini(member);
+  return rosidl_runtime_c__String__Sequence__init(member, size);
+}
+
+size_t bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__size_function__GetVisualTopics_Response__rgb_image_topics(
+  const void * untyped_member)
+{
+  const rosidl_runtime_c__String__Sequence * member =
+    (const rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return member->size;
+}
+
+const void * bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__rgb_image_topics(
+  const void * untyped_member, size_t index)
+{
+  const rosidl_runtime_c__String__Sequence * member =
+    (const rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return &member->data[index];
+}
+
+void * bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__rgb_image_topics(
+  void * untyped_member, size_t index)
+{
+  rosidl_runtime_c__String__Sequence * member =
+    (rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return &member->data[index];
+}
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__fetch_function__GetVisualTopics_Response__rgb_image_topics(
+  const void * untyped_member, size_t index, void * untyped_value)
+{
+  const rosidl_runtime_c__String * item =
+    ((const rosidl_runtime_c__String *)
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__rgb_image_topics(untyped_member, index));
+  rosidl_runtime_c__String * value =
+    (rosidl_runtime_c__String *)(untyped_value);
+  *value = *item;
+}
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__assign_function__GetVisualTopics_Response__rgb_image_topics(
+  void * untyped_member, size_t index, const void * untyped_value)
+{
+  rosidl_runtime_c__String * item =
+    ((rosidl_runtime_c__String *)
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__rgb_image_topics(untyped_member, index));
+  const rosidl_runtime_c__String * value =
+    (const rosidl_runtime_c__String *)(untyped_value);
+  *item = *value;
+}
+
+bool bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__resize_function__GetVisualTopics_Response__rgb_image_topics(
+  void * untyped_member, size_t size)
+{
+  rosidl_runtime_c__String__Sequence * member =
+    (rosidl_runtime_c__String__Sequence *)(untyped_member);
+  rosidl_runtime_c__String__Sequence__fini(member);
+  return rosidl_runtime_c__String__Sequence__init(member, size);
+}
+
+size_t bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__size_function__GetVisualTopics_Response__camera_info_topics(
+  const void * untyped_member)
+{
+  const rosidl_runtime_c__String__Sequence * member =
+    (const rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return member->size;
+}
+
+const void * bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__camera_info_topics(
+  const void * untyped_member, size_t index)
+{
+  const rosidl_runtime_c__String__Sequence * member =
+    (const rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return &member->data[index];
+}
+
+void * bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__camera_info_topics(
+  void * untyped_member, size_t index)
+{
+  rosidl_runtime_c__String__Sequence * member =
+    (rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return &member->data[index];
+}
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__fetch_function__GetVisualTopics_Response__camera_info_topics(
+  const void * untyped_member, size_t index, void * untyped_value)
+{
+  const rosidl_runtime_c__String * item =
+    ((const rosidl_runtime_c__String *)
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__camera_info_topics(untyped_member, index));
+  rosidl_runtime_c__String * value =
+    (rosidl_runtime_c__String *)(untyped_value);
+  *value = *item;
+}
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__assign_function__GetVisualTopics_Response__camera_info_topics(
+  void * untyped_member, size_t index, const void * untyped_value)
+{
+  rosidl_runtime_c__String * item =
+    ((rosidl_runtime_c__String *)
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__camera_info_topics(untyped_member, index));
+  const rosidl_runtime_c__String * value =
+    (const rosidl_runtime_c__String *)(untyped_value);
+  *item = *value;
+}
+
+bool bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__resize_function__GetVisualTopics_Response__camera_info_topics(
+  void * untyped_member, size_t size)
+{
+  rosidl_runtime_c__String__Sequence * member =
+    (rosidl_runtime_c__String__Sequence *)(untyped_member);
+  rosidl_runtime_c__String__Sequence__fini(member);
+  return rosidl_runtime_c__String__Sequence__init(member, size);
+}
+
+size_t bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__size_function__GetVisualTopics_Response__point_cloud_topics(
+  const void * untyped_member)
+{
+  const rosidl_runtime_c__String__Sequence * member =
+    (const rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return member->size;
+}
+
+const void * bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__point_cloud_topics(
+  const void * untyped_member, size_t index)
+{
+  const rosidl_runtime_c__String__Sequence * member =
+    (const rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return &member->data[index];
+}
+
+void * bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__point_cloud_topics(
+  void * untyped_member, size_t index)
+{
+  rosidl_runtime_c__String__Sequence * member =
+    (rosidl_runtime_c__String__Sequence *)(untyped_member);
+  return &member->data[index];
+}
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__fetch_function__GetVisualTopics_Response__point_cloud_topics(
+  const void * untyped_member, size_t index, void * untyped_value)
+{
+  const rosidl_runtime_c__String * item =
+    ((const rosidl_runtime_c__String *)
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__point_cloud_topics(untyped_member, index));
+  rosidl_runtime_c__String * value =
+    (rosidl_runtime_c__String *)(untyped_value);
+  *value = *item;
+}
+
+void bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__assign_function__GetVisualTopics_Response__point_cloud_topics(
+  void * untyped_member, size_t index, const void * untyped_value)
+{
+  rosidl_runtime_c__String * item =
+    ((rosidl_runtime_c__String *)
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__point_cloud_topics(untyped_member, index));
+  const rosidl_runtime_c__String * value =
+    (const rosidl_runtime_c__String *)(untyped_value);
+  *item = *value;
+}
+
+bool bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__resize_function__GetVisualTopics_Response__point_cloud_topics(
+  void * untyped_member, size_t size)
+{
+  rosidl_runtime_c__String__Sequence * member =
+    (rosidl_runtime_c__String__Sequence *)(untyped_member);
+  rosidl_runtime_c__String__Sequence__fini(member);
+  return rosidl_runtime_c__String__Sequence__init(member, size);
+}
+
+static rosidl_typesupport_introspection_c__MessageMember bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_message_member_array[4] = {
+  {
+    "depth_image_topics",  // name
+    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
+    0,  // upper bound of string
+    NULL,  // members of sub message
+    true,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot__srv__GetVisualTopics_Response, depth_image_topics),  // bytes offset in struct
+    NULL,  // default value
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__size_function__GetVisualTopics_Response__depth_image_topics,  // size() function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__depth_image_topics,  // get_const(index) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__depth_image_topics,  // get(index) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__fetch_function__GetVisualTopics_Response__depth_image_topics,  // fetch(index, &value) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__assign_function__GetVisualTopics_Response__depth_image_topics,  // assign(index, value) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__resize_function__GetVisualTopics_Response__depth_image_topics  // resize(index) function pointer
+  },
+  {
+    "rgb_image_topics",  // name
+    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
+    0,  // upper bound of string
+    NULL,  // members of sub message
+    true,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot__srv__GetVisualTopics_Response, rgb_image_topics),  // bytes offset in struct
+    NULL,  // default value
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__size_function__GetVisualTopics_Response__rgb_image_topics,  // size() function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__rgb_image_topics,  // get_const(index) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__rgb_image_topics,  // get(index) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__fetch_function__GetVisualTopics_Response__rgb_image_topics,  // fetch(index, &value) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__assign_function__GetVisualTopics_Response__rgb_image_topics,  // assign(index, value) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__resize_function__GetVisualTopics_Response__rgb_image_topics  // resize(index) function pointer
+  },
+  {
+    "camera_info_topics",  // name
+    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
+    0,  // upper bound of string
+    NULL,  // members of sub message
+    true,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot__srv__GetVisualTopics_Response, camera_info_topics),  // bytes offset in struct
+    NULL,  // default value
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__size_function__GetVisualTopics_Response__camera_info_topics,  // size() function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__camera_info_topics,  // get_const(index) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__camera_info_topics,  // get(index) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__fetch_function__GetVisualTopics_Response__camera_info_topics,  // fetch(index, &value) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__assign_function__GetVisualTopics_Response__camera_info_topics,  // assign(index, value) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__resize_function__GetVisualTopics_Response__camera_info_topics  // resize(index) function pointer
+  },
+  {
+    "point_cloud_topics",  // name
+    rosidl_typesupport_introspection_c__ROS_TYPE_STRING,  // type
+    0,  // upper bound of string
+    NULL,  // members of sub message
+    true,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot__srv__GetVisualTopics_Response, point_cloud_topics),  // bytes offset in struct
+    NULL,  // default value
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__size_function__GetVisualTopics_Response__point_cloud_topics,  // size() function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_const_function__GetVisualTopics_Response__point_cloud_topics,  // get_const(index) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__get_function__GetVisualTopics_Response__point_cloud_topics,  // get(index) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__fetch_function__GetVisualTopics_Response__point_cloud_topics,  // fetch(index, &value) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__assign_function__GetVisualTopics_Response__point_cloud_topics,  // assign(index, value) function pointer
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__resize_function__GetVisualTopics_Response__point_cloud_topics  // resize(index) function pointer
+  }
+};
+
+static const rosidl_typesupport_introspection_c__MessageMembers bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_message_members = {
+  "bcr_bot__srv",  // message namespace
+  "GetVisualTopics_Response",  // message name
+  4,  // number of fields
+  sizeof(bcr_bot__srv__GetVisualTopics_Response),
+  bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_message_member_array,  // message members
+  bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_init_function,  // function to initialize message memory (memory has to be allocated)
+  bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_fini_function  // function to terminate message instance (will not free memory)
+};
+
+// this is not const since it must be initialized on first access
+// since C does not allow non-integral compile-time constants
+static rosidl_message_type_support_t bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_message_type_support_handle = {
+  0,
+  &bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_message_members,
+  get_message_typesupport_handle_function,
+};
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_bcr_bot
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics_Response)() {
+  if (!bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_message_type_support_handle.typesupport_identifier) {
+    bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_message_type_support_handle.typesupport_identifier =
+      rosidl_typesupport_introspection_c__identifier;
+  }
+  return &bcr_bot__srv__GetVisualTopics_Response__rosidl_typesupport_introspection_c__GetVisualTopics_Response_message_type_support_handle;
+}
+#ifdef __cplusplus
+}
+#endif
+
+#include "rosidl_runtime_c/service_type_support_struct.h"
+// already included above
+// #include "bcr_bot/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__rosidl_typesupport_introspection_c.h"
+// already included above
+// #include "rosidl_typesupport_introspection_c/identifier.h"
+#include "rosidl_typesupport_introspection_c/service_introspection.h"
+
+// this is intentionally not const to allow initialization later to prevent an initialization race
+static rosidl_typesupport_introspection_c__ServiceMembers bcr_bot__srv__detail__get_visual_topics__rosidl_typesupport_introspection_c__GetVisualTopics_service_members = {
+  "bcr_bot__srv",  // service namespace
+  "GetVisualTopics",  // service name
+  // these two fields are initialized below on the first access
+  NULL,  // request message
+  // bcr_bot__srv__detail__get_visual_topics__rosidl_typesupport_introspection_c__GetVisualTopics_Request_message_type_support_handle,
+  NULL  // response message
+  // bcr_bot__srv__detail__get_visual_topics__rosidl_typesupport_introspection_c__GetVisualTopics_Response_message_type_support_handle
+};
+
+static rosidl_service_type_support_t bcr_bot__srv__detail__get_visual_topics__rosidl_typesupport_introspection_c__GetVisualTopics_service_type_support_handle = {
+  0,
+  &bcr_bot__srv__detail__get_visual_topics__rosidl_typesupport_introspection_c__GetVisualTopics_service_members,
+  get_service_typesupport_handle_function,
+};
+
+// Forward declaration of request/response type support functions
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics_Request)();
+
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics_Response)();
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT_bcr_bot
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics)() {
+  if (!bcr_bot__srv__detail__get_visual_topics__rosidl_typesupport_introspection_c__GetVisualTopics_service_type_support_handle.typesupport_identifier) {
+    bcr_bot__srv__detail__get_visual_topics__rosidl_typesupport_introspection_c__GetVisualTopics_service_type_support_handle.typesupport_identifier =
+      rosidl_typesupport_introspection_c__identifier;
+  }
+  rosidl_typesupport_introspection_c__ServiceMembers * service_members =
+    (rosidl_typesupport_introspection_c__ServiceMembers *)bcr_bot__srv__detail__get_visual_topics__rosidl_typesupport_introspection_c__GetVisualTopics_service_type_support_handle.data;
+
+  if (!service_members->request_members_) {
+    service_members->request_members_ =
+      (const rosidl_typesupport_introspection_c__MessageMembers *)
+      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics_Request)()->data;
+  }
+  if (!service_members->response_members_) {
+    service_members->response_members_ =
+      (const rosidl_typesupport_introspection_c__MessageMembers *)
+      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, bcr_bot, srv, GetVisualTopics_Response)()->data;
+  }
+
+  return &bcr_bot__srv__detail__get_visual_topics__rosidl_typesupport_introspection_c__GetVisualTopics_service_type_support_handle;
+}

