Included features

Signed-off-by: ahcorde <ahcorde@gmail.com>

README.md

@@ -1,2 +1,7 @@
 # rcl
 Library to support implementation of language specific ROS Client Libraries.
+
+ - [rcl](rcl/README.md)
+ - [rcl_action](rcl_action/README.md)
+ - [rcl_lifecycle](rcl_lifecycle/README.md)
+ - [rcl_yaml_param_parser](rcl_yaml_param_parser/README.md)

rcl/README.md

@@ -0,0 +1,49 @@
+`rcl` consists of functions and structs (pure C) organized into ROS concepts:
+
+- Nodes
+ - [rcl/node.h](include/rcl/node.h)
+- Publisher
+ - [rcl/publisher.h](include/rcl/publisher.h)
+- Subscription
+ - [rcl/subscription.h](include/rcl/subscription.h)
+- Service Client
+ - [rcl/client.h](include/rcl/client.h)
+- Service Server
+ - [rcl/service.h](include/rcl/service.h)
+- Timer
+ - [rcl/timer.h](include/rcl/timer.h)
+
+There are some functions for working with "Topics" and "Services":
+
+- A function to validate a topic or service name (not necessarily fully qualified):
+ - rcl_validate_topic_name()
+ - [rcl/validate_topic_name.h](include/rcl/validate_topic_name.h)
+- A function to expand a topic or service name to a fully qualified name:
+ - rcl_expand_topic_name()
+ - [rcl/expand_topic_name.h](include/rcl/expand_topic_name.h)
+
+It also has some machinery that is necessary to wait on and act on these concepts:
+
+- Initialization and shutdown management
+ - [rcl/init.h](include/rcl/init.h)
+- Wait sets for waiting on messages/service requests and responses/timers to be ready
+ - [rcl/wait.h](include/rcl/wait.h)
+- Guard conditions for waking up wait sets asynchronously
+ - [rcl/guard_condition.h](include/rcl/guard_condition.h)
+- Functions for introspecting and getting notified of changes of the ROS graph
+ - [rcl/graph.h](include/rcl/graph.h)
+
+Further still there are some useful abstractions and utilities:
+
+- Allocator concept, which can be used to control allocation in `rcl_*` functions
+ - [rcl/allocator.h](include/rcl/allocator.h)
+- Concept of ROS Time and access to steady and system wall time
+ - [rcl/time.h](include/rcl/time.h)
+- Error handling functionality (C style)
+ - [rcl/error_handling.h](include/rcl/error_handling.h)
+- Macros
+ - [rcl/macros.h](include/rcl/macros.h)
+- Return code types
+ - [rcl/types.h](include/rcl/types.h)
+- Macros for controlling symbol visibility on the library
+ - [rcl/visibility_control.h](include/rcl/visibility_control.h)

rcl_action/README.md

@@ -0,0 +1,24 @@
+`rcl_action` provides a pure C implementation of the ROS concept of an action.
+
+It builds on top of the implementation of topics and services in `rcl`.
+
+`rcl_action` consists of functions and structs for the following ROS action entities:
+
+ - Action client
+   - [rcl_action/action_client.h](include/rcl_action/action_client.h)
+ - Action server
+   - [rcl_action/action_server.h](include/rcl_action/action_server.h)
+ - Goal handle
+   - [rcl_action/goal_handle.h](include/rcl_action/goal_handle.h)
+ - Goal state machine
+   - [rcl_action/goal_state_machine.h](include/rcl_action/goal_state_machine.h)
+
+It also has some machinery that is necessary to wait on and act on these entities:
+
+- Wait sets for waiting on actions clients and action servers to be ready
+ - [rcl_action/wait.h](include/rcl_action/wait.h)
+
+Some useful abstractions and utilities:
+
+- Return codes and other types
+ - [rcl_action/types.h](include/rcl_action/types.h)

rcl_lifecycle/README.md

@@ -0,0 +1,12 @@
+`rcl_lifecycle` provides a pure C implementation of the ROS concept of lifecycle. It builds on top of the implementation of topics and services in `rcl`.
+
+`rcl_lifecycle` consists of functions and structs for the following ROS lifecycle entities:
+
+ - Lifecycle states
+ - Lifecycle transitions
+ - Lifecycle state machine
+ - Lifecycle triggers
+
+Some useful abstractions:
+
+Return codes and other types [rcl_lifecycle/data_types.h](include/rcl_lifecycle/data_types.h)

rcl_yaml_param_parser/README.md

@@ -1,6 +1,15 @@
 **ROS2 rcl YAML paramter parser**
 
-Parse a YAML parameter file and populate the C data structure
+Parse a YAML parameter file and populate the C data structure.
+
+  - Parser
+    - [rcl/parser.h](include/rcl/types.h)
+
+Further still there are some useful abstractions and utilities:
+  - Return code types
+    - [rcl/types.h](include/rcl/types.h)
+  - Macros for controlling symbol visibility on the library
+    - [rcl/visibility_control.h](include/rcl/visibility_control.h)
 
 The data structure params_st will then be used during node initialization
 
@@ -24,4 +33,4 @@ NOTE: It only supports canonical int and float types
         <field2_name>: <field2_value>
 ```
 
-This package depends on C libyaml
+This package depends on C libyaml.