msg: introduce message versioning

msg/versioned/RegisterExtComponentRequest.msg

@@ -0,0 +1,24 @@
+# Request to register an external component
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+
+uint64 request_id                  # ID, set this to a random value
+char[25] name                      # either the requested mode name, or component name
+
+uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
+
+uint16 px4_ros2_api_version   # Set to LATEST_PX4_ROS2_API_VERSION
+
+# Components to be registered
+bool register_arming_check
+bool register_mode                 # registering a mode also requires arming_check to be set
+bool register_mode_executor        # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
+
+bool enable_replace_internal_mode  # set to true if an internal mode should be replaced
+uint8 replace_internal_mode        # vehicle_status::NAVIGATION_STATE_*
+bool activate_mode_immediately     # switch to the registered mode (can only be set in combination with an executor)
+
+
+uint8 ORB_QUEUE_LENGTH = 2