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__type_support.cpp

@@ -0,0 +1,567 @@
+// generated from rosidl_typesupport_introspection_cpp/resource/idl__type_support.cpp.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#include "array"
+#include "cstddef"
+#include "string"
+#include "vector"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rosidl_typesupport_interface/macros.h"
+#include "bcr_bot/srv/detail/get_visual_topics__struct.hpp"
+#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
+#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
+#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
+#include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
+#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+void GetVisualTopics_Request_init_function(
+  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
+{
+  new (message_memory) bcr_bot::srv::GetVisualTopics_Request(_init);
+}
+
+void GetVisualTopics_Request_fini_function(void * message_memory)
+{
+  auto typed_message = static_cast<bcr_bot::srv::GetVisualTopics_Request *>(message_memory);
+  typed_message->~GetVisualTopics_Request();
+}
+
+static const ::rosidl_typesupport_introspection_cpp::MessageMember GetVisualTopics_Request_message_member_array[1] = {
+  {
+    "refresh",  // name
+    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOLEAN,  // type
+    0,  // upper bound of string
+    nullptr,  // members of sub message
+    false,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot::srv::GetVisualTopics_Request, refresh),  // bytes offset in struct
+    nullptr,  // default value
+    nullptr,  // size() function pointer
+    nullptr,  // get_const(index) function pointer
+    nullptr,  // get(index) function pointer
+    nullptr,  // fetch(index, &value) function pointer
+    nullptr,  // assign(index, value) function pointer
+    nullptr  // resize(index) function pointer
+  }
+};
+
+static const ::rosidl_typesupport_introspection_cpp::MessageMembers GetVisualTopics_Request_message_members = {
+  "bcr_bot::srv",  // message namespace
+  "GetVisualTopics_Request",  // message name
+  1,  // number of fields
+  sizeof(bcr_bot::srv::GetVisualTopics_Request),
+  GetVisualTopics_Request_message_member_array,  // message members
+  GetVisualTopics_Request_init_function,  // function to initialize message memory (memory has to be allocated)
+  GetVisualTopics_Request_fini_function  // function to terminate message instance (will not free memory)
+};
+
+static const rosidl_message_type_support_t GetVisualTopics_Request_message_type_support_handle = {
+  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
+  &GetVisualTopics_Request_message_members,
+  get_message_typesupport_handle_function,
+};
+
+}  // namespace rosidl_typesupport_introspection_cpp
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+template<>
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_message_type_support_t *
+get_message_type_support_handle<bcr_bot::srv::GetVisualTopics_Request>()
+{
+  return &::bcr_bot::srv::rosidl_typesupport_introspection_cpp::GetVisualTopics_Request_message_type_support_handle;
+}
+
+}  // namespace rosidl_typesupport_introspection_cpp
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, bcr_bot, srv, GetVisualTopics_Request)() {
+  return &::bcr_bot::srv::rosidl_typesupport_introspection_cpp::GetVisualTopics_Request_message_type_support_handle;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+// already included above
+// #include "array"
+// already included above
+// #include "cstddef"
+// already included above
+// #include "string"
+// already included above
+// #include "vector"
+// already included above
+// #include "rosidl_runtime_c/message_type_support_struct.h"
+// already included above
+// #include "rosidl_typesupport_cpp/message_type_support.hpp"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__struct.hpp"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/visibility_control.h"
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+void GetVisualTopics_Response_init_function(
+  void * message_memory, rosidl_runtime_cpp::MessageInitialization _init)
+{
+  new (message_memory) bcr_bot::srv::GetVisualTopics_Response(_init);
+}
+
+void GetVisualTopics_Response_fini_function(void * message_memory)
+{
+  auto typed_message = static_cast<bcr_bot::srv::GetVisualTopics_Response *>(message_memory);
+  typed_message->~GetVisualTopics_Response();
+}
+
+size_t size_function__GetVisualTopics_Response__depth_image_topics(const void * untyped_member)
+{
+  const auto * member = reinterpret_cast<const std::vector<std::string> *>(untyped_member);
+  return member->size();
+}
+
+const void * get_const_function__GetVisualTopics_Response__depth_image_topics(const void * untyped_member, size_t index)
+{
+  const auto & member =
+    *reinterpret_cast<const std::vector<std::string> *>(untyped_member);
+  return &member[index];
+}
+
+void * get_function__GetVisualTopics_Response__depth_image_topics(void * untyped_member, size_t index)
+{
+  auto & member =
+    *reinterpret_cast<std::vector<std::string> *>(untyped_member);
+  return &member[index];
+}
+
+void fetch_function__GetVisualTopics_Response__depth_image_topics(
+  const void * untyped_member, size_t index, void * untyped_value)
+{
+  const auto & item = *reinterpret_cast<const std::string *>(
+    get_const_function__GetVisualTopics_Response__depth_image_topics(untyped_member, index));
+  auto & value = *reinterpret_cast<std::string *>(untyped_value);
+  value = item;
+}
+
+void assign_function__GetVisualTopics_Response__depth_image_topics(
+  void * untyped_member, size_t index, const void * untyped_value)
+{
+  auto & item = *reinterpret_cast<std::string *>(
+    get_function__GetVisualTopics_Response__depth_image_topics(untyped_member, index));
+  const auto & value = *reinterpret_cast<const std::string *>(untyped_value);
+  item = value;
+}
+
+void resize_function__GetVisualTopics_Response__depth_image_topics(void * untyped_member, size_t size)
+{
+  auto * member =
+    reinterpret_cast<std::vector<std::string> *>(untyped_member);
+  member->resize(size);
+}
+
+size_t size_function__GetVisualTopics_Response__rgb_image_topics(const void * untyped_member)
+{
+  const auto * member = reinterpret_cast<const std::vector<std::string> *>(untyped_member);
+  return member->size();
+}
+
+const void * get_const_function__GetVisualTopics_Response__rgb_image_topics(const void * untyped_member, size_t index)
+{
+  const auto & member =
+    *reinterpret_cast<const std::vector<std::string> *>(untyped_member);
+  return &member[index];
+}
+
+void * get_function__GetVisualTopics_Response__rgb_image_topics(void * untyped_member, size_t index)
+{
+  auto & member =
+    *reinterpret_cast<std::vector<std::string> *>(untyped_member);
+  return &member[index];
+}
+
+void fetch_function__GetVisualTopics_Response__rgb_image_topics(
+  const void * untyped_member, size_t index, void * untyped_value)
+{
+  const auto & item = *reinterpret_cast<const std::string *>(
+    get_const_function__GetVisualTopics_Response__rgb_image_topics(untyped_member, index));
+  auto & value = *reinterpret_cast<std::string *>(untyped_value);
+  value = item;
+}
+
+void assign_function__GetVisualTopics_Response__rgb_image_topics(
+  void * untyped_member, size_t index, const void * untyped_value)
+{
+  auto & item = *reinterpret_cast<std::string *>(
+    get_function__GetVisualTopics_Response__rgb_image_topics(untyped_member, index));
+  const auto & value = *reinterpret_cast<const std::string *>(untyped_value);
+  item = value;
+}
+
+void resize_function__GetVisualTopics_Response__rgb_image_topics(void * untyped_member, size_t size)
+{
+  auto * member =
+    reinterpret_cast<std::vector<std::string> *>(untyped_member);
+  member->resize(size);
+}
+
+size_t size_function__GetVisualTopics_Response__camera_info_topics(const void * untyped_member)
+{
+  const auto * member = reinterpret_cast<const std::vector<std::string> *>(untyped_member);
+  return member->size();
+}
+
+const void * get_const_function__GetVisualTopics_Response__camera_info_topics(const void * untyped_member, size_t index)
+{
+  const auto & member =
+    *reinterpret_cast<const std::vector<std::string> *>(untyped_member);
+  return &member[index];
+}
+
+void * get_function__GetVisualTopics_Response__camera_info_topics(void * untyped_member, size_t index)
+{
+  auto & member =
+    *reinterpret_cast<std::vector<std::string> *>(untyped_member);
+  return &member[index];
+}
+
+void fetch_function__GetVisualTopics_Response__camera_info_topics(
+  const void * untyped_member, size_t index, void * untyped_value)
+{
+  const auto & item = *reinterpret_cast<const std::string *>(
+    get_const_function__GetVisualTopics_Response__camera_info_topics(untyped_member, index));
+  auto & value = *reinterpret_cast<std::string *>(untyped_value);
+  value = item;
+}
+
+void assign_function__GetVisualTopics_Response__camera_info_topics(
+  void * untyped_member, size_t index, const void * untyped_value)
+{
+  auto & item = *reinterpret_cast<std::string *>(
+    get_function__GetVisualTopics_Response__camera_info_topics(untyped_member, index));
+  const auto & value = *reinterpret_cast<const std::string *>(untyped_value);
+  item = value;
+}
+
+void resize_function__GetVisualTopics_Response__camera_info_topics(void * untyped_member, size_t size)
+{
+  auto * member =
+    reinterpret_cast<std::vector<std::string> *>(untyped_member);
+  member->resize(size);
+}
+
+size_t size_function__GetVisualTopics_Response__point_cloud_topics(const void * untyped_member)
+{
+  const auto * member = reinterpret_cast<const std::vector<std::string> *>(untyped_member);
+  return member->size();
+}
+
+const void * get_const_function__GetVisualTopics_Response__point_cloud_topics(const void * untyped_member, size_t index)
+{
+  const auto & member =
+    *reinterpret_cast<const std::vector<std::string> *>(untyped_member);
+  return &member[index];
+}
+
+void * get_function__GetVisualTopics_Response__point_cloud_topics(void * untyped_member, size_t index)
+{
+  auto & member =
+    *reinterpret_cast<std::vector<std::string> *>(untyped_member);
+  return &member[index];
+}
+
+void fetch_function__GetVisualTopics_Response__point_cloud_topics(
+  const void * untyped_member, size_t index, void * untyped_value)
+{
+  const auto & item = *reinterpret_cast<const std::string *>(
+    get_const_function__GetVisualTopics_Response__point_cloud_topics(untyped_member, index));
+  auto & value = *reinterpret_cast<std::string *>(untyped_value);
+  value = item;
+}
+
+void assign_function__GetVisualTopics_Response__point_cloud_topics(
+  void * untyped_member, size_t index, const void * untyped_value)
+{
+  auto & item = *reinterpret_cast<std::string *>(
+    get_function__GetVisualTopics_Response__point_cloud_topics(untyped_member, index));
+  const auto & value = *reinterpret_cast<const std::string *>(untyped_value);
+  item = value;
+}
+
+void resize_function__GetVisualTopics_Response__point_cloud_topics(void * untyped_member, size_t size)
+{
+  auto * member =
+    reinterpret_cast<std::vector<std::string> *>(untyped_member);
+  member->resize(size);
+}
+
+static const ::rosidl_typesupport_introspection_cpp::MessageMember GetVisualTopics_Response_message_member_array[4] = {
+  {
+    "depth_image_topics",  // name
+    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
+    0,  // upper bound of string
+    nullptr,  // members of sub message
+    true,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot::srv::GetVisualTopics_Response, depth_image_topics),  // bytes offset in struct
+    nullptr,  // default value
+    size_function__GetVisualTopics_Response__depth_image_topics,  // size() function pointer
+    get_const_function__GetVisualTopics_Response__depth_image_topics,  // get_const(index) function pointer
+    get_function__GetVisualTopics_Response__depth_image_topics,  // get(index) function pointer
+    fetch_function__GetVisualTopics_Response__depth_image_topics,  // fetch(index, &value) function pointer
+    assign_function__GetVisualTopics_Response__depth_image_topics,  // assign(index, value) function pointer
+    resize_function__GetVisualTopics_Response__depth_image_topics  // resize(index) function pointer
+  },
+  {
+    "rgb_image_topics",  // name
+    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
+    0,  // upper bound of string
+    nullptr,  // members of sub message
+    true,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot::srv::GetVisualTopics_Response, rgb_image_topics),  // bytes offset in struct
+    nullptr,  // default value
+    size_function__GetVisualTopics_Response__rgb_image_topics,  // size() function pointer
+    get_const_function__GetVisualTopics_Response__rgb_image_topics,  // get_const(index) function pointer
+    get_function__GetVisualTopics_Response__rgb_image_topics,  // get(index) function pointer
+    fetch_function__GetVisualTopics_Response__rgb_image_topics,  // fetch(index, &value) function pointer
+    assign_function__GetVisualTopics_Response__rgb_image_topics,  // assign(index, value) function pointer
+    resize_function__GetVisualTopics_Response__rgb_image_topics  // resize(index) function pointer
+  },
+  {
+    "camera_info_topics",  // name
+    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
+    0,  // upper bound of string
+    nullptr,  // members of sub message
+    true,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot::srv::GetVisualTopics_Response, camera_info_topics),  // bytes offset in struct
+    nullptr,  // default value
+    size_function__GetVisualTopics_Response__camera_info_topics,  // size() function pointer
+    get_const_function__GetVisualTopics_Response__camera_info_topics,  // get_const(index) function pointer
+    get_function__GetVisualTopics_Response__camera_info_topics,  // get(index) function pointer
+    fetch_function__GetVisualTopics_Response__camera_info_topics,  // fetch(index, &value) function pointer
+    assign_function__GetVisualTopics_Response__camera_info_topics,  // assign(index, value) function pointer
+    resize_function__GetVisualTopics_Response__camera_info_topics  // resize(index) function pointer
+  },
+  {
+    "point_cloud_topics",  // name
+    ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING,  // type
+    0,  // upper bound of string
+    nullptr,  // members of sub message
+    true,  // is array
+    0,  // array size
+    false,  // is upper bound
+    offsetof(bcr_bot::srv::GetVisualTopics_Response, point_cloud_topics),  // bytes offset in struct
+    nullptr,  // default value
+    size_function__GetVisualTopics_Response__point_cloud_topics,  // size() function pointer
+    get_const_function__GetVisualTopics_Response__point_cloud_topics,  // get_const(index) function pointer
+    get_function__GetVisualTopics_Response__point_cloud_topics,  // get(index) function pointer
+    fetch_function__GetVisualTopics_Response__point_cloud_topics,  // fetch(index, &value) function pointer
+    assign_function__GetVisualTopics_Response__point_cloud_topics,  // assign(index, value) function pointer
+    resize_function__GetVisualTopics_Response__point_cloud_topics  // resize(index) function pointer
+  }
+};
+
+static const ::rosidl_typesupport_introspection_cpp::MessageMembers GetVisualTopics_Response_message_members = {
+  "bcr_bot::srv",  // message namespace
+  "GetVisualTopics_Response",  // message name
+  4,  // number of fields
+  sizeof(bcr_bot::srv::GetVisualTopics_Response),
+  GetVisualTopics_Response_message_member_array,  // message members
+  GetVisualTopics_Response_init_function,  // function to initialize message memory (memory has to be allocated)
+  GetVisualTopics_Response_fini_function  // function to terminate message instance (will not free memory)
+};
+
+static const rosidl_message_type_support_t GetVisualTopics_Response_message_type_support_handle = {
+  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
+  &GetVisualTopics_Response_message_members,
+  get_message_typesupport_handle_function,
+};
+
+}  // namespace rosidl_typesupport_introspection_cpp
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+template<>
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_message_type_support_t *
+get_message_type_support_handle<bcr_bot::srv::GetVisualTopics_Response>()
+{
+  return &::bcr_bot::srv::rosidl_typesupport_introspection_cpp::GetVisualTopics_Response_message_type_support_handle;
+}
+
+}  // namespace rosidl_typesupport_introspection_cpp
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, bcr_bot, srv, GetVisualTopics_Response)() {
+  return &::bcr_bot::srv::rosidl_typesupport_introspection_cpp::GetVisualTopics_Response_message_type_support_handle;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#include "rosidl_runtime_c/service_type_support_struct.h"
+// already included above
+// #include "rosidl_typesupport_cpp/message_type_support.hpp"
+#include "rosidl_typesupport_cpp/service_type_support.hpp"
+// already included above
+// #include "rosidl_typesupport_interface/macros.h"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/visibility_control.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__struct.hpp"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
+// already included above
+// #include "rosidl_typesupport_introspection_cpp/message_type_support_decl.hpp"
+#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
+#include "rosidl_typesupport_introspection_cpp/service_type_support_decl.hpp"
+
+namespace bcr_bot
+{
+
+namespace srv
+{
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+// this is intentionally not const to allow initialization later to prevent an initialization race
+static ::rosidl_typesupport_introspection_cpp::ServiceMembers GetVisualTopics_service_members = {
+  "bcr_bot::srv",  // service namespace
+  "GetVisualTopics",  // service name
+  // these two fields are initialized below on the first access
+  // see get_service_type_support_handle<bcr_bot::srv::GetVisualTopics>()
+  nullptr,  // request message
+  nullptr  // response message
+};
+
+static const rosidl_service_type_support_t GetVisualTopics_service_type_support_handle = {
+  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
+  &GetVisualTopics_service_members,
+  get_service_typesupport_handle_function,
+};
+
+}  // namespace rosidl_typesupport_introspection_cpp
+
+}  // namespace srv
+
+}  // namespace bcr_bot
+
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+template<>
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_service_type_support_t *
+get_service_type_support_handle<bcr_bot::srv::GetVisualTopics>()
+{
+  // get a handle to the value to be returned
+  auto service_type_support =
+    &::bcr_bot::srv::rosidl_typesupport_introspection_cpp::GetVisualTopics_service_type_support_handle;
+  // get a non-const and properly typed version of the data void *
+  auto service_members = const_cast<::rosidl_typesupport_introspection_cpp::ServiceMembers *>(
+    static_cast<const ::rosidl_typesupport_introspection_cpp::ServiceMembers *>(
+      service_type_support->data));
+  // make sure that both the request_members_ and the response_members_ are initialized
+  // if they are not, initialize them
+  if (
+    service_members->request_members_ == nullptr ||
+    service_members->response_members_ == nullptr)
+  {
+    // initialize the request_members_ with the static function from the external library
+    service_members->request_members_ = static_cast<
+      const ::rosidl_typesupport_introspection_cpp::MessageMembers *
+      >(
+      ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<
+        ::bcr_bot::srv::GetVisualTopics_Request
+      >()->data
+      );
+    // initialize the response_members_ with the static function from the external library
+    service_members->response_members_ = static_cast<
+      const ::rosidl_typesupport_introspection_cpp::MessageMembers *
+      >(
+      ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle<
+        ::bcr_bot::srv::GetVisualTopics_Response
+      >()->data
+      );
+  }
+  // finally return the properly initialized service_type_support handle
+  return service_type_support;
+}
+
+}  // namespace rosidl_typesupport_introspection_cpp
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_introspection_cpp, bcr_bot, srv, GetVisualTopics)() {
+  return ::rosidl_typesupport_introspection_cpp::get_service_type_support_handle<bcr_bot::srv::GetVisualTopics>();
+}
+
+#ifdef __cplusplus
+}
+#endif

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__type_support.h

@@ -0,0 +1,58 @@
+// generated from rosidl_generator_c/resource/idl__type_support.h.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__TYPE_SUPPORT_H_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__TYPE_SUPPORT_H_
+
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "bcr_bot/msg/rosidl_generator_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+  rosidl_typesupport_c,
+  bcr_bot,
+  srv,
+  GetVisualTopics_Request
+)();
+
+// already included above
+// #include "rosidl_runtime_c/message_type_support_struct.h"
+
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+  rosidl_typesupport_c,
+  bcr_bot,
+  srv,
+  GetVisualTopics_Response
+)();
+
+#include "rosidl_runtime_c/service_type_support_struct.h"
+
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_C_PUBLIC_bcr_bot
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
+  rosidl_typesupport_c,
+  bcr_bot,
+  srv,
+  GetVisualTopics
+)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__TYPE_SUPPORT_H_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/detail/get_visual_topics__type_support.hpp

@@ -0,0 +1,71 @@
+// generated from rosidl_generator_cpp/resource/idl__type_support.hpp.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__TYPE_SUPPORT_HPP_
+#define BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__TYPE_SUPPORT_HPP_
+
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "bcr_bot/msg/rosidl_generator_cpp__visibility_control.hpp"
+
+#include "rosidl_typesupport_cpp/service_type_support.hpp"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_CPP_PUBLIC_bcr_bot
+const rosidl_service_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(
+  rosidl_typesupport_cpp,
+  bcr_bot,
+  srv,
+  GetVisualTopics
+)();
+#ifdef __cplusplus
+}
+#endif
+
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_CPP_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+  rosidl_typesupport_cpp,
+  bcr_bot,
+  srv,
+  GetVisualTopics_Request
+)();
+#ifdef __cplusplus
+}
+#endif
+
+// already included above
+// #include "rosidl_typesupport_cpp/message_type_support.hpp"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_CPP_PUBLIC_bcr_bot
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+  rosidl_typesupport_cpp,
+  bcr_bot,
+  srv,
+  GetVisualTopics_Response
+)();
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif  // BCR_BOT__SRV__DETAIL__GET_VISUAL_TOPICS__TYPE_SUPPORT_HPP_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/get_visual_topics.h

