feat: add EmbodimentInfo service

CMakeLists.txt

@@ -20,6 +20,7 @@ find_package(rosidl_default_generators REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ManipulatorMoveTo.srv"
   "srv/VectorStoreRetrieval.srv"
+  "srv/EmbodimentInfo.srv"
   "srv/StringList.srv"
   "msg/RAIDetectionArray.msg"
   "msg/AudioMessage.msg"

package.xml

@@ -2,19 +2,16 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rai_interfaces</name>
-  <version>0.2.2</version>
+  <version>0.2.1</version>
   <description>Interfaces for RAI communication</description>
     <maintainer email="[email protected]">Adam Dabrowski</maintainer>
     <maintainer email="[email protected]">Kajetan Rachwał</maintainer>
-    <maintainer email="[email protected]">Maciej Majek</maintainer>
-    <maintainer email="[email protected]">Kacper Dąbrowski</maintainer>
   <license>Apache-2.0</license>
 
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>vision_msgs</depend>
   <depend>sensor_msgs</depend>
-  <depend>action_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

srv/EmbodimentInfo.srv

@@ -0,0 +1,23 @@
+#
+# Copyright (C) 2024 Robotec.AI
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#          http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+
+# Request
+---
+# Response
+string[] rules
+string[] capabilities
+string[] behaviors
+string description
+string[] images # base64 encoded png images