Rebrand into rclcpp_generic

Add package.xml, CMakeLists.txt, Doxyfile, README.md and CHANGELOG.rst
Rename namespaces
Make GenericPublisher and GenericSubscription self-contained by storing shared library
New create() methods that return shared pointers
Add docstrings
Include only what is needed
Make linters & tests pass

Signed-off-by: Nikolai Morin <nikolai.morin@apex.ai>

rclcpp_generic/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package rclcpp_generic
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+
+0.1.0 (2020-11-10)
+------------------
+Split off from rosbag2 repo.

rclcpp_generic/CMakeLists.txt

@@ -0,0 +1,101 @@
+cmake_minimum_required(VERSION 3.5)
+project(rclcpp_generic)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+# Windows supplies macros for min and max by default. We should only use min and max from stl
+if(WIN32)
+  add_definitions(-DNOMINMAX)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(rcl REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rcpputils REQUIRED)
+find_package(rosidl_runtime_cpp REQUIRED)
+find_package(rosidl_typesupport_cpp REQUIRED)
+find_package(rmw_implementation_cmake REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+  src/rclcpp_generic/generic_publisher.cpp
+  src/rclcpp_generic/generic_subscription.cpp
+  src/rclcpp_generic/typesupport_helpers.cpp
+)
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(${PROJECT_NAME}
+  ament_index_cpp
+  rcl
+  rclcpp
+  rcutils
+  rcpputils
+  rosidl_runtime_cpp
+)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "RCLCPP_GENERIC_BUILDING_LIBRARY")
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies()
+
+function(create_tests_for_rmw_implementation)
+  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
+  ament_add_gmock(test_pubsub${target_suffix}
+    test/rclcpp_generic/test_pubsub.cpp
+    ENV ${rmw_implementation_env_var}
+  )
+  target_link_libraries(test_pubsub${target_suffix} ${PROJECT_NAME})
+  target_include_directories(test_pubsub${target_suffix} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rclcpp_generic>)
+  ament_target_dependencies(test_pubsub${target_suffix} rcpputils rosidl_typesupport_cpp test_msgs)
+endfunction()
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(test_msgs REQUIRED)
+  # explicitly disable cppcheck
+  set(ament_cmake_cppcheck_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+
+  # This test is independent from the rmw implementation
+  ament_add_gmock(test_typesupport_helpers
+    test/rclcpp_generic/test_typesupport_helpers.cpp
+  )
+  target_link_libraries(test_typesupport_helpers ${PROJECT_NAME})
+  target_include_directories(test_typesupport_helpers PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rclcpp_generic>)
+  ament_target_dependencies(test_typesupport_helpers rcpputils)
+
+
+  call_for_each_rmw_implementation(create_tests_for_rmw_implementation)
+endif()
+
+ament_package()