@@ -0,0 +1,12 @@
+// generated from rosidl_generator_c/resource/idl.h.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__GET_VISUAL_TOPICS_H_
+#define BCR_BOT__SRV__GET_VISUAL_TOPICS_H_
+
+#include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+#include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+#include "bcr_bot/srv/detail/get_visual_topics__type_support.h"
+
+#endif  // BCR_BOT__SRV__GET_VISUAL_TOPICS_H_

install/bcr_bot/include/bcr_bot/bcr_bot/srv/get_visual_topics.hpp

@@ -0,0 +1,12 @@
+// generated from rosidl_generator_cpp/resource/idl.hpp.em
+// generated code does not contain a copyright notice
+
+#ifndef BCR_BOT__SRV__GET_VISUAL_TOPICS_HPP_
+#define BCR_BOT__SRV__GET_VISUAL_TOPICS_HPP_
+
+#include "bcr_bot/srv/detail/get_visual_topics__struct.hpp"
+#include "bcr_bot/srv/detail/get_visual_topics__builder.hpp"
+#include "bcr_bot/srv/detail/get_visual_topics__traits.hpp"
+#include "bcr_bot/srv/detail/get_visual_topics__type_support.hpp"
+
+#endif  // BCR_BOT__SRV__GET_VISUAL_TOPICS_HPP_

install/bcr_bot/lib/bcr_bot/visual_topic_classifier.py

@@ -0,0 +1,151 @@
+#!/usr/bin/env python3
+"""Expose visualization-compatible ROS topics for the web plugin."""
+
+from collections import defaultdict
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
+from sensor_msgs.msg import CameraInfo, Image, PointCloud2
+
+from bcr_bot.srv import GetVisualTopics
+
+
+IMAGE_TYPE = "sensor_msgs/msg/Image"
+CAMERA_INFO_TYPE = "sensor_msgs/msg/CameraInfo"
+POINT_CLOUD_TYPE = "sensor_msgs/msg/PointCloud2"
+
+DEPTH_ENCODINGS = {"16uc1", "32fc1", "mono16"}
+RGB_ENCODINGS = {
+    "rgb8",
+    "bgr8",
+    "rgba8",
+    "bgra8",
+    "8uc3",
+    "8uc4",
+    "r8g8b8",
+    "b8g8r8",
+}
+
+
+class VisualTopicClassifier(Node):
+    def __init__(self):
+        super().__init__("visual_topic_classifier")
+
+        self._image_encodings = {}
+        self._image_subscriptions = {}
+        self._activity_subscriptions = {}
+        self._active_topics = set()
+        self._topics_by_type = defaultdict(set)
+
+        self.create_service(
+            GetVisualTopics, "get_visual_topics", self._get_visual_topics_callback
+        )
+        self.create_timer(1.0, self._scan_topics)
+        self._scan_topics()
+
+        self.get_logger().info(
+            "Visual topic classifier is ready on service '/get_visual_topics'."
+        )
+
+    def _scan_topics(self):
+        topics_by_type = defaultdict(set)
+
+        for topic_name, topic_types in self.get_topic_names_and_types():
+            for topic_type in topic_types:
+                topics_by_type[topic_type].add(topic_name)
+
+            if IMAGE_TYPE in topic_types:
+                self._subscribe_to_image_encoding(topic_name)
+            if CAMERA_INFO_TYPE in topic_types:
+                self._subscribe_for_activity(topic_name, CameraInfo)
+            if POINT_CLOUD_TYPE in topic_types:
+                self._subscribe_for_activity(topic_name, PointCloud2)
+
+        self._topics_by_type = topics_by_type
+
+    def _subscribe_to_image_encoding(self, topic_name):
+        if topic_name in self._image_subscriptions:
+            return
+
+        qos = QoSProfile(
+            depth=1,
+            reliability=ReliabilityPolicy.BEST_EFFORT,
+            durability=DurabilityPolicy.VOLATILE,
+        )
+        self._image_subscriptions[topic_name] = self.create_subscription(
+            Image,
+            topic_name,
+            lambda message, name=topic_name: self._cache_image_encoding(name, message),
+            qos,
+        )
+
+    def _subscribe_for_activity(self, topic_name, message_type):
+        if topic_name in self._activity_subscriptions:
+            return
+
+        qos = QoSProfile(
+            depth=1,
+            reliability=ReliabilityPolicy.BEST_EFFORT,
+            durability=DurabilityPolicy.VOLATILE,
+        )
+        self._activity_subscriptions[topic_name] = self.create_subscription(
+            message_type,
+            topic_name,
+            lambda _, name=topic_name: self._mark_topic_active(name),
+            qos,
+        )
+
+    def _cache_image_encoding(self, topic_name, message):
+        self._mark_topic_active(topic_name)
+        encoding = message.encoding.lower()
+        if self._image_encodings.get(topic_name) != encoding:
+            self._image_encodings[topic_name] = encoding
+            self.get_logger().info(
+                "Detected image encoding '%s' on '%s'." % (encoding, topic_name)
+            )
+
+    def _mark_topic_active(self, topic_name):
+        self._active_topics.add(topic_name)
+
+    def _get_visual_topics_callback(self, request, response):
+        if request.refresh:
+            self._scan_topics()
+
+        response.depth_image_topics = self._image_topics_for(DEPTH_ENCODINGS)
+        response.rgb_image_topics = self._image_topics_for(RGB_ENCODINGS)
+        response.camera_info_topics = self._active_topics_for(CAMERA_INFO_TYPE)
+        response.point_cloud_topics = self._active_topics_for(POINT_CLOUD_TYPE)
+        return response
+
+    def _image_topics_for(self, expected_encodings):
+        return sorted(
+            topic_name
+            for topic_name in self._topics_by_type[IMAGE_TYPE]
+            if self._image_encodings.get(topic_name) in expected_encodings
+        )
+
+    def _active_topics_for(self, topic_type):
+        return sorted(
+            topic_name
+            for topic_name in self._topics_by_type[topic_type]
+            if topic_name in self._active_topics
+        )
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = VisualTopicClassifier()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot-1.0.2-py3.10.egg-info/PKG-INFO

@@ -0,0 +1,10 @@
+Metadata-Version: 2.1
+Name: bcr-bot
+Version: 1.0.2
+Summary: UNKNOWN
+Home-page: UNKNOWN
+License: UNKNOWN
+Platform: UNKNOWN
+
+UNKNOWN
+

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot-1.0.2-py3.10.egg-info/SOURCES.txt

@@ -0,0 +1,8 @@
+setup.py
+bcr_bot/__init__.py
+bcr_bot.egg-info/PKG-INFO
+bcr_bot.egg-info/SOURCES.txt
+bcr_bot.egg-info/dependency_links.txt
+bcr_bot.egg-info/top_level.txt
+bcr_bot/srv/__init__.py
+bcr_bot/srv/_get_visual_topics.py

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot-1.0.2-py3.10.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot-1.0.2-py3.10.egg-info/top_level.txt

@@ -0,0 +1 @@
+bcr_bot

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot/_bcr_bot_s.ep.rosidl_typesupport_c.c

@@ -0,0 +1,354 @@
+// generated from rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em
+// generated code does not contain a copyright notice
+#include <Python.h>
+
+static PyMethodDef bcr_bot__methods[] = {
+  {NULL, NULL, 0, NULL}  /* sentinel */
+};
+
+static struct PyModuleDef bcr_bot__module = {
+  PyModuleDef_HEAD_INIT,
+  "_bcr_bot_support",
+  "_bcr_bot_doc",
+  -1,  /* -1 means that the module keeps state in global variables */
+  bcr_bot__methods,
+  NULL,
+  NULL,
+  NULL,
+  NULL,
+};
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "rosidl_runtime_c/visibility_control.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "bcr_bot/srv/detail/get_visual_topics__type_support.h"
+#include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+#include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+
+static void * bcr_bot__srv__get_visual_topics__request__create_ros_message(void)
+{
+  return bcr_bot__srv__GetVisualTopics_Request__create();
+}
+
+static void bcr_bot__srv__get_visual_topics__request__destroy_ros_message(void * raw_ros_message)
+{
+  bcr_bot__srv__GetVisualTopics_Request * ros_message = (bcr_bot__srv__GetVisualTopics_Request *)raw_ros_message;
+  bcr_bot__srv__GetVisualTopics_Request__destroy(ros_message);
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+bool bcr_bot__srv__get_visual_topics__request__convert_from_py(PyObject * _pymsg, void * ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * bcr_bot__srv__get_visual_topics__request__convert_to_py(void * raw_ros_message);
+
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_message_type_support_t *
+ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Request);
+
+int8_t
+_register_msg_type__srv__get_visual_topics__request(PyObject * pymodule)
+{
+  int8_t err;
+
+  PyObject * pyobject_create_ros_message = NULL;
+  pyobject_create_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__create_ros_message,
+    NULL, NULL);
+  if (!pyobject_create_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "create_ros_message_msg__srv__get_visual_topics__request",
+    pyobject_create_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_create_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_destroy_ros_message = NULL;
+  pyobject_destroy_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__destroy_ros_message,
+    NULL, NULL);
+  if (!pyobject_destroy_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "destroy_ros_message_msg__srv__get_visual_topics__request",
+    pyobject_destroy_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_destroy_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_from_py = NULL;
+  pyobject_convert_from_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__convert_from_py,
+    NULL, NULL);
+  if (!pyobject_convert_from_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_from_py_msg__srv__get_visual_topics__request",
+    pyobject_convert_from_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_from_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_to_py = NULL;
+  pyobject_convert_to_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__convert_to_py,
+    NULL, NULL);
+  if (!pyobject_convert_to_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_to_py_msg__srv__get_visual_topics__request",
+    pyobject_convert_to_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_to_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_type_support = NULL;
+  pyobject_type_support = PyCapsule_New(
+    (void *)ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Request),
+    NULL, NULL);
+  if (!pyobject_type_support) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "type_support_msg__srv__get_visual_topics__request",
+    pyobject_type_support);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_type_support);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+  return 0;
+}
+
+// already included above
+// #include <stdbool.h>
+// already included above
+// #include <stdint.h>
+// already included above
+// #include "rosidl_runtime_c/visibility_control.h"
+// already included above
+// #include "rosidl_runtime_c/message_type_support_struct.h"
+// already included above
+// #include "rosidl_runtime_c/service_type_support_struct.h"
+// already included above
+// #include "rosidl_runtime_c/action_type_support_struct.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__type_support.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+
+static void * bcr_bot__srv__get_visual_topics__response__create_ros_message(void)
+{
+  return bcr_bot__srv__GetVisualTopics_Response__create();
+}
+
+static void bcr_bot__srv__get_visual_topics__response__destroy_ros_message(void * raw_ros_message)
+{
+  bcr_bot__srv__GetVisualTopics_Response * ros_message = (bcr_bot__srv__GetVisualTopics_Response *)raw_ros_message;
+  bcr_bot__srv__GetVisualTopics_Response__destroy(ros_message);
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+bool bcr_bot__srv__get_visual_topics__response__convert_from_py(PyObject * _pymsg, void * ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * bcr_bot__srv__get_visual_topics__response__convert_to_py(void * raw_ros_message);
+
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_message_type_support_t *
+ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Response);
+
+int8_t
+_register_msg_type__srv__get_visual_topics__response(PyObject * pymodule)
+{
+  int8_t err;
+
+  PyObject * pyobject_create_ros_message = NULL;
+  pyobject_create_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__create_ros_message,
+    NULL, NULL);
+  if (!pyobject_create_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "create_ros_message_msg__srv__get_visual_topics__response",
+    pyobject_create_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_create_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_destroy_ros_message = NULL;
+  pyobject_destroy_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__destroy_ros_message,
+    NULL, NULL);
+  if (!pyobject_destroy_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "destroy_ros_message_msg__srv__get_visual_topics__response",
+    pyobject_destroy_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_destroy_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_from_py = NULL;
+  pyobject_convert_from_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__convert_from_py,
+    NULL, NULL);
+  if (!pyobject_convert_from_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_from_py_msg__srv__get_visual_topics__response",
+    pyobject_convert_from_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_from_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_to_py = NULL;
+  pyobject_convert_to_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__convert_to_py,
+    NULL, NULL);
+  if (!pyobject_convert_to_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_to_py_msg__srv__get_visual_topics__response",
+    pyobject_convert_to_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_to_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_type_support = NULL;
+  pyobject_type_support = PyCapsule_New(
+    (void *)ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Response),
+    NULL, NULL);
+  if (!pyobject_type_support) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "type_support_msg__srv__get_visual_topics__response",
+    pyobject_type_support);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_type_support);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+  return 0;
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_c, bcr_bot, srv, GetVisualTopics)();
+
+int8_t
+_register_srv_type__srv__get_visual_topics(PyObject * pymodule)
+{
+  int8_t err;
+  PyObject * pyobject_type_support = NULL;
+  pyobject_type_support = PyCapsule_New(
+    (void *)ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_c, bcr_bot, srv, GetVisualTopics)(),
+    NULL, NULL);
+  if (!pyobject_type_support) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "type_support_srv__srv__get_visual_topics",
+    pyobject_type_support);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_type_support);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+  return 0;
+}
+
+PyMODINIT_FUNC
+PyInit_bcr_bot_s__rosidl_typesupport_c(void)
+{
+  PyObject * pymodule = NULL;
+  pymodule = PyModule_Create(&bcr_bot__module);
+  if (!pymodule) {
+    return NULL;
+  }
+  int8_t err;
+
+  err = _register_msg_type__srv__get_visual_topics__request(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+
+  err = _register_msg_type__srv__get_visual_topics__response(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+
+  err = _register_srv_type__srv__get_visual_topics(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+
+  return pymodule;
+}

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot/_bcr_bot_s.ep.rosidl_typesupport_fastrtps_c.c

@@ -0,0 +1,354 @@
+// generated from rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em
+// generated code does not contain a copyright notice
+#include <Python.h>
+
+static PyMethodDef bcr_bot__methods[] = {
+  {NULL, NULL, 0, NULL}  /* sentinel */
+};
+
+static struct PyModuleDef bcr_bot__module = {
+  PyModuleDef_HEAD_INIT,
+  "_bcr_bot_support",
+  "_bcr_bot_doc",
+  -1,  /* -1 means that the module keeps state in global variables */
+  bcr_bot__methods,
+  NULL,
+  NULL,
+  NULL,
+  NULL,
+};
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "rosidl_runtime_c/visibility_control.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "bcr_bot/srv/detail/get_visual_topics__type_support.h"
+#include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+#include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+
+static void * bcr_bot__srv__get_visual_topics__request__create_ros_message(void)
+{
+  return bcr_bot__srv__GetVisualTopics_Request__create();
+}
+
+static void bcr_bot__srv__get_visual_topics__request__destroy_ros_message(void * raw_ros_message)
+{
+  bcr_bot__srv__GetVisualTopics_Request * ros_message = (bcr_bot__srv__GetVisualTopics_Request *)raw_ros_message;
+  bcr_bot__srv__GetVisualTopics_Request__destroy(ros_message);
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+bool bcr_bot__srv__get_visual_topics__request__convert_from_py(PyObject * _pymsg, void * ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * bcr_bot__srv__get_visual_topics__request__convert_to_py(void * raw_ros_message);
+
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_message_type_support_t *
+ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Request);
+
+int8_t
+_register_msg_type__srv__get_visual_topics__request(PyObject * pymodule)
+{
+  int8_t err;
+
+  PyObject * pyobject_create_ros_message = NULL;
+  pyobject_create_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__create_ros_message,
+    NULL, NULL);
+  if (!pyobject_create_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "create_ros_message_msg__srv__get_visual_topics__request",
+    pyobject_create_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_create_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_destroy_ros_message = NULL;
+  pyobject_destroy_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__destroy_ros_message,
+    NULL, NULL);
+  if (!pyobject_destroy_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "destroy_ros_message_msg__srv__get_visual_topics__request",
+    pyobject_destroy_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_destroy_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_from_py = NULL;
+  pyobject_convert_from_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__convert_from_py,
+    NULL, NULL);
+  if (!pyobject_convert_from_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_from_py_msg__srv__get_visual_topics__request",
+    pyobject_convert_from_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_from_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_to_py = NULL;
+  pyobject_convert_to_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__convert_to_py,
+    NULL, NULL);
+  if (!pyobject_convert_to_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_to_py_msg__srv__get_visual_topics__request",
+    pyobject_convert_to_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_to_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_type_support = NULL;
+  pyobject_type_support = PyCapsule_New(
+    (void *)ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Request),
+    NULL, NULL);
+  if (!pyobject_type_support) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "type_support_msg__srv__get_visual_topics__request",
+    pyobject_type_support);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_type_support);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+  return 0;
+}
+
+// already included above
+// #include <stdbool.h>
+// already included above
+// #include <stdint.h>
+// already included above
+// #include "rosidl_runtime_c/visibility_control.h"
+// already included above
+// #include "rosidl_runtime_c/message_type_support_struct.h"
+// already included above
+// #include "rosidl_runtime_c/service_type_support_struct.h"
+// already included above
+// #include "rosidl_runtime_c/action_type_support_struct.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__type_support.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+
+static void * bcr_bot__srv__get_visual_topics__response__create_ros_message(void)
+{
+  return bcr_bot__srv__GetVisualTopics_Response__create();
+}
+
+static void bcr_bot__srv__get_visual_topics__response__destroy_ros_message(void * raw_ros_message)
+{
+  bcr_bot__srv__GetVisualTopics_Response * ros_message = (bcr_bot__srv__GetVisualTopics_Response *)raw_ros_message;
+  bcr_bot__srv__GetVisualTopics_Response__destroy(ros_message);
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+bool bcr_bot__srv__get_visual_topics__response__convert_from_py(PyObject * _pymsg, void * ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * bcr_bot__srv__get_visual_topics__response__convert_to_py(void * raw_ros_message);
+
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_message_type_support_t *
+ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Response);
+
+int8_t
+_register_msg_type__srv__get_visual_topics__response(PyObject * pymodule)
+{
+  int8_t err;
+
+  PyObject * pyobject_create_ros_message = NULL;
+  pyobject_create_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__create_ros_message,
+    NULL, NULL);
+  if (!pyobject_create_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "create_ros_message_msg__srv__get_visual_topics__response",
+    pyobject_create_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_create_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_destroy_ros_message = NULL;
+  pyobject_destroy_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__destroy_ros_message,
+    NULL, NULL);
+  if (!pyobject_destroy_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "destroy_ros_message_msg__srv__get_visual_topics__response",
+    pyobject_destroy_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_destroy_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_from_py = NULL;
+  pyobject_convert_from_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__convert_from_py,
+    NULL, NULL);
+  if (!pyobject_convert_from_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_from_py_msg__srv__get_visual_topics__response",
+    pyobject_convert_from_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_from_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_to_py = NULL;
+  pyobject_convert_to_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__convert_to_py,
+    NULL, NULL);
+  if (!pyobject_convert_to_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_to_py_msg__srv__get_visual_topics__response",
+    pyobject_convert_to_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_to_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_type_support = NULL;
+  pyobject_type_support = PyCapsule_New(
+    (void *)ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Response),
+    NULL, NULL);
+  if (!pyobject_type_support) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "type_support_msg__srv__get_visual_topics__response",
+    pyobject_type_support);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_type_support);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+  return 0;
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_c, bcr_bot, srv, GetVisualTopics)();
+
+int8_t
+_register_srv_type__srv__get_visual_topics(PyObject * pymodule)
+{
+  int8_t err;
+  PyObject * pyobject_type_support = NULL;
+  pyobject_type_support = PyCapsule_New(
+    (void *)ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_c, bcr_bot, srv, GetVisualTopics)(),
+    NULL, NULL);
+  if (!pyobject_type_support) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "type_support_srv__srv__get_visual_topics",
+    pyobject_type_support);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_type_support);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+  return 0;
+}
+
+PyMODINIT_FUNC
+PyInit_bcr_bot_s__rosidl_typesupport_fastrtps_c(void)
+{
+  PyObject * pymodule = NULL;
+  pymodule = PyModule_Create(&bcr_bot__module);
+  if (!pymodule) {
+    return NULL;
+  }
+  int8_t err;
+
+  err = _register_msg_type__srv__get_visual_topics__request(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+
+  err = _register_msg_type__srv__get_visual_topics__response(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+
+  err = _register_srv_type__srv__get_visual_topics(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+
+  return pymodule;
+}

