Fix includes

[esteve]

No description provided.

[esteve]

@jacquelinekay @wjwwood I had to make this change so rclpy would compile fine. Is this correct?

[esteve]

CI:

http://ci.ros2.org/job/ci_linux/896/
http://ci.ros2.org/job/ci_osx/751/
http://ci.ros2.org/job/ci_windows/977/

[jacquelinekay]

I don't think including the message_type_support_struct.h header directly is necessary, but I'm really not sure. Waiting for William to weigh in here.

[esteve]

rcl and rclpy only need the typesupport structure, which is vendor independent, right? Neither rcl or rclpy need the ROSIDL_GET_MSG_TYPE_SUPPORT macros.

[wjwwood]

I'm pretty sure this is not the right thing to do, but instead I think what ever code is including these headers needs to also have include directories from exactly one type support system. That header (#include "rosidl_generator_c/message_type_support.h") is provided by each type support system and these rcl header files all include it so that anyone who tries to use these headers gets tied to a particular type support system when they do.

[wjwwood]

It's possible that your use case needs us to do something different, but what I mean to say is that these headers are intentionally the way they are.

[esteve]

@wjwwood no problem, I made this change so I could continue working on rclpy, but if the solution is somewhere else, that's fine too. I'm still getting up to speed with the new type support refactor 😄

[esteve]

I'm going to withdraw this PR and create an rclpy extension for each implementation. Thanks @jacquelinekay and @wjwwood for helping me understand the type support system.