36 lines
2.7 KiB
Markdown
36 lines
2.7 KiB
Markdown
# ROS 2 Lyrical interface corpus
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Every ROS 2 interface (`.msg`, `.srv`, `.action`) installed by the Lyrical `ros-base` image
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— what `docker pull ros:lyrical` gives you — with the IDL file `rosidl_adapter` generated
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for each, and the RIHS01 type hashes ROS ships beside them. `tests/ros_lyrical.rs` runs
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flowRS's importers, `.msg` exporter and RIHS01 port over all of it and pins the counts.
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| Source | `http://packages.ros.org/ros2/ubuntu`, dist `resolute` (Ubuntu 26.04), `main/binary-amd64` |
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| Index | `InRelease` dated 2026-10-05, signed by Open Robotics (key `C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654`, rosdistro `ros.key`); signature checked with `gpgv` |
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| Selection | the dependency closure of `ros-lyrical-ros-base` 0.13.0 (199 packages); 23 of them ship interfaces |
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| Contents | 219 interfaces (`share/<pkg>/<kind>/*.{msg,srv,action}`), their 219 `.idl` files, and `rihs01.tsv`: the 369 types named in the `type_hashes` of the 219 shipped `.json` files |
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| Pins | `MANIFEST.tsv`: the SHA-256 of every file (the `.json` files too, though they are not copied), the `.deb` it came from and that `.deb`'s SHA-256 from the signed index |
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| Rebuild | `tools/ros_iface_corpus.sh [WORKDIR]` (no ROS install, no cargo) |
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## Licences
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The interface definitions are the work of their packages' authors and keep their licences.
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Each package's `package.xml` declares it; both licences are permissive and allow
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redistribution with notice.
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| Package | Version | Licence |
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| action_msgs, builtin_interfaces, composition_interfaces, lifecycle_msgs, rcl_interfaces, rosgraph_msgs, service_msgs, statistics_msgs, type_description_interfaces | 2.4.5 | Apache-2.0 (Open Source Robotics Foundation; `ros2/rcl_interfaces`) |
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| diagnostic_msgs, geometry_msgs, nav_msgs, sensor_msgs, shape_msgs, std_msgs, std_srvs, stereo_msgs, trajectory_msgs, visualization_msgs | 5.9.3 | Apache-2.0 (Open Source Robotics Foundation; `ros2/common_interfaces`) |
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| rmw_dds_common | 6.0.0 | Apache-2.0 (Open Source Robotics Foundation; `ros2/rmw_dds_common`) |
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| rosbag2_interfaces | 0.33.4 | Apache-2.0 (Open Source Robotics Foundation; `ros2/rosbag2`) |
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| tf2_msgs | 0.45.10 | **BSD-3-Clause**, Copyright (c) 2008, Willow Garage, Inc. (`ros2/geometry2`) — `LICENSES/geometry2-tf2_msgs-BSD-3-Clause.txt` |
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| unique_identifier_msgs | 2.8.1 | **BSD-3-Clause**, Copyright (C) 2012, Jack O'Quin (`ros2/unique_identifier_msgs`) — `LICENSES/unique_identifier_msgs-BSD-3-Clause.txt` |
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The Apache License 2.0 text is the repository's `LICENSE`. The files are copied unmodified;
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the `.idl` files are `rosidl_adapter` output shipped in the same packages.
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So the corpus is not "all Apache-2.0": 21 packages are Apache-2.0 and 2 (`tf2_msgs`,
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`unique_identifier_msgs`) are BSD-3-Clause. Both permit this use.
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