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot/_bcr_bot_s.ep.rosidl_typesupport_introspection_c.c

@@ -0,0 +1,354 @@
+// generated from rosidl_generator_py/resource/_idl_pkg_typesupport_entry_point.c.em
+// generated code does not contain a copyright notice
+#include <Python.h>
+
+static PyMethodDef bcr_bot__methods[] = {
+  {NULL, NULL, 0, NULL}  /* sentinel */
+};
+
+static struct PyModuleDef bcr_bot__module = {
+  PyModuleDef_HEAD_INIT,
+  "_bcr_bot_support",
+  "_bcr_bot_doc",
+  -1,  /* -1 means that the module keeps state in global variables */
+  bcr_bot__methods,
+  NULL,
+  NULL,
+  NULL,
+  NULL,
+};
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "rosidl_runtime_c/visibility_control.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "bcr_bot/srv/detail/get_visual_topics__type_support.h"
+#include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+#include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+
+static void * bcr_bot__srv__get_visual_topics__request__create_ros_message(void)
+{
+  return bcr_bot__srv__GetVisualTopics_Request__create();
+}
+
+static void bcr_bot__srv__get_visual_topics__request__destroy_ros_message(void * raw_ros_message)
+{
+  bcr_bot__srv__GetVisualTopics_Request * ros_message = (bcr_bot__srv__GetVisualTopics_Request *)raw_ros_message;
+  bcr_bot__srv__GetVisualTopics_Request__destroy(ros_message);
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+bool bcr_bot__srv__get_visual_topics__request__convert_from_py(PyObject * _pymsg, void * ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * bcr_bot__srv__get_visual_topics__request__convert_to_py(void * raw_ros_message);
+
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_message_type_support_t *
+ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Request);
+
+int8_t
+_register_msg_type__srv__get_visual_topics__request(PyObject * pymodule)
+{
+  int8_t err;
+
+  PyObject * pyobject_create_ros_message = NULL;
+  pyobject_create_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__create_ros_message,
+    NULL, NULL);
+  if (!pyobject_create_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "create_ros_message_msg__srv__get_visual_topics__request",
+    pyobject_create_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_create_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_destroy_ros_message = NULL;
+  pyobject_destroy_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__destroy_ros_message,
+    NULL, NULL);
+  if (!pyobject_destroy_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "destroy_ros_message_msg__srv__get_visual_topics__request",
+    pyobject_destroy_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_destroy_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_from_py = NULL;
+  pyobject_convert_from_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__convert_from_py,
+    NULL, NULL);
+  if (!pyobject_convert_from_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_from_py_msg__srv__get_visual_topics__request",
+    pyobject_convert_from_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_from_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_to_py = NULL;
+  pyobject_convert_to_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__request__convert_to_py,
+    NULL, NULL);
+  if (!pyobject_convert_to_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_to_py_msg__srv__get_visual_topics__request",
+    pyobject_convert_to_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_to_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_type_support = NULL;
+  pyobject_type_support = PyCapsule_New(
+    (void *)ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Request),
+    NULL, NULL);
+  if (!pyobject_type_support) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "type_support_msg__srv__get_visual_topics__request",
+    pyobject_type_support);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_type_support);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+  return 0;
+}
+
+// already included above
+// #include <stdbool.h>
+// already included above
+// #include <stdint.h>
+// already included above
+// #include "rosidl_runtime_c/visibility_control.h"
+// already included above
+// #include "rosidl_runtime_c/message_type_support_struct.h"
+// already included above
+// #include "rosidl_runtime_c/service_type_support_struct.h"
+// already included above
+// #include "rosidl_runtime_c/action_type_support_struct.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__type_support.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+
+static void * bcr_bot__srv__get_visual_topics__response__create_ros_message(void)
+{
+  return bcr_bot__srv__GetVisualTopics_Response__create();
+}
+
+static void bcr_bot__srv__get_visual_topics__response__destroy_ros_message(void * raw_ros_message)
+{
+  bcr_bot__srv__GetVisualTopics_Response * ros_message = (bcr_bot__srv__GetVisualTopics_Response *)raw_ros_message;
+  bcr_bot__srv__GetVisualTopics_Response__destroy(ros_message);
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+bool bcr_bot__srv__get_visual_topics__response__convert_from_py(PyObject * _pymsg, void * ros_message);
+ROSIDL_GENERATOR_C_IMPORT
+PyObject * bcr_bot__srv__get_visual_topics__response__convert_to_py(void * raw_ros_message);
+
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_message_type_support_t *
+ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Response);
+
+int8_t
+_register_msg_type__srv__get_visual_topics__response(PyObject * pymodule)
+{
+  int8_t err;
+
+  PyObject * pyobject_create_ros_message = NULL;
+  pyobject_create_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__create_ros_message,
+    NULL, NULL);
+  if (!pyobject_create_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "create_ros_message_msg__srv__get_visual_topics__response",
+    pyobject_create_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_create_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_destroy_ros_message = NULL;
+  pyobject_destroy_ros_message = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__destroy_ros_message,
+    NULL, NULL);
+  if (!pyobject_destroy_ros_message) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "destroy_ros_message_msg__srv__get_visual_topics__response",
+    pyobject_destroy_ros_message);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_destroy_ros_message);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_from_py = NULL;
+  pyobject_convert_from_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__convert_from_py,
+    NULL, NULL);
+  if (!pyobject_convert_from_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_from_py_msg__srv__get_visual_topics__response",
+    pyobject_convert_from_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_from_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_convert_to_py = NULL;
+  pyobject_convert_to_py = PyCapsule_New(
+    (void *)&bcr_bot__srv__get_visual_topics__response__convert_to_py,
+    NULL, NULL);
+  if (!pyobject_convert_to_py) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "convert_to_py_msg__srv__get_visual_topics__response",
+    pyobject_convert_to_py);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_convert_to_py);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+
+  PyObject * pyobject_type_support = NULL;
+  pyobject_type_support = PyCapsule_New(
+    (void *)ROSIDL_GET_MSG_TYPE_SUPPORT(bcr_bot, srv, GetVisualTopics_Response),
+    NULL, NULL);
+  if (!pyobject_type_support) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "type_support_msg__srv__get_visual_topics__response",
+    pyobject_type_support);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_type_support);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+  return 0;
+}
+
+ROSIDL_GENERATOR_C_IMPORT
+const rosidl_service_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_c, bcr_bot, srv, GetVisualTopics)();
+
+int8_t
+_register_srv_type__srv__get_visual_topics(PyObject * pymodule)
+{
+  int8_t err;
+  PyObject * pyobject_type_support = NULL;
+  pyobject_type_support = PyCapsule_New(
+    (void *)ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_c, bcr_bot, srv, GetVisualTopics)(),
+    NULL, NULL);
+  if (!pyobject_type_support) {
+    // previously added objects will be removed when the module is destroyed
+    return -1;
+  }
+  err = PyModule_AddObject(
+    pymodule,
+    "type_support_srv__srv__get_visual_topics",
+    pyobject_type_support);
+  if (err) {
+    // the created capsule needs to be decremented
+    Py_XDECREF(pyobject_type_support);
+    // previously added objects will be removed when the module is destroyed
+    return err;
+  }
+  return 0;
+}
+
+PyMODINIT_FUNC
+PyInit_bcr_bot_s__rosidl_typesupport_introspection_c(void)
+{
+  PyObject * pymodule = NULL;
+  pymodule = PyModule_Create(&bcr_bot__module);
+  if (!pymodule) {
+    return NULL;
+  }
+  int8_t err;
+
+  err = _register_msg_type__srv__get_visual_topics__request(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+
+  err = _register_msg_type__srv__get_visual_topics__response(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+
+  err = _register_srv_type__srv__get_visual_topics(pymodule);
+  if (err) {
+    Py_XDECREF(pymodule);
+    return NULL;
+  }
+
+  return pymodule;
+}

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot/srv/__init__.py

@@ -0,0 +1 @@
+from bcr_bot.srv._get_visual_topics import GetVisualTopics  # noqa: F401

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot/srv/_get_visual_topics.py

@@ -0,0 +1,380 @@
+# generated from rosidl_generator_py/resource/_idl.py.em
+# with input from bcr_bot:srv/GetVisualTopics.idl
+# generated code does not contain a copyright notice
+
+
+# Import statements for member types
+
+import builtins  # noqa: E402, I100
+
+import rosidl_parser.definition  # noqa: E402, I100
+
+
+class Metaclass_GetVisualTopics_Request(type):
+    """Metaclass of message 'GetVisualTopics_Request'."""
+
+    _CREATE_ROS_MESSAGE = None
+    _CONVERT_FROM_PY = None
+    _CONVERT_TO_PY = None
+    _DESTROY_ROS_MESSAGE = None
+    _TYPE_SUPPORT = None
+
+    __constants = {
+    }
+
+    @classmethod
+    def __import_type_support__(cls):
+        try:
+            from rosidl_generator_py import import_type_support
+            module = import_type_support('bcr_bot')
+        except ImportError:
+            import logging
+            import traceback
+            logger = logging.getLogger(
+                'bcr_bot.srv.GetVisualTopics_Request')
+            logger.debug(
+                'Failed to import needed modules for type support:\n' +
+                traceback.format_exc())
+        else:
+            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__srv__get_visual_topics__request
+            cls._CONVERT_FROM_PY = module.convert_from_py_msg__srv__get_visual_topics__request
+            cls._CONVERT_TO_PY = module.convert_to_py_msg__srv__get_visual_topics__request
+            cls._TYPE_SUPPORT = module.type_support_msg__srv__get_visual_topics__request
+            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__srv__get_visual_topics__request
+
+    @classmethod
+    def __prepare__(cls, name, bases, **kwargs):
+        # list constant names here so that they appear in the help text of
+        # the message class under "Data and other attributes defined here:"
+        # as well as populate each message instance
+        return {
+        }
+
+
+class GetVisualTopics_Request(metaclass=Metaclass_GetVisualTopics_Request):
+    """Message class 'GetVisualTopics_Request'."""
+
+    __slots__ = [
+        '_refresh',
+    ]
+
+    _fields_and_field_types = {
+        'refresh': 'boolean',
+    }
+
+    SLOT_TYPES = (
+        rosidl_parser.definition.BasicType('boolean'),  # noqa: E501
+    )
+
+    def __init__(self, **kwargs):
+        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
+            'Invalid arguments passed to constructor: %s' % \
+            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
+        self.refresh = kwargs.get('refresh', bool())
+
+    def __repr__(self):
+        typename = self.__class__.__module__.split('.')
+        typename.pop()
+        typename.append(self.__class__.__name__)
+        args = []
+        for s, t in zip(self.__slots__, self.SLOT_TYPES):
+            field = getattr(self, s)
+            fieldstr = repr(field)
+            # We use Python array type for fields that can be directly stored
+            # in them, and "normal" sequences for everything else.  If it is
+            # a type that we store in an array, strip off the 'array' portion.
+            if (
+                isinstance(t, rosidl_parser.definition.AbstractSequence) and
+                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
+                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
+            ):
+                if len(field) == 0:
+                    fieldstr = '[]'
+                else:
+                    assert fieldstr.startswith('array(')
+                    prefix = "array('X', "
+                    suffix = ')'
+                    fieldstr = fieldstr[len(prefix):-len(suffix)]
+            args.append(s[1:] + '=' + fieldstr)
+        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
+
+    def __eq__(self, other):
+        if not isinstance(other, self.__class__):
+            return False
+        if self.refresh != other.refresh:
+            return False
+        return True
+
+    @classmethod
+    def get_fields_and_field_types(cls):
+        from copy import copy
+        return copy(cls._fields_and_field_types)
+
+    @builtins.property
+    def refresh(self):
+        """Message field 'refresh'."""
+        return self._refresh
+
+    @refresh.setter
+    def refresh(self, value):
+        if __debug__:
+            assert \
+                isinstance(value, bool), \
+                "The 'refresh' field must be of type 'bool'"
+        self._refresh = value
+
+
+# Import statements for member types
+
+# already imported above
+# import builtins
+
+# already imported above
+# import rosidl_parser.definition
+
+
+class Metaclass_GetVisualTopics_Response(type):
+    """Metaclass of message 'GetVisualTopics_Response'."""
+
+    _CREATE_ROS_MESSAGE = None
+    _CONVERT_FROM_PY = None
+    _CONVERT_TO_PY = None
+    _DESTROY_ROS_MESSAGE = None
+    _TYPE_SUPPORT = None
+
+    __constants = {
+    }
+
+    @classmethod
+    def __import_type_support__(cls):
+        try:
+            from rosidl_generator_py import import_type_support
+            module = import_type_support('bcr_bot')
+        except ImportError:
+            import logging
+            import traceback
+            logger = logging.getLogger(
+                'bcr_bot.srv.GetVisualTopics_Response')
+            logger.debug(
+                'Failed to import needed modules for type support:\n' +
+                traceback.format_exc())
+        else:
+            cls._CREATE_ROS_MESSAGE = module.create_ros_message_msg__srv__get_visual_topics__response
+            cls._CONVERT_FROM_PY = module.convert_from_py_msg__srv__get_visual_topics__response
+            cls._CONVERT_TO_PY = module.convert_to_py_msg__srv__get_visual_topics__response
+            cls._TYPE_SUPPORT = module.type_support_msg__srv__get_visual_topics__response
+            cls._DESTROY_ROS_MESSAGE = module.destroy_ros_message_msg__srv__get_visual_topics__response
+
+    @classmethod
+    def __prepare__(cls, name, bases, **kwargs):
+        # list constant names here so that they appear in the help text of
+        # the message class under "Data and other attributes defined here:"
+        # as well as populate each message instance
+        return {
+        }
+
+
+class GetVisualTopics_Response(metaclass=Metaclass_GetVisualTopics_Response):
+    """Message class 'GetVisualTopics_Response'."""
+
+    __slots__ = [
+        '_depth_image_topics',
+        '_rgb_image_topics',
+        '_camera_info_topics',
+        '_point_cloud_topics',
+    ]
+
+    _fields_and_field_types = {
+        'depth_image_topics': 'sequence<string>',
+        'rgb_image_topics': 'sequence<string>',
+        'camera_info_topics': 'sequence<string>',
+        'point_cloud_topics': 'sequence<string>',
+    }
+
+    SLOT_TYPES = (
+        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.UnboundedString()),  # noqa: E501
+        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.UnboundedString()),  # noqa: E501
+        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.UnboundedString()),  # noqa: E501
+        rosidl_parser.definition.UnboundedSequence(rosidl_parser.definition.UnboundedString()),  # noqa: E501
+    )
+
+    def __init__(self, **kwargs):
+        assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
+            'Invalid arguments passed to constructor: %s' % \
+            ', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
+        self.depth_image_topics = kwargs.get('depth_image_topics', [])
+        self.rgb_image_topics = kwargs.get('rgb_image_topics', [])
+        self.camera_info_topics = kwargs.get('camera_info_topics', [])
+        self.point_cloud_topics = kwargs.get('point_cloud_topics', [])
+
+    def __repr__(self):
+        typename = self.__class__.__module__.split('.')
+        typename.pop()
+        typename.append(self.__class__.__name__)
+        args = []
+        for s, t in zip(self.__slots__, self.SLOT_TYPES):
+            field = getattr(self, s)
+            fieldstr = repr(field)
+            # We use Python array type for fields that can be directly stored
+            # in them, and "normal" sequences for everything else.  If it is
+            # a type that we store in an array, strip off the 'array' portion.
+            if (
+                isinstance(t, rosidl_parser.definition.AbstractSequence) and
+                isinstance(t.value_type, rosidl_parser.definition.BasicType) and
+                t.value_type.typename in ['float', 'double', 'int8', 'uint8', 'int16', 'uint16', 'int32', 'uint32', 'int64', 'uint64']
+            ):
+                if len(field) == 0:
+                    fieldstr = '[]'
+                else:
+                    assert fieldstr.startswith('array(')
+                    prefix = "array('X', "
+                    suffix = ')'
+                    fieldstr = fieldstr[len(prefix):-len(suffix)]
+            args.append(s[1:] + '=' + fieldstr)
+        return '%s(%s)' % ('.'.join(typename), ', '.join(args))
+
+    def __eq__(self, other):
+        if not isinstance(other, self.__class__):
+            return False
+        if self.depth_image_topics != other.depth_image_topics:
+            return False
+        if self.rgb_image_topics != other.rgb_image_topics:
+            return False
+        if self.camera_info_topics != other.camera_info_topics:
+            return False
+        if self.point_cloud_topics != other.point_cloud_topics:
+            return False
+        return True
+
+    @classmethod
+    def get_fields_and_field_types(cls):
+        from copy import copy
+        return copy(cls._fields_and_field_types)
+
+    @builtins.property
+    def depth_image_topics(self):
+        """Message field 'depth_image_topics'."""
+        return self._depth_image_topics
+
+    @depth_image_topics.setter
+    def depth_image_topics(self, value):
+        if __debug__:
+            from collections.abc import Sequence
+            from collections.abc import Set
+            from collections import UserList
+            from collections import UserString
+            assert \
+                ((isinstance(value, Sequence) or
+                  isinstance(value, Set) or
+                  isinstance(value, UserList)) and
+                 not isinstance(value, str) and
+                 not isinstance(value, UserString) and
+                 all(isinstance(v, str) for v in value) and
+                 True), \
+                "The 'depth_image_topics' field must be a set or sequence and each value of type 'str'"
+        self._depth_image_topics = value
+
+    @builtins.property
+    def rgb_image_topics(self):
+        """Message field 'rgb_image_topics'."""
+        return self._rgb_image_topics
+
+    @rgb_image_topics.setter
+    def rgb_image_topics(self, value):
+        if __debug__:
+            from collections.abc import Sequence
+            from collections.abc import Set
+            from collections import UserList
+            from collections import UserString
+            assert \
+                ((isinstance(value, Sequence) or
+                  isinstance(value, Set) or
+                  isinstance(value, UserList)) and
+                 not isinstance(value, str) and
+                 not isinstance(value, UserString) and
+                 all(isinstance(v, str) for v in value) and
+                 True), \
+                "The 'rgb_image_topics' field must be a set or sequence and each value of type 'str'"
+        self._rgb_image_topics = value
+
+    @builtins.property
+    def camera_info_topics(self):
+        """Message field 'camera_info_topics'."""
+        return self._camera_info_topics
+
+    @camera_info_topics.setter
+    def camera_info_topics(self, value):
+        if __debug__:
+            from collections.abc import Sequence
+            from collections.abc import Set
+            from collections import UserList
+            from collections import UserString
+            assert \
+                ((isinstance(value, Sequence) or
+                  isinstance(value, Set) or
+                  isinstance(value, UserList)) and
+                 not isinstance(value, str) and
+                 not isinstance(value, UserString) and
+                 all(isinstance(v, str) for v in value) and
+                 True), \
+                "The 'camera_info_topics' field must be a set or sequence and each value of type 'str'"
+        self._camera_info_topics = value
+
+    @builtins.property
+    def point_cloud_topics(self):
+        """Message field 'point_cloud_topics'."""
+        return self._point_cloud_topics
+
+    @point_cloud_topics.setter
+    def point_cloud_topics(self, value):
+        if __debug__:
+            from collections.abc import Sequence
+            from collections.abc import Set
+            from collections import UserList
+            from collections import UserString
+            assert \
+                ((isinstance(value, Sequence) or
+                  isinstance(value, Set) or
+                  isinstance(value, UserList)) and
+                 not isinstance(value, str) and
+                 not isinstance(value, UserString) and
+                 all(isinstance(v, str) for v in value) and
+                 True), \
+                "The 'point_cloud_topics' field must be a set or sequence and each value of type 'str'"
+        self._point_cloud_topics = value
+
+
+class Metaclass_GetVisualTopics(type):
+    """Metaclass of service 'GetVisualTopics'."""
+
+    _TYPE_SUPPORT = None
+
+    @classmethod
+    def __import_type_support__(cls):
+        try:
+            from rosidl_generator_py import import_type_support
+            module = import_type_support('bcr_bot')
+        except ImportError:
+            import logging
+            import traceback
+            logger = logging.getLogger(
+                'bcr_bot.srv.GetVisualTopics')
+            logger.debug(
+                'Failed to import needed modules for type support:\n' +
+                traceback.format_exc())
+        else:
+            cls._TYPE_SUPPORT = module.type_support_srv__srv__get_visual_topics
+
+            from bcr_bot.srv import _get_visual_topics
+            if _get_visual_topics.Metaclass_GetVisualTopics_Request._TYPE_SUPPORT is None:
+                _get_visual_topics.Metaclass_GetVisualTopics_Request.__import_type_support__()
+            if _get_visual_topics.Metaclass_GetVisualTopics_Response._TYPE_SUPPORT is None:
+                _get_visual_topics.Metaclass_GetVisualTopics_Response.__import_type_support__()
+
+
+class GetVisualTopics(metaclass=Metaclass_GetVisualTopics):
+    from bcr_bot.srv._get_visual_topics import GetVisualTopics_Request as Request
+    from bcr_bot.srv._get_visual_topics import GetVisualTopics_Response as Response
+
+    def __init__(self):
+        raise NotImplementedError('Service classes can not be instantiated')

install/bcr_bot/local/lib/python3.10/dist-packages/bcr_bot/srv/_get_visual_topics_s.c

@@ -0,0 +1,462 @@
+// generated from rosidl_generator_py/resource/_idl_support.c.em
+// with input from bcr_bot:srv/GetVisualTopics.idl
+// generated code does not contain a copyright notice
+#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
+#include <Python.h>
+#include <stdbool.h>
+#ifndef _WIN32
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+#include "numpy/ndarrayobject.h"
+#ifndef _WIN32
+# pragma GCC diagnostic pop
+#endif
+#include "rosidl_runtime_c/visibility_control.h"
+#include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+#include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+
+
+ROSIDL_GENERATOR_C_EXPORT
+bool bcr_bot__srv__get_visual_topics__request__convert_from_py(PyObject * _pymsg, void * _ros_message)
+{
+  // check that the passed message is of the expected Python class
+  {
+    char full_classname_dest[55];
+    {
+      char * class_name = NULL;
+      char * module_name = NULL;
+      {
+        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
+        if (class_attr) {
+          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
+          if (name_attr) {
+            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
+            Py_DECREF(name_attr);
+          }
+          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
+          if (module_attr) {
+            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
+            Py_DECREF(module_attr);
+          }
+          Py_DECREF(class_attr);
+        }
+      }
+      if (!class_name || !module_name) {
+        return false;
+      }
+      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
+    }
+    assert(strncmp("bcr_bot.srv._get_visual_topics.GetVisualTopics_Request", full_classname_dest, 54) == 0);
+  }
+  bcr_bot__srv__GetVisualTopics_Request * ros_message = _ros_message;
+  {  // refresh
+    PyObject * field = PyObject_GetAttrString(_pymsg, "refresh");
+    if (!field) {
+      return false;
+    }
+    assert(PyBool_Check(field));
+    ros_message->refresh = (Py_True == field);
+    Py_DECREF(field);
+  }
+
+  return true;
+}
+
+ROSIDL_GENERATOR_C_EXPORT
+PyObject * bcr_bot__srv__get_visual_topics__request__convert_to_py(void * raw_ros_message)
+{
+  /* NOTE(esteve): Call constructor of GetVisualTopics_Request */
+  PyObject * _pymessage = NULL;
+  {
+    PyObject * pymessage_module = PyImport_ImportModule("bcr_bot.srv._get_visual_topics");
+    assert(pymessage_module);
+    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "GetVisualTopics_Request");
+    assert(pymessage_class);
+    Py_DECREF(pymessage_module);
+    _pymessage = PyObject_CallObject(pymessage_class, NULL);
+    Py_DECREF(pymessage_class);
+    if (!_pymessage) {
+      return NULL;
+    }
+  }
+  bcr_bot__srv__GetVisualTopics_Request * ros_message = (bcr_bot__srv__GetVisualTopics_Request *)raw_ros_message;
+  {  // refresh
+    PyObject * field = NULL;
+    field = PyBool_FromLong(ros_message->refresh ? 1 : 0);
+    {
+      int rc = PyObject_SetAttrString(_pymessage, "refresh", field);
+      Py_DECREF(field);
+      if (rc) {
+        return NULL;
+      }
+    }
+  }
+
+  // ownership of _pymessage is transferred to the caller
+  return _pymessage;
+}
+
+#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
+// already included above
+// #include <Python.h>
+// already included above
+// #include <stdbool.h>
+// already included above
+// #include "numpy/ndarrayobject.h"
+// already included above
+// #include "rosidl_runtime_c/visibility_control.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__struct.h"
+// already included above
+// #include "bcr_bot/srv/detail/get_visual_topics__functions.h"
+
+#include "rosidl_runtime_c/primitives_sequence.h"
+#include "rosidl_runtime_c/primitives_sequence_functions.h"
+#include "rosidl_runtime_c/string.h"
+#include "rosidl_runtime_c/string_functions.h"
+
+
+ROSIDL_GENERATOR_C_EXPORT
+bool bcr_bot__srv__get_visual_topics__response__convert_from_py(PyObject * _pymsg, void * _ros_message)
+{
+  // check that the passed message is of the expected Python class
+  {
+    char full_classname_dest[56];
+    {
+      char * class_name = NULL;
+      char * module_name = NULL;
+      {
+        PyObject * class_attr = PyObject_GetAttrString(_pymsg, "__class__");
+        if (class_attr) {
+          PyObject * name_attr = PyObject_GetAttrString(class_attr, "__name__");
+          if (name_attr) {
+            class_name = (char *)PyUnicode_1BYTE_DATA(name_attr);
+            Py_DECREF(name_attr);
+          }
+          PyObject * module_attr = PyObject_GetAttrString(class_attr, "__module__");
+          if (module_attr) {
+            module_name = (char *)PyUnicode_1BYTE_DATA(module_attr);
+            Py_DECREF(module_attr);
+          }
+          Py_DECREF(class_attr);
+        }
+      }
+      if (!class_name || !module_name) {
+        return false;
+      }
+      snprintf(full_classname_dest, sizeof(full_classname_dest), "%s.%s", module_name, class_name);
+    }
+    assert(strncmp("bcr_bot.srv._get_visual_topics.GetVisualTopics_Response", full_classname_dest, 55) == 0);
+  }
+  bcr_bot__srv__GetVisualTopics_Response * ros_message = _ros_message;
+  {  // depth_image_topics
+    PyObject * field = PyObject_GetAttrString(_pymsg, "depth_image_topics");
+    if (!field) {
+      return false;
+    }
+    {
+      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'depth_image_topics'");
+      if (!seq_field) {
+        Py_DECREF(field);
+        return false;
+      }
+      Py_ssize_t size = PySequence_Size(field);
+      if (-1 == size) {
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      if (!rosidl_runtime_c__String__Sequence__init(&(ros_message->depth_image_topics), size)) {
+        PyErr_SetString(PyExc_RuntimeError, "unable to create String__Sequence ros_message");
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      rosidl_runtime_c__String * dest = ros_message->depth_image_topics.data;
+      for (Py_ssize_t i = 0; i < size; ++i) {
+        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
+        if (!item) {
+          Py_DECREF(seq_field);
+          Py_DECREF(field);
+          return false;
+        }
+        assert(PyUnicode_Check(item));
+        PyObject * encoded_item = PyUnicode_AsUTF8String(item);
+        if (!encoded_item) {
+          Py_DECREF(seq_field);
+          Py_DECREF(field);
+          return false;
+        }
+        rosidl_runtime_c__String__assign(&dest[i], PyBytes_AS_STRING(encoded_item));
+        Py_DECREF(encoded_item);
+      }
+      Py_DECREF(seq_field);
+    }
+    Py_DECREF(field);
+  }
+  {  // rgb_image_topics
+    PyObject * field = PyObject_GetAttrString(_pymsg, "rgb_image_topics");
+    if (!field) {
+      return false;
+    }
+    {
+      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'rgb_image_topics'");
+      if (!seq_field) {
+        Py_DECREF(field);
+        return false;
+      }
+      Py_ssize_t size = PySequence_Size(field);
+      if (-1 == size) {
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      if (!rosidl_runtime_c__String__Sequence__init(&(ros_message->rgb_image_topics), size)) {
+        PyErr_SetString(PyExc_RuntimeError, "unable to create String__Sequence ros_message");
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      rosidl_runtime_c__String * dest = ros_message->rgb_image_topics.data;
+      for (Py_ssize_t i = 0; i < size; ++i) {
+        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
+        if (!item) {
+          Py_DECREF(seq_field);
+          Py_DECREF(field);
+          return false;
+        }
+        assert(PyUnicode_Check(item));
+        PyObject * encoded_item = PyUnicode_AsUTF8String(item);
+        if (!encoded_item) {
+          Py_DECREF(seq_field);
+          Py_DECREF(field);
+          return false;
+        }
+        rosidl_runtime_c__String__assign(&dest[i], PyBytes_AS_STRING(encoded_item));
+        Py_DECREF(encoded_item);
+      }
+      Py_DECREF(seq_field);
+    }
+    Py_DECREF(field);
+  }
+  {  // camera_info_topics
+    PyObject * field = PyObject_GetAttrString(_pymsg, "camera_info_topics");
+    if (!field) {
+      return false;
+    }
+    {
+      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'camera_info_topics'");
+      if (!seq_field) {
+        Py_DECREF(field);
+        return false;
+      }
+      Py_ssize_t size = PySequence_Size(field);
+      if (-1 == size) {
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      if (!rosidl_runtime_c__String__Sequence__init(&(ros_message->camera_info_topics), size)) {
+        PyErr_SetString(PyExc_RuntimeError, "unable to create String__Sequence ros_message");
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      rosidl_runtime_c__String * dest = ros_message->camera_info_topics.data;
+      for (Py_ssize_t i = 0; i < size; ++i) {
+        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
+        if (!item) {
+          Py_DECREF(seq_field);
+          Py_DECREF(field);
+          return false;
+        }
+        assert(PyUnicode_Check(item));
+        PyObject * encoded_item = PyUnicode_AsUTF8String(item);
+        if (!encoded_item) {
+          Py_DECREF(seq_field);
+          Py_DECREF(field);
+          return false;
+        }
+        rosidl_runtime_c__String__assign(&dest[i], PyBytes_AS_STRING(encoded_item));
+        Py_DECREF(encoded_item);
+      }
+      Py_DECREF(seq_field);
+    }
+    Py_DECREF(field);
+  }
+  {  // point_cloud_topics
+    PyObject * field = PyObject_GetAttrString(_pymsg, "point_cloud_topics");
+    if (!field) {
+      return false;
+    }
+    {
+      PyObject * seq_field = PySequence_Fast(field, "expected a sequence in 'point_cloud_topics'");
+      if (!seq_field) {
+        Py_DECREF(field);
+        return false;
+      }
+      Py_ssize_t size = PySequence_Size(field);
+      if (-1 == size) {
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      if (!rosidl_runtime_c__String__Sequence__init(&(ros_message->point_cloud_topics), size)) {
+        PyErr_SetString(PyExc_RuntimeError, "unable to create String__Sequence ros_message");
+        Py_DECREF(seq_field);
+        Py_DECREF(field);
+        return false;
+      }
+      rosidl_runtime_c__String * dest = ros_message->point_cloud_topics.data;
+      for (Py_ssize_t i = 0; i < size; ++i) {
+        PyObject * item = PySequence_Fast_GET_ITEM(seq_field, i);
+        if (!item) {
+          Py_DECREF(seq_field);
+          Py_DECREF(field);
+          return false;
+        }
+        assert(PyUnicode_Check(item));
+        PyObject * encoded_item = PyUnicode_AsUTF8String(item);
+        if (!encoded_item) {
+          Py_DECREF(seq_field);
+          Py_DECREF(field);
+          return false;
+        }
+        rosidl_runtime_c__String__assign(&dest[i], PyBytes_AS_STRING(encoded_item));
+        Py_DECREF(encoded_item);
+      }
+      Py_DECREF(seq_field);
+    }
+    Py_DECREF(field);
+  }
+
+  return true;
+}
+
+ROSIDL_GENERATOR_C_EXPORT
+PyObject * bcr_bot__srv__get_visual_topics__response__convert_to_py(void * raw_ros_message)
+{
+  /* NOTE(esteve): Call constructor of GetVisualTopics_Response */
+  PyObject * _pymessage = NULL;
+  {
+    PyObject * pymessage_module = PyImport_ImportModule("bcr_bot.srv._get_visual_topics");
+    assert(pymessage_module);
+    PyObject * pymessage_class = PyObject_GetAttrString(pymessage_module, "GetVisualTopics_Response");
+    assert(pymessage_class);
+    Py_DECREF(pymessage_module);
+    _pymessage = PyObject_CallObject(pymessage_class, NULL);
+    Py_DECREF(pymessage_class);
+    if (!_pymessage) {
+      return NULL;
+    }
+  }
+  bcr_bot__srv__GetVisualTopics_Response * ros_message = (bcr_bot__srv__GetVisualTopics_Response *)raw_ros_message;
+  {  // depth_image_topics
+    PyObject * field = NULL;
+    size_t size = ros_message->depth_image_topics.size;
+    rosidl_runtime_c__String * src = ros_message->depth_image_topics.data;
+    field = PyList_New(size);
+    if (!field) {
+      return NULL;
+    }
+    for (size_t i = 0; i < size; ++i) {
+      PyObject * decoded_item = PyUnicode_DecodeUTF8(src[i].data, strlen(src[i].data), "replace");
+      if (!decoded_item) {
+        return NULL;
+      }
+      int rc = PyList_SetItem(field, i, decoded_item);
+      (void)rc;
+      assert(rc == 0);
+    }
+    assert(PySequence_Check(field));
+    {
+      int rc = PyObject_SetAttrString(_pymessage, "depth_image_topics", field);
+      Py_DECREF(field);
+      if (rc) {
+        return NULL;
+      }
+    }
+  }
+  {  // rgb_image_topics
+    PyObject * field = NULL;
+    size_t size = ros_message->rgb_image_topics.size;
+    rosidl_runtime_c__String * src = ros_message->rgb_image_topics.data;
+    field = PyList_New(size);
+    if (!field) {
+      return NULL;
+    }
+    for (size_t i = 0; i < size; ++i) {
+      PyObject * decoded_item = PyUnicode_DecodeUTF8(src[i].data, strlen(src[i].data), "replace");
+      if (!decoded_item) {
+        return NULL;
+      }
+      int rc = PyList_SetItem(field, i, decoded_item);
+      (void)rc;
+      assert(rc == 0);
+    }
+    assert(PySequence_Check(field));
+    {
+      int rc = PyObject_SetAttrString(_pymessage, "rgb_image_topics", field);
+      Py_DECREF(field);
+      if (rc) {
+        return NULL;
+      }
+    }
+  }
+  {  // camera_info_topics
+    PyObject * field = NULL;
+    size_t size = ros_message->camera_info_topics.size;
+    rosidl_runtime_c__String * src = ros_message->camera_info_topics.data;
+    field = PyList_New(size);
+    if (!field) {
+      return NULL;
+    }
+    for (size_t i = 0; i < size; ++i) {
+      PyObject * decoded_item = PyUnicode_DecodeUTF8(src[i].data, strlen(src[i].data), "replace");
+      if (!decoded_item) {
+        return NULL;
+      }
+      int rc = PyList_SetItem(field, i, decoded_item);
+      (void)rc;
+      assert(rc == 0);
+    }
+    assert(PySequence_Check(field));
+    {
+      int rc = PyObject_SetAttrString(_pymessage, "camera_info_topics", field);
+      Py_DECREF(field);
+      if (rc) {
+        return NULL;
+      }
+    }
+  }
+  {  // point_cloud_topics
+    PyObject * field = NULL;
+    size_t size = ros_message->point_cloud_topics.size;
+    rosidl_runtime_c__String * src = ros_message->point_cloud_topics.data;
+    field = PyList_New(size);
+    if (!field) {
+      return NULL;
+    }
+    for (size_t i = 0; i < size; ++i) {
+      PyObject * decoded_item = PyUnicode_DecodeUTF8(src[i].data, strlen(src[i].data), "replace");
+      if (!decoded_item) {
+        return NULL;
+      }
+      int rc = PyList_SetItem(field, i, decoded_item);
+      (void)rc;
+      assert(rc == 0);
+    }
+    assert(PySequence_Check(field));
+    {
+      int rc = PyObject_SetAttrString(_pymessage, "point_cloud_topics", field);
+      Py_DECREF(field);
+      if (rc) {
+        return NULL;
+      }
+    }
+  }
+
+  // ownership of _pymessage is transferred to the caller
+  return _pymessage;
+}

install/bcr_bot/share/ament_index/resource_index/package_run_dependencies/bcr_bot

@@ -1 +1 @@
-ament_index_python;launch;launch_ros;robot_state_publisher;xacro
+rclpy;sensor_msgs;rosidl_default_runtime;ament_index_python;launch;launch_ros;robot_state_publisher;xacro

install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot

@@ -1 +1 @@
-/workspace/install/bcr_bot:/opt/ros/humble
+/opt/ros/humble

install/bcr_bot/share/ament_index/resource_index/rosidl_interfaces/bcr_bot

@@ -0,0 +1,4 @@
+srv/GetVisualTopics.idl
+srv/GetVisualTopics.srv
+srv/GetVisualTopics_Request.msg
+srv/GetVisualTopics_Response.msg

install/bcr_bot/share/bcr_bot/cmake/ament_cmake_export_dependencies-extras.cmake

@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "rosidl_runtime_c;rosidl_typesupport_interface;rcutils;fastrtps_cmake_module;fastcdr;rosidl_runtime_c;rosidl_runtime_cpp;rosidl_typesupport_fastrtps_c;rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_interface;rosidl_runtime_c;rosidl_typesupport_c;rosidl_typesupport_interface;rosidl_runtime_cpp;fastrtps_cmake_module;fastcdr;rmw;rosidl_runtime_c;rosidl_runtime_cpp;rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_interface;rosidl_runtime_c;rosidl_runtime_cpp;rosidl_typesupport_c;rosidl_typesupport_cpp;rosidl_typesupport_interface;rosidl_default_runtime")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to bcr_bot_DEFINITIONS, bcr_bot_INCLUDE_DIRS,
+# bcr_bot_LIBRARIES, and bcr_bot_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# bcr_bot_DEPENDENCIES as well as the recursive dependency names
+# in bcr_bot_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  set(bcr_bot_DEPENDENCIES ${_exported_dependencies})
+  set(bcr_bot_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+  set(_libraries)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    # if a package provides modern CMake interface targets use them
+    # exclusively assuming the classic CMake variables only exist for
+    # backward compatibility
+    set(use_modern_cmake FALSE)
+    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+      foreach(_target ${${_dep}_TARGETS})
+        # only use actual targets
+        # in case a package uses this variable for other content
+        if(TARGET "${_target}")
+          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+          if(_include_dirs)
+            list_append_unique(bcr_bot_INCLUDE_DIRS "${_include_dirs}")
+          endif()
+
+          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+          if(_imported_configurations)
+            string(TOUPPER "${_imported_configurations}" _imported_configurations)
+            if(DEBUG_CONFIGURATIONS)
+              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+            else()
+              set(_debug_configurations_uppercase "DEBUG")
+            endif()
+            foreach(_imported_config ${_imported_configurations})
+              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+              if(_imported_implib)
+                set(_imported_implib_config "optimized")
+                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+                  set(_imported_implib_config "debug")
+                endif()
+                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+              else()
+                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+                if(_imported_location)
+                  list(APPEND _libraries "${_imported_location}")
+                endif()
+              endif()
+            endforeach()
+          endif()
+
+          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+          if(_link_libraries)
+            list(APPEND _libraries "${_link_libraries}")
+          endif()
+          set(use_modern_cmake TRUE)
+        endif()
+      endforeach()
+    endif()
+    if(NOT use_modern_cmake)
+      if(${_dep}_DEFINITIONS)
+        list_append_unique(bcr_bot_DEFINITIONS "${${_dep}_DEFINITIONS}")
+      endif()
+      if(${_dep}_INCLUDE_DIRS)
+        list_append_unique(bcr_bot_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+      endif()
+      if(${_dep}_LIBRARIES)
+        list(APPEND _libraries "${${_dep}_LIBRARIES}")
+      endif()
+      if(${_dep}_LINK_FLAGS)
+        list_append_unique(bcr_bot_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+      endif()
+      if(${_dep}_RECURSIVE_DEPENDENCIES)
+        list_append_unique(bcr_bot_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+      endif()
+    endif()
+    if(_libraries)
+      ament_libraries_deduplicate(_libraries "${_libraries}")
+      list(APPEND bcr_bot_LIBRARIES "${_libraries}")
+    endif()
+  endforeach()
+endif()

install/bcr_bot/share/bcr_bot/cmake/ament_cmake_export_include_directories-extras.cmake

@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${bcr_bot_DIR}/../../../include/bcr_bot")
+
+# append include directories to bcr_bot_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  foreach(_exported_include_dir ${_exported_include_dirs})
+    if(NOT IS_DIRECTORY "${_exported_include_dir}")
+      message(WARNING "Package 'bcr_bot' exports the include directory '${_exported_include_dir}' which doesn't exist")
+    endif()
+    normalize_path(_exported_include_dir "${_exported_include_dir}")
+    list(APPEND bcr_bot_INCLUDE_DIRS "${_exported_include_dir}")
+  endforeach()
+endif()

install/bcr_bot/share/bcr_bot/cmake/ament_cmake_export_libraries-extras.cmake

@@ -0,0 +1,141 @@
+# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
+
+set(_exported_libraries "bcr_bot__rosidl_generator_c;bcr_bot__rosidl_typesupport_c;bcr_bot__rosidl_typesupport_cpp")
+set(_exported_library_names "")
+
+# populate bcr_bot_LIBRARIES
+if(NOT _exported_libraries STREQUAL "")
+  # loop over libraries, either target names or absolute paths
+  list(LENGTH _exported_libraries _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_libraries ${_i} _arg)
+
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND bcr_bot_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'bcr_bot' passes the build configuration keyword '${_cfg}' as the last exported library")
+      endif()
+      list(GET _exported_libraries ${_i} _library)
+    else()
+      # the value is a library without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    if(NOT IS_ABSOLUTE "${_library}")
+      # search for library target relative to this CMake file
+      set(_lib "NOTFOUND")
+      find_library(
+        _lib NAMES "${_library}"
+        PATHS "${bcr_bot_DIR}/../../../lib"
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+
+      if(NOT _lib)
+        # warn about not existing library and ignore it
+        message(FATAL_ERROR "Package 'bcr_bot' exports the library '${_library}' which couldn't be found")
+      elseif(NOT IS_ABSOLUTE "${_lib}")
+        # the found library must be an absolute path
+        message(FATAL_ERROR "Package 'bcr_bot' found the library '${_library}' at '${_lib}' which is not an absolute path")
+      elseif(NOT EXISTS "${_lib}")
+        # the found library must exist
+        message(FATAL_ERROR "Package 'bcr_bot' found the library '${_lib}' which doesn't exist")
+      else()
+        list(APPEND bcr_bot_LIBRARIES ${_cfg} "${_lib}")
+      endif()
+
+    else()
+      if(NOT EXISTS "${_library}")
+        # the found library must exist
+        message(WARNING "Package 'bcr_bot' exports the library '${_library}' which doesn't exist")
+      else()
+        list(APPEND bcr_bot_LIBRARIES ${_cfg} "${_library}")
+      endif()
+    endif()
+  endwhile()
+endif()
+
+# find_library() library names with optional LIBRARY_DIRS
+# and add the libraries to bcr_bot_LIBRARIES
+if(NOT _exported_library_names STREQUAL "")
+  # loop over library names
+  # but remember related build configuration keyword if available
+  list(LENGTH _exported_library_names _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_library_names ${_i} _arg)
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND bcr_bot_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library name
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'bcr_bot' passes the build configuration keyword '${_cfg}' as the last exported target")
+      endif()
+      list(GET _exported_library_names ${_i} _library)
+    else()
+      # the value is a library target without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    # extract optional LIBRARY_DIRS from library name
+    string(REPLACE ":" ";" _library_dirs "${_library}")
+    list(GET _library_dirs 0 _library_name)
+    list(REMOVE_AT _library_dirs 0)
+
+    set(_lib "NOTFOUND")
+    if(NOT _library_dirs)
+      # search for library in the common locations
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING "Package 'bcr_bot' exports library '${_library_name}' which couldn't be found")
+      endif()
+    else()
+      # search for library in the specified directories
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+        PATHS ${_library_dirs}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING
+          "Package 'bcr_bot' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
+      endif()
+    endif()
+    if(_lib)
+      list(APPEND bcr_bot_LIBRARIES ${_cfg} "${_lib}")
+    endif()
+  endwhile()
+endif()
+
+# TODO(dirk-thomas) deduplicate bcr_bot_LIBRARIES
+# while maintaining library order
+# as well as build configuration keywords
+# as well as linker flags

install/bcr_bot/share/bcr_bot/cmake/ament_cmake_export_targets-extras.cmake

@@ -0,0 +1,27 @@
+# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
+
+set(_exported_targets "export_bcr_bot__rosidl_generator_c;export_bcr_bot__rosidl_typesupport_fastrtps_c;bcr_bot__rosidl_typesupport_introspection_c;bcr_bot__rosidl_typesupport_c;export_bcr_bot__rosidl_generator_cpp;export_bcr_bot__rosidl_typesupport_fastrtps_cpp;bcr_bot__rosidl_typesupport_introspection_cpp;bcr_bot__rosidl_typesupport_cpp;export_bcr_bot__rosidl_generator_py")
+
+# include all exported targets
+if(NOT _exported_targets STREQUAL "")
+  foreach(_target ${_exported_targets})
+    set(_export_file "${bcr_bot_DIR}/${_target}Export.cmake")
+    include("${_export_file}")
+
+    # extract the target names associated with the export
+    set(_regex "foreach\\((_cmake)?_expected_?[Tt]arget (IN ITEMS )?(.+)\\)")
+    file(
+      STRINGS "${_export_file}" _foreach_targets
+      REGEX "${_regex}")
+    list(LENGTH _foreach_targets _matches)
+    if(NOT _matches EQUAL 1)
+      message(FATAL_ERROR
+        "Failed to find exported target names in '${_export_file}'")
+    endif()
+    string(REGEX REPLACE "${_regex}" "\\3" _targets "${_foreach_targets}")
+    string(REPLACE " " ";" _targets "${_targets}")
+    list(LENGTH _targets _length)
+
+    list(APPEND bcr_bot_TARGETS ${_targets})
+  endforeach()
+endif()

install/bcr_bot/share/bcr_bot/cmake/bcr_botConfig.cmake

@@ -36,7 +36,7 @@ endif()
 set(bcr_bot_FOUND_AMENT_PACKAGE TRUE)
 
 # include all config extra files
-set(_extras "")
+set(_extras "rosidl_cmake-extras.cmake;ament_cmake_export_include_directories-extras.cmake;ament_cmake_export_libraries-extras.cmake;ament_cmake_export_targets-extras.cmake;rosidl_cmake_export_typesupport_targets-extras.cmake;ament_cmake_export_dependencies-extras.cmake;rosidl_cmake_export_typesupport_libraries-extras.cmake")
 foreach(_extra ${_extras})
   include("${bcr_bot_DIR}/${_extra}")
 endforeach()

install/bcr_bot/share/bcr_bot/cmake/bcr_bot__rosidl_typesupport_cExport-noconfig.cmake

@@ -0,0 +1,20 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "bcr_bot::bcr_bot__rosidl_typesupport_c" for configuration ""
+set_property(TARGET bcr_bot::bcr_bot__rosidl_typesupport_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_c PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_c::rosidl_typesupport_c"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_c.so"
+  IMPORTED_SONAME_NOCONFIG "libbcr_bot__rosidl_typesupport_c.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS bcr_bot::bcr_bot__rosidl_typesupport_c )
+list(APPEND _IMPORT_CHECK_FILES_FOR_bcr_bot::bcr_bot__rosidl_typesupport_c "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install/bcr_bot/share/bcr_bot/cmake/bcr_bot__rosidl_typesupport_cExport.cmake

@@ -0,0 +1,114 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6...3.20)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget bcr_bot::bcr_bot__rosidl_typesupport_c)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target bcr_bot::bcr_bot__rosidl_typesupport_c
+add_library(bcr_bot::bcr_bot__rosidl_typesupport_c SHARED IMPORTED)
+
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_c PROPERTIES
+  INTERFACE_LINK_LIBRARIES "bcr_bot::bcr_bot__rosidl_generator_c"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/bcr_bot__rosidl_typesupport_cExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "bcr_bot::bcr_bot__rosidl_generator_c" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install/bcr_bot/share/bcr_bot/cmake/bcr_bot__rosidl_typesupport_cppExport-noconfig.cmake

@@ -0,0 +1,20 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "bcr_bot::bcr_bot__rosidl_typesupport_cpp" for configuration ""
+set_property(TARGET bcr_bot::bcr_bot__rosidl_typesupport_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_cpp PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_cpp::rosidl_typesupport_cpp;rosidl_typesupport_c::rosidl_typesupport_c"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_cpp.so"
+  IMPORTED_SONAME_NOCONFIG "libbcr_bot__rosidl_typesupport_cpp.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS bcr_bot::bcr_bot__rosidl_typesupport_cpp )
+list(APPEND _IMPORT_CHECK_FILES_FOR_bcr_bot::bcr_bot__rosidl_typesupport_cpp "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install/bcr_bot/share/bcr_bot/cmake/bcr_bot__rosidl_typesupport_cppExport.cmake

@@ -0,0 +1,114 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6...3.20)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget bcr_bot::bcr_bot__rosidl_typesupport_cpp)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target bcr_bot::bcr_bot__rosidl_typesupport_cpp
+add_library(bcr_bot::bcr_bot__rosidl_typesupport_cpp SHARED IMPORTED)
+
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_cpp PROPERTIES
+  INTERFACE_LINK_LIBRARIES "bcr_bot::bcr_bot__rosidl_generator_cpp"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/bcr_bot__rosidl_typesupport_cppExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "bcr_bot::bcr_bot__rosidl_generator_cpp" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install/bcr_bot/share/bcr_bot/cmake/bcr_bot__rosidl_typesupport_introspection_cExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "bcr_bot::bcr_bot__rosidl_typesupport_introspection_c" for configuration ""
+set_property(TARGET bcr_bot::bcr_bot__rosidl_typesupport_introspection_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_introspection_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_introspection_c.so"
+  IMPORTED_SONAME_NOCONFIG "libbcr_bot__rosidl_typesupport_introspection_c.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS bcr_bot::bcr_bot__rosidl_typesupport_introspection_c )
+list(APPEND _IMPORT_CHECK_FILES_FOR_bcr_bot::bcr_bot__rosidl_typesupport_introspection_c "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_introspection_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install/bcr_bot/share/bcr_bot/cmake/bcr_bot__rosidl_typesupport_introspection_cExport.cmake

@@ -0,0 +1,115 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6...3.20)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget bcr_bot::bcr_bot__rosidl_typesupport_introspection_c)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target bcr_bot::bcr_bot__rosidl_typesupport_introspection_c
+add_library(bcr_bot::bcr_bot__rosidl_typesupport_introspection_c SHARED IMPORTED)
+
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_introspection_c PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/bcr_bot"
+  INTERFACE_LINK_LIBRARIES "bcr_bot::bcr_bot__rosidl_generator_c;rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/bcr_bot__rosidl_typesupport_introspection_cExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "bcr_bot::bcr_bot__rosidl_generator_c" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install/bcr_bot/share/bcr_bot/cmake/bcr_bot__rosidl_typesupport_introspection_cppExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "bcr_bot::bcr_bot__rosidl_typesupport_introspection_cpp" for configuration ""
+set_property(TARGET bcr_bot::bcr_bot__rosidl_typesupport_introspection_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_introspection_cpp PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_introspection_cpp.so"
+  IMPORTED_SONAME_NOCONFIG "libbcr_bot__rosidl_typesupport_introspection_cpp.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS bcr_bot::bcr_bot__rosidl_typesupport_introspection_cpp )
+list(APPEND _IMPORT_CHECK_FILES_FOR_bcr_bot::bcr_bot__rosidl_typesupport_introspection_cpp "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_introspection_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install/bcr_bot/share/bcr_bot/cmake/bcr_bot__rosidl_typesupport_introspection_cppExport.cmake

@@ -0,0 +1,115 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6...3.20)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget bcr_bot::bcr_bot__rosidl_typesupport_introspection_cpp)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target bcr_bot::bcr_bot__rosidl_typesupport_introspection_cpp
+add_library(bcr_bot::bcr_bot__rosidl_typesupport_introspection_cpp SHARED IMPORTED)
+
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_introspection_cpp PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/bcr_bot"
+  INTERFACE_LINK_LIBRARIES "bcr_bot::bcr_bot__rosidl_generator_cpp;rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_interface::rosidl_typesupport_interface;rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/bcr_bot__rosidl_typesupport_introspection_cppExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "bcr_bot::bcr_bot__rosidl_generator_cpp" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install/bcr_bot/share/bcr_bot/cmake/export_bcr_bot__rosidl_generator_cExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "bcr_bot::bcr_bot__rosidl_generator_c" for configuration ""
+set_property(TARGET bcr_bot::bcr_bot__rosidl_generator_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(bcr_bot::bcr_bot__rosidl_generator_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_generator_c.so"
+  IMPORTED_SONAME_NOCONFIG "libbcr_bot__rosidl_generator_c.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS bcr_bot::bcr_bot__rosidl_generator_c )
+list(APPEND _IMPORT_CHECK_FILES_FOR_bcr_bot::bcr_bot__rosidl_generator_c "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_generator_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install/bcr_bot/share/bcr_bot/cmake/export_bcr_bot__rosidl_generator_cExport.cmake

@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6...3.20)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget bcr_bot::bcr_bot__rosidl_generator_c)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target bcr_bot::bcr_bot__rosidl_generator_c
+add_library(bcr_bot::bcr_bot__rosidl_generator_c SHARED IMPORTED)
+
+set_target_properties(bcr_bot::bcr_bot__rosidl_generator_c PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/bcr_bot"
+  INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_interface::rosidl_typesupport_interface;rcutils::rcutils"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/export_bcr_bot__rosidl_generator_cExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install/bcr_bot/share/bcr_bot/cmake/export_bcr_bot__rosidl_generator_cppExport.cmake

@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6...3.20)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget bcr_bot::bcr_bot__rosidl_generator_cpp)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target bcr_bot::bcr_bot__rosidl_generator_cpp
+add_library(bcr_bot::bcr_bot__rosidl_generator_cpp INTERFACE IMPORTED)
+
+set_target_properties(bcr_bot::bcr_bot__rosidl_generator_cpp PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/bcr_bot"
+  INTERFACE_LINK_LIBRARIES "rosidl_runtime_cpp::rosidl_runtime_cpp"
+)
+
+if(CMAKE_VERSION VERSION_LESS 3.0.0)
+  message(FATAL_ERROR "This file relies on consumers using CMake 3.0.0 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/export_bcr_bot__rosidl_generator_cppExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install/bcr_bot/share/bcr_bot/cmake/export_bcr_bot__rosidl_generator_pyExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "bcr_bot::bcr_bot__rosidl_generator_py" for configuration ""
+set_property(TARGET bcr_bot::bcr_bot__rosidl_generator_py APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(bcr_bot::bcr_bot__rosidl_generator_py PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_generator_py.so"
+  IMPORTED_SONAME_NOCONFIG "libbcr_bot__rosidl_generator_py.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS bcr_bot::bcr_bot__rosidl_generator_py )
+list(APPEND _IMPORT_CHECK_FILES_FOR_bcr_bot::bcr_bot__rosidl_generator_py "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_generator_py.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install/bcr_bot/share/bcr_bot/cmake/export_bcr_bot__rosidl_generator_pyExport.cmake

@@ -0,0 +1,114 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6...3.20)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget bcr_bot::bcr_bot__rosidl_generator_py)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target bcr_bot::bcr_bot__rosidl_generator_py
+add_library(bcr_bot::bcr_bot__rosidl_generator_py SHARED IMPORTED)
+
+set_target_properties(bcr_bot::bcr_bot__rosidl_generator_py PROPERTIES
+  INTERFACE_LINK_LIBRARIES "bcr_bot::bcr_bot__rosidl_generator_c;/usr/lib/x86_64-linux-gnu/libpython3.10.so;bcr_bot::bcr_bot__rosidl_typesupport_c"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/export_bcr_bot__rosidl_generator_pyExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "bcr_bot::bcr_bot__rosidl_generator_c" "bcr_bot::bcr_bot__rosidl_typesupport_c" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install/bcr_bot/share/bcr_bot/cmake/export_bcr_bot__rosidl_typesupport_fastrtps_cExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_c" for configuration ""
+set_property(TARGET bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_fastrtps_c.so"
+  IMPORTED_SONAME_NOCONFIG "libbcr_bot__rosidl_typesupport_fastrtps_c.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_c )
+list(APPEND _IMPORT_CHECK_FILES_FOR_bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_c "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_fastrtps_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install/bcr_bot/share/bcr_bot/cmake/export_bcr_bot__rosidl_typesupport_fastrtps_cExport.cmake

@@ -0,0 +1,115 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6...3.20)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_c)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_c
+add_library(bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_c SHARED IMPORTED)
+
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_c PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/bcr_bot"
+  INTERFACE_LINK_LIBRARIES "fastcdr;rosidl_runtime_c::rosidl_runtime_c;rosidl_runtime_cpp::rosidl_runtime_cpp;rosidl_typesupport_interface::rosidl_typesupport_interface;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c;bcr_bot::bcr_bot__rosidl_generator_c"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/export_bcr_bot__rosidl_typesupport_fastrtps_cExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "bcr_bot::bcr_bot__rosidl_generator_c" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install/bcr_bot/share/bcr_bot/cmake/export_bcr_bot__rosidl_typesupport_fastrtps_cppExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_cpp" for configuration ""
+set_property(TARGET bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_cpp PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_fastrtps_cpp.so"
+  IMPORTED_SONAME_NOCONFIG "libbcr_bot__rosidl_typesupport_fastrtps_cpp.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_cpp )
+list(APPEND _IMPORT_CHECK_FILES_FOR_bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_cpp "${_IMPORT_PREFIX}/lib/libbcr_bot__rosidl_typesupport_fastrtps_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install/bcr_bot/share/bcr_bot/cmake/export_bcr_bot__rosidl_typesupport_fastrtps_cppExport.cmake

@@ -0,0 +1,115 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6...3.20)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_cpp)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_cpp
+add_library(bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_cpp SHARED IMPORTED)
+
+set_target_properties(bcr_bot::bcr_bot__rosidl_typesupport_fastrtps_cpp PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/bcr_bot"
+  INTERFACE_LINK_LIBRARIES "fastcdr;rmw::rmw;rosidl_runtime_c::rosidl_runtime_c;rosidl_runtime_cpp::rosidl_runtime_cpp;rosidl_typesupport_interface::rosidl_typesupport_interface;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;bcr_bot::bcr_bot__rosidl_generator_cpp"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/export_bcr_bot__rosidl_typesupport_fastrtps_cppExport-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "bcr_bot::bcr_bot__rosidl_generator_cpp" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install/bcr_bot/share/bcr_bot/cmake/rosidl_cmake-extras.cmake

@@ -0,0 +1,4 @@
+# generated from rosidl_cmake/cmake/rosidl_cmake-extras.cmake.in
+
+set(bcr_bot_IDL_FILES "srv/GetVisualTopics.idl")
+set(bcr_bot_INTERFACE_FILES "srv/GetVisualTopics.srv;srv/GetVisualTopics_Request.msg;srv/GetVisualTopics_Response.msg")

install/bcr_bot/share/bcr_bot/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake

@@ -0,0 +1,49 @@
+# generated from
+# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_libraries.cmake.in
+
+set(_exported_typesupport_libraries
+  "__rosidl_typesupport_fastrtps_c:bcr_bot__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_fastrtps_cpp:bcr_bot__rosidl_typesupport_fastrtps_cpp")
+
+# populate bcr_bot_LIBRARIES_<suffix>
+if(NOT _exported_typesupport_libraries STREQUAL "")
+  # loop over typesupport libraries
+  foreach(_tuple ${_exported_typesupport_libraries})
+    string(REPLACE ":" ";" _tuple "${_tuple}")
+    list(GET _tuple 0 _suffix)
+    list(GET _tuple 1 _library)
+
+    if(NOT IS_ABSOLUTE "${_library}")
+      # search for library target relative to this CMake file
+      set(_lib "NOTFOUND")
+      find_library(
+        _lib NAMES "${_library}"
+        PATHS "${bcr_bot_DIR}/../../../lib"
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+
+      if(NOT _lib)
+        # the library wasn't found
+        message(FATAL_ERROR
+          "Package 'bcr_bot' exports the typesupport library '${_library}' which couldn't be found")
+      elseif(NOT IS_ABSOLUTE "${_lib}")
+        # the found library must be an absolute path
+        message(FATAL_ERROR
+          "Package 'bcr_bot' found the typesupport library '${_library}' at '${_lib}' "
+          "which is not an absolute path")
+      elseif(NOT EXISTS "${_lib}")
+        # the found library must exist
+        message(FATAL_ERROR "Package 'bcr_bot' found the typesupport library '${_lib}' which doesn't exist")
+      else()
+        list(APPEND bcr_bot_LIBRARIES${_suffix} ${_cfg} "${_lib}")
+      endif()
+
+    else()
+      if(NOT EXISTS "${_library}")
+        # the found library must exist
+        message(WARNING "Package 'bcr_bot' exports the typesupport library '${_library}' which doesn't exist")
+      else()
+        list(APPEND bcr_bot_LIBRARIES${_suffix} "${_library}")
+      endif()
+    endif()
+  endforeach()
+endif()

install/bcr_bot/share/bcr_bot/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake

@@ -0,0 +1,23 @@
+# generated from
+# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_targets.cmake.in
+
+set(_exported_typesupport_targets
+  "__rosidl_generator_c:bcr_bot__rosidl_generator_c;__rosidl_typesupport_fastrtps_c:bcr_bot__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_introspection_c:bcr_bot__rosidl_typesupport_introspection_c;__rosidl_typesupport_c:bcr_bot__rosidl_typesupport_c;__rosidl_generator_cpp:bcr_bot__rosidl_generator_cpp;__rosidl_typesupport_fastrtps_cpp:bcr_bot__rosidl_typesupport_fastrtps_cpp;__rosidl_typesupport_introspection_cpp:bcr_bot__rosidl_typesupport_introspection_cpp;__rosidl_typesupport_cpp:bcr_bot__rosidl_typesupport_cpp;__rosidl_generator_py:bcr_bot__rosidl_generator_py")
+
+# populate bcr_bot_TARGETS_<suffix>
+if(NOT _exported_typesupport_targets STREQUAL "")
+  # loop over typesupport targets
+  foreach(_tuple ${_exported_typesupport_targets})
+    string(REPLACE ":" ";" _tuple "${_tuple}")
+    list(GET _tuple 0 _suffix)
+    list(GET _tuple 1 _target)
+
+    set(_target "bcr_bot::${_target}")
+    if(NOT TARGET "${_target}")
+      # the exported target must exist
+      message(WARNING "Package 'bcr_bot' exports the typesupport target '${_target}' which doesn't exist")
+    else()
+      list(APPEND bcr_bot_TARGETS${_suffix} "${_target}")
+    endif()
+  endforeach()
+endif()

install/bcr_bot/share/bcr_bot/environment/library_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib

install/bcr_bot/share/bcr_bot/environment/library_path.sh

@@ -0,0 +1,16 @@
+# copied from ament_package/template/environment_hook/library_path.sh
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+if [ $_IS_DARWIN -eq 0 ]; then
+  ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+else
+  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+fi
+unset _IS_DARWIN

install/bcr_bot/share/bcr_bot/environment/pythonpath.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;local/lib/python3.10/dist-packages

install/bcr_bot/share/bcr_bot/environment/pythonpath.sh

@@ -0,0 +1,3 @@
+# generated from ament_package/template/environment_hook/pythonpath.sh.in
+
+ament_prepend_unique_value PYTHONPATH "$AMENT_CURRENT_PREFIX/local/lib/python3.10/dist-packages"

install/bcr_bot/share/bcr_bot/hook/ld_library_path_lib.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib

install/bcr_bot/share/bcr_bot/hook/ld_library_path_lib.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX/lib"

install/bcr_bot/share/bcr_bot/hook/ld_library_path_lib.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value LD_LIBRARY_PATH "$COLCON_CURRENT_PREFIX/lib"

install/bcr_bot/share/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py

@@ -25,7 +25,7 @@ def generate_launch_description():
     position_y = LaunchConfiguration("position_y")
     orientation_yaw = LaunchConfiguration("orientation_yaw")
     camera_enabled = LaunchConfiguration("camera_enabled", default=True)
-    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
+    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
     two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
     odometry_source = LaunchConfiguration("odometry_source", default="world")
     robot_namespace = LaunchConfiguration("robot_namespace", default='bcr_bot')

install/bcr_bot/share/bcr_bot/launch/bcr_bot_gz_spawn.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
     position_y = LaunchConfiguration("position_y")
     orientation_yaw = LaunchConfiguration("orientation_yaw")
     camera_enabled = LaunchConfiguration("camera_enabled", default=True)
-    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
+    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
     two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
     odometry_source = LaunchConfiguration("odometry_source")
 

install/bcr_bot/share/bcr_bot/launch/bcr_bot_ign_spawn.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
     position_y = LaunchConfiguration("position_y")
     orientation_yaw = LaunchConfiguration("orientation_yaw")
     camera_enabled = LaunchConfiguration("camera_enabled", default=True)
-    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
+    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
     two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
     odometry_source = LaunchConfiguration("odometry_source")
 

install/bcr_bot/share/bcr_bot/local_setup.dsv

@@ -1,2 +1,4 @@
 source;share/bcr_bot/environment/ament_prefix_path.sh
+source;share/bcr_bot/environment/library_path.sh
 source;share/bcr_bot/environment/path.sh
+source;share/bcr_bot/environment/pythonpath.sh

install/bcr_bot/share/bcr_bot/local_setup.sh

@@ -152,7 +152,9 @@ fi
 
 # list all environment hooks of this package
 ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/library_path.sh"
 ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/bcr_bot/environment/pythonpath.sh"
 
 # source all shell-specific environment hooks of this package
 # if not returning them

install/bcr_bot/share/bcr_bot/package.dsv

@@ -1,6 +1,9 @@
 source;share/bcr_bot/hook/cmake_prefix_path.ps1
 source;share/bcr_bot/hook/cmake_prefix_path.dsv
 source;share/bcr_bot/hook/cmake_prefix_path.sh
+source;share/bcr_bot/hook/ld_library_path_lib.ps1
+source;share/bcr_bot/hook/ld_library_path_lib.dsv
+source;share/bcr_bot/hook/ld_library_path_lib.sh
 source;share/bcr_bot/local_setup.bash
 source;share/bcr_bot/local_setup.dsv
 source;share/bcr_bot/local_setup.ps1

install/bcr_bot/share/bcr_bot/package.ps1

@@ -111,6 +111,7 @@ function colcon_package_source_powershell_script {
 $env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
 
 colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/bcr_bot/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/bcr_bot/hook/ld_library_path_lib.ps1"
 colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/bcr_bot/local_setup.ps1"
 
 Remove-Item Env:\COLCON_CURRENT_PREFIX

install/bcr_bot/share/bcr_bot/package.sh

@@ -79,6 +79,7 @@ _colcon_package_sh_source_script() {
 
 # source sh hooks
 _colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/bcr_bot/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/bcr_bot/hook/ld_library_path_lib.sh"
 _colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/bcr_bot/local_setup.sh"
 
 unset _colcon_package_sh_source_script

install/bcr_bot/share/bcr_bot/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
 	<name>bcr_bot</name>
 	<version>1.0.2</version>
 	<description>bcr_bot</description>
@@ -10,6 +10,12 @@
 	<license>Apache License 2.0</license>
 
 	<buildtool_depend>ament_cmake</buildtool_depend>
+	<buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+	<depend>rclpy</depend>
+	<depend>sensor_msgs</depend>
+	<exec_depend>rosidl_default_runtime</exec_depend>
+	<member_of_group>rosidl_interface_packages</member_of_group>
 
 	<exec_depend>ament_index_python</exec_depend>
 	<exec_depend>launch</exec_depend>

install/bcr_bot/share/bcr_bot/rust/Cargo.toml

@@ -0,0 +1,17 @@
+[package]
+name = "bcr_bot"
+version = "1.0.2"
+edition = "2021"
+
+[dependencies]
+rosidl_runtime_rs = "0.6"
+serde = { version = "1", optional = true, features = ["derive"] }
+serde-big-array = { version = "0.5.1", optional = true }
+
+# ROS Dependencies
+
+[features]
+serde = ['dep:serde', 'dep:serde-big-array', 'rosidl_runtime_rs/serde']
+
+[package.metadata.rclrs]
+reexport = true

install/bcr_bot/share/bcr_bot/rust/build.rs

@@ -0,0 +1,10 @@
+// use std::path::Path;
+
+fn main() {
+	// let lib_dir = Path::new("../../../lib")
+	// 	.canonicalize()
+	// 	.expect("Could not find '../../../lib'");
+	// // This allows building Rust packages that depend on message crates without
+	// // sourcing the install directory first.
+	// println!("cargo:rustc-link-search={}", lib_dir.display());
+}

install/bcr_bot/share/bcr_bot/rust/src/lib.rs

@@ -0,0 +1,12 @@
+#![allow(non_camel_case_types)]
+#![allow(clippy::derive_partial_eq_without_eq)]
+#![allow(clippy::upper_case_acronyms)]
+
+
+#[path = "srv.rs"]
+mod srv_idiomatic;
+pub mod srv {
+    pub use super::srv_idiomatic::*;
+    pub mod rmw;
+}
+

install/bcr_bot/share/bcr_bot/rust/src/srv.rs

@@ -0,0 +1,182 @@
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+
+
+
+// Corresponds to bcr_bot__srv__GetVisualTopics_Request
+
+// This struct is not documented.
+#[allow(missing_docs)]
+
+#[allow(non_camel_case_types)]
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct GetVisualTopics_Request {
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub refresh: bool,
+
+}
+
+
+
+impl Default for GetVisualTopics_Request {
+  fn default() -> Self {
+    <Self as rosidl_runtime_rs::Message>::from_rmw_message(super::srv::rmw::GetVisualTopics_Request::default())
+  }
+}
+
+impl rosidl_runtime_rs::Message for GetVisualTopics_Request {
+  type RmwMsg = super::srv::rmw::GetVisualTopics_Request;
+
+  fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+    match msg_cow {
+      std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+        refresh: msg.refresh,
+      }),
+      std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+      refresh: msg.refresh,
+      })
+    }
+  }
+
+  fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+    Self {
+      refresh: msg.refresh,
+    }
+  }
+}
+
+
+// Corresponds to bcr_bot__srv__GetVisualTopics_Response
+
+// This struct is not documented.
+#[allow(missing_docs)]
+
+#[allow(non_camel_case_types)]
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct GetVisualTopics_Response {
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub depth_image_topics: Vec<std::string::String>,
+
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub rgb_image_topics: Vec<std::string::String>,
+
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub camera_info_topics: Vec<std::string::String>,
+
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub point_cloud_topics: Vec<std::string::String>,
+
+}
+
+
+
+impl Default for GetVisualTopics_Response {
+  fn default() -> Self {
+    <Self as rosidl_runtime_rs::Message>::from_rmw_message(super::srv::rmw::GetVisualTopics_Response::default())
+  }
+}
+
+impl rosidl_runtime_rs::Message for GetVisualTopics_Response {
+  type RmwMsg = super::srv::rmw::GetVisualTopics_Response;
+
+  fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+    match msg_cow {
+      std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+        depth_image_topics: msg.depth_image_topics
+          .into_iter()
+          .map(|elem| elem.as_str().into())
+          .collect(),
+        rgb_image_topics: msg.rgb_image_topics
+          .into_iter()
+          .map(|elem| elem.as_str().into())
+          .collect(),
+        camera_info_topics: msg.camera_info_topics
+          .into_iter()
+          .map(|elem| elem.as_str().into())
+          .collect(),
+        point_cloud_topics: msg.point_cloud_topics
+          .into_iter()
+          .map(|elem| elem.as_str().into())
+          .collect(),
+      }),
+      std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+        depth_image_topics: msg.depth_image_topics
+          .iter()
+          .map(|elem| elem.as_str().into())
+          .collect(),
+        rgb_image_topics: msg.rgb_image_topics
+          .iter()
+          .map(|elem| elem.as_str().into())
+          .collect(),
+        camera_info_topics: msg.camera_info_topics
+          .iter()
+          .map(|elem| elem.as_str().into())
+          .collect(),
+        point_cloud_topics: msg.point_cloud_topics
+          .iter()
+          .map(|elem| elem.as_str().into())
+          .collect(),
+      })
+    }
+  }
+
+  fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+    Self {
+      depth_image_topics: msg.depth_image_topics
+          .into_iter()
+          .map(|elem| elem.to_string())
+          .collect(),
+      rgb_image_topics: msg.rgb_image_topics
+          .into_iter()
+          .map(|elem| elem.to_string())
+          .collect(),
+      camera_info_topics: msg.camera_info_topics
+          .into_iter()
+          .map(|elem| elem.to_string())
+          .collect(),
+      point_cloud_topics: msg.point_cloud_topics
+          .into_iter()
+          .map(|elem| elem.to_string())
+          .collect(),
+    }
+  }
+}
+
+
+
+
+
+
+#[link(name = "bcr_bot__rosidl_typesupport_c")]
+extern "C" {
+    fn rosidl_typesupport_c__get_service_type_support_handle__bcr_bot__srv__GetVisualTopics() -> *const std::ffi::c_void;
+}
+
+// Corresponds to bcr_bot__srv__GetVisualTopics
+#[allow(missing_docs, non_camel_case_types)]
+pub struct GetVisualTopics;
+
+impl rosidl_runtime_rs::Service for GetVisualTopics {
+    type Request = GetVisualTopics_Request;
+    type Response = GetVisualTopics_Response;
+
+    fn get_type_support() -> *const std::ffi::c_void {
+        // SAFETY: No preconditions for this function.
+        unsafe { rosidl_typesupport_c__get_service_type_support_handle__bcr_bot__srv__GetVisualTopics() }
+    }
+}
+
+

install/bcr_bot/share/bcr_bot/rust/src/srv/rmw.rs

@@ -0,0 +1,194 @@
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+
+
+#[link(name = "bcr_bot__rosidl_typesupport_c")]
+extern "C" {
+    fn rosidl_typesupport_c__get_message_type_support_handle__bcr_bot__srv__GetVisualTopics_Request() -> *const std::ffi::c_void;
+}
+
+#[link(name = "bcr_bot__rosidl_generator_c")]
+extern "C" {
+    fn bcr_bot__srv__GetVisualTopics_Request__init(msg: *mut GetVisualTopics_Request) -> bool;
+    fn bcr_bot__srv__GetVisualTopics_Request__Sequence__init(seq: *mut rosidl_runtime_rs::Sequence<GetVisualTopics_Request>, size: usize) -> bool;
+    fn bcr_bot__srv__GetVisualTopics_Request__Sequence__fini(seq: *mut rosidl_runtime_rs::Sequence<GetVisualTopics_Request>);
+    fn bcr_bot__srv__GetVisualTopics_Request__Sequence__copy(in_seq: &rosidl_runtime_rs::Sequence<GetVisualTopics_Request>, out_seq: *mut rosidl_runtime_rs::Sequence<GetVisualTopics_Request>) -> bool;
+}
+
+// Corresponds to bcr_bot__srv__GetVisualTopics_Request
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+
+
+// This struct is not documented.
+#[allow(missing_docs)]
+
+#[allow(non_camel_case_types)]
+#[repr(C)]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct GetVisualTopics_Request {
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub refresh: bool,
+
+}
+
+
+
+impl Default for GetVisualTopics_Request {
+  fn default() -> Self {
+    unsafe {
+      let mut msg = std::mem::zeroed();
+      if !bcr_bot__srv__GetVisualTopics_Request__init(&mut msg as *mut _) {
+        panic!("Call to bcr_bot__srv__GetVisualTopics_Request__init() failed");
+      }
+      msg
+    }
+  }
+}
+
+impl rosidl_runtime_rs::SequenceAlloc for GetVisualTopics_Request {
+  fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+    // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+    unsafe { bcr_bot__srv__GetVisualTopics_Request__Sequence__init(seq as *mut _, size) }
+  }
+  fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+    // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+    unsafe { bcr_bot__srv__GetVisualTopics_Request__Sequence__fini(seq as *mut _) }
+  }
+  fn sequence_copy(in_seq: &rosidl_runtime_rs::Sequence<Self>, out_seq: &mut rosidl_runtime_rs::Sequence<Self>) -> bool {
+    // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+    unsafe { bcr_bot__srv__GetVisualTopics_Request__Sequence__copy(in_seq, out_seq as *mut _) }
+  }
+}
+
+impl rosidl_runtime_rs::Message for GetVisualTopics_Request {
+  type RmwMsg = Self;
+  fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> { msg_cow }
+  fn from_rmw_message(msg: Self::RmwMsg) -> Self { msg }
+}
+
+impl rosidl_runtime_rs::RmwMessage for GetVisualTopics_Request where Self: Sized {
+  const TYPE_NAME: &'static str = "bcr_bot/srv/GetVisualTopics_Request";
+  fn get_type_support() -> *const std::ffi::c_void {
+    // SAFETY: No preconditions for this function.
+    unsafe { rosidl_typesupport_c__get_message_type_support_handle__bcr_bot__srv__GetVisualTopics_Request() }
+  }
+}
+
+
+#[link(name = "bcr_bot__rosidl_typesupport_c")]
+extern "C" {
+    fn rosidl_typesupport_c__get_message_type_support_handle__bcr_bot__srv__GetVisualTopics_Response() -> *const std::ffi::c_void;
+}
+
+#[link(name = "bcr_bot__rosidl_generator_c")]
+extern "C" {
+    fn bcr_bot__srv__GetVisualTopics_Response__init(msg: *mut GetVisualTopics_Response) -> bool;
+    fn bcr_bot__srv__GetVisualTopics_Response__Sequence__init(seq: *mut rosidl_runtime_rs::Sequence<GetVisualTopics_Response>, size: usize) -> bool;
+    fn bcr_bot__srv__GetVisualTopics_Response__Sequence__fini(seq: *mut rosidl_runtime_rs::Sequence<GetVisualTopics_Response>);
+    fn bcr_bot__srv__GetVisualTopics_Response__Sequence__copy(in_seq: &rosidl_runtime_rs::Sequence<GetVisualTopics_Response>, out_seq: *mut rosidl_runtime_rs::Sequence<GetVisualTopics_Response>) -> bool;
+}
+
+// Corresponds to bcr_bot__srv__GetVisualTopics_Response
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+
+
+// This struct is not documented.
+#[allow(missing_docs)]
+
+#[allow(non_camel_case_types)]
+#[repr(C)]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct GetVisualTopics_Response {
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub depth_image_topics: rosidl_runtime_rs::Sequence<rosidl_runtime_rs::String>,
+
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub rgb_image_topics: rosidl_runtime_rs::Sequence<rosidl_runtime_rs::String>,
+
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub camera_info_topics: rosidl_runtime_rs::Sequence<rosidl_runtime_rs::String>,
+
+
+    // This member is not documented.
+    #[allow(missing_docs)]
+    pub point_cloud_topics: rosidl_runtime_rs::Sequence<rosidl_runtime_rs::String>,
+
+}
+
+
+
+impl Default for GetVisualTopics_Response {
+  fn default() -> Self {
+    unsafe {
+      let mut msg = std::mem::zeroed();
+      if !bcr_bot__srv__GetVisualTopics_Response__init(&mut msg as *mut _) {
+        panic!("Call to bcr_bot__srv__GetVisualTopics_Response__init() failed");
+      }
+      msg
+    }
+  }
+}
+
+impl rosidl_runtime_rs::SequenceAlloc for GetVisualTopics_Response {
+  fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+    // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+    unsafe { bcr_bot__srv__GetVisualTopics_Response__Sequence__init(seq as *mut _, size) }
+  }
+  fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+    // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+    unsafe { bcr_bot__srv__GetVisualTopics_Response__Sequence__fini(seq as *mut _) }
+  }
+  fn sequence_copy(in_seq: &rosidl_runtime_rs::Sequence<Self>, out_seq: &mut rosidl_runtime_rs::Sequence<Self>) -> bool {
+    // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+    unsafe { bcr_bot__srv__GetVisualTopics_Response__Sequence__copy(in_seq, out_seq as *mut _) }
+  }
+}
+
+impl rosidl_runtime_rs::Message for GetVisualTopics_Response {
+  type RmwMsg = Self;
+  fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> { msg_cow }
+  fn from_rmw_message(msg: Self::RmwMsg) -> Self { msg }
+}
+
+impl rosidl_runtime_rs::RmwMessage for GetVisualTopics_Response where Self: Sized {
+  const TYPE_NAME: &'static str = "bcr_bot/srv/GetVisualTopics_Response";
+  fn get_type_support() -> *const std::ffi::c_void {
+    // SAFETY: No preconditions for this function.
+    unsafe { rosidl_typesupport_c__get_message_type_support_handle__bcr_bot__srv__GetVisualTopics_Response() }
+  }
+}
+
+
+
+
+
+
+#[link(name = "bcr_bot__rosidl_typesupport_c")]
+extern "C" {
+    fn rosidl_typesupport_c__get_service_type_support_handle__bcr_bot__srv__GetVisualTopics() -> *const std::ffi::c_void;
+}
+
+// Corresponds to bcr_bot__srv__GetVisualTopics
+#[allow(missing_docs, non_camel_case_types)]
+pub struct GetVisualTopics;
+
+impl rosidl_runtime_rs::Service for GetVisualTopics {
+    type Request = GetVisualTopics_Request;
+    type Response = GetVisualTopics_Response;
+
+    fn get_type_support() -> *const std::ffi::c_void {
+        // SAFETY: No preconditions for this function.
+        unsafe { rosidl_typesupport_c__get_service_type_support_handle__bcr_bot__srv__GetVisualTopics() }
+    }
+}
+
+

install/bcr_bot/share/bcr_bot/srv/GetVisualTopics.idl

@@ -0,0 +1,23 @@
+// generated from rosidl_adapter/resource/srv.idl.em
+// with input from bcr_bot/srv/GetVisualTopics.srv
+// generated code does not contain a copyright notice
+
+
+module bcr_bot {
+  module srv {
+    @verbatim (language="comment", text=
+      "Set true to rescan the ROS graph before returning the cached result.")
+    struct GetVisualTopics_Request {
+      boolean refresh;
+    };
+    struct GetVisualTopics_Response {
+      sequence<string> depth_image_topics;
+
+      sequence<string> rgb_image_topics;
+
+      sequence<string> camera_info_topics;
+
+      sequence<string> point_cloud_topics;
+    };
+  };
+};

install/bcr_bot/share/bcr_bot/srv/GetVisualTopics.srv

@@ -0,0 +1,9 @@
+# Set true to rescan the ROS graph before returning the cached result.
+bool refresh
+
+---
+
+string[] depth_image_topics
+string[] rgb_image_topics
+string[] camera_info_topics
+string[] point_cloud_topics

install/bcr_bot/share/bcr_bot/srv/GetVisualTopics_Request.msg

@@ -0,0 +1,3 @@
+# Set true to rescan the ROS graph before returning the cached result.
+bool refresh
+