Patch and rebuild

.github/workflows/rust-minimal.yml

@@ -0,0 +1,143 @@
+name: Rust Minimal
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  schedule:
+    # Run the CI at 02:22 UTC every Tuesday
+    # We pick an arbitrary time outside of most of the world's work hours
+    # to minimize the likelihood of running alongside a heavy workload.
+    - cron: '22 2 * * 2'
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        ros_distribution:
+          - humble
+          - iron
+          - rolling
+        include:
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+            ros_distribution: humble
+            ros_version: 2
+          # Iron Irwini (May 2023 - November 2024)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
+            ros_distribution: iron
+            ros_version: 2
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+    runs-on: ubuntu-latest
+    continue-on-error: ${{ matrix.ros_distribution == 'rolling' }}
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Search packages in this repository
+      id: list_packages
+      run: |
+        {
+          echo 'package_list<<EOF'
+          colcon list --names-only
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
+
+    - name: Setup ROS environment
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+        use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
+
+    - name: Setup Rust
+      uses: dtolnay/[email protected]
+      with:
+        components: clippy, rustfmt
+
+    - name: Install colcon-cargo and colcon-ros-cargo
+      run: |
+        sudo pip3 install git+https://github.com/colcon/colcon-cargo.git
+        sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git
+
+    - name: Check formatting of Rust packages
+      run: |
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
+        cd $path
+        rustup toolchain install nightly
+        cargo +nightly fmt -- --check
+        cd -
+        done
+
+    - name: Build and test
+      id: build
+      continue-on-error: true
+      uses: ros-tooling/[email protected]
+      with:
+        package-name: ${{ steps.list_packages.outputs.package_list }}
+        target-ros2-distro: ${{ matrix.ros_distribution }}
+        vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos
+
+    # We need specific versions of some dependencies to be compatible with v1.75
+    # of the compiler, but we can't specify those versions until after action-ros-ci
+    # has run and failed.
+    - name: Patch Dependencies and Rebuild
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        cd $(colcon list | awk '$1 == "rclrs" { print $2 }')
+        cargo add home@=0.5.9
+        cd -
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        colcon build
+
+    - name: Run clippy on Rust packages
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
+        cd $path
+        echo "Running clippy in $path"
+        # Run clippy for all features except generate_docs (needed for docs.rs)
+        if [ "$(basename $path)" = "rclrs" ]; then
+          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
+        else
+          cargo clippy --no-deps --all-targets --all-features -- -D warnings
+        fi
+        cd -
+        done
+
+    - name: Run cargo test on Rust packages
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        . install/setup.sh
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
+        cd $path
+        echo "Running cargo test in $path"
+        # Run cargo test for all features except generate_docs (needed for docs.rs)
+        if [ "$(basename $path)" = "rclrs" ]; then
+          cargo test -F default,dyn_msg
+        elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
+          cargo test -F default
+        else
+          cargo test --all-features
+        fi
+        cd -
+        done
+
+    - name: Rustdoc check
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
+        cd $path
+        echo "Running rustdoc check in $path"
+        cargo rustdoc -- -D warnings
+        cd -
+        done

.github/workflows/rust.yml → .github/workflows/rust-stable.yml

@@ -1,12 +1,15 @@
-name: Rust
+name: Rust Stable
 
 on:
   push:
     branches: [ main ]
   pull_request:
     branches: [ main ]
   schedule:
-    - cron: '0 0 * * *'
+    # Run the CI at 02:22 UTC every Tuesday
+    # We pick an arbitrary time outside of most of the world's work hours
+    # to minimize the likelihood of running alongside a heavy workload.
+    - cron: '22 2 * * 2'
 
 env:
   CARGO_TERM_COLOR: always
@@ -42,7 +45,11 @@ jobs:
     - name: Search packages in this repository
       id: list_packages
       run: |
-        echo ::set-output name=package_list::$(colcon list --names-only)
+        {
+          echo 'package_list<<EOF'
+          colcon list --names-only
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
 
     - name: Setup ROS environment
       uses: ros-tooling/[email protected]
@@ -51,7 +58,7 @@ jobs:
         use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
 
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@1.74.0
+      uses: dtolnay/rust-toolchain@stable
       with:
         components: clippy, rustfmt
 
@@ -69,10 +76,6 @@ jobs:
         cd -
         done
 
-    - name: Install cargo-ament-build
-      run: |
-        cargo install --debug cargo-ament-build
-
     - name: Build and test
       id: build
       uses: ros-tooling/[email protected]
@@ -90,9 +93,9 @@ jobs:
         echo "Running clippy in $path"
         # Run clippy for all features except generate_docs (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --all-targets -F default,dyn_msg -- -D warnings
+          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
         else
-          cargo clippy --all-targets --all-features -- -D warnings
+          cargo clippy --no-deps --all-targets --all-features -- -D warnings
         fi
         cd -
         done

Dockerfile

@@ -11,10 +11,9 @@ RUN apt-get update && apt-get install -y \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Rust and the cargo-ament-build plugin
-RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.74.0 -y
+# Install Rust
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.75.0 -y
 ENV PATH=/root/.cargo/bin:$PATH
-RUN cargo install cargo-ament-build
 
 RUN pip install --upgrade pytest 
 

README.md

@@ -1,16 +1,21 @@
 ROS 2 for Rust
 ==============
 
-| Target | Status |
-|----------|--------|
-| **Ubuntu 20.04** | [![Build Status](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust.yml/badge.svg?branch=main)](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust.yml?branch=main) |
+[![Minimal Version Status](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-minimal.yml/badge.svg?branch=main)](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-minimal.yml)
+[![Stable CI Status](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-stable.yml/badge.svg?branch=main)](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-stable.yml)
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 Introduction
 ------------
 
 This is a set of projects (the `rclrs` client library, code generator, examples and more) that
 enables developers to write ROS 2 applications in Rust.
 
+Installation
+------------
+
+Follow the [instructions in the documentation directory](docs/building.md).
+
 Features and limitations
 ------------------------
 
@@ -37,7 +42,6 @@ Here are the steps for building the `ros2_rust` examples in a vanilla Ubuntu Foc
 # Assuming you installed the minimal version of ROS 2, you need these additional packages:
 sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
 # Install these plugins for cargo and colcon:
-cargo install --debug cargo-ament-build  # --debug is faster to install
 pip install git+https://github.com/colcon/colcon-cargo.git
 pip install git+https://github.com/colcon/colcon-ros-cargo.git
 

docs/building.md

@@ -43,7 +43,6 @@ The exact steps may differ between platforms, but as an example, here is how you
 # Assuming you installed the minimal version of ROS 2, you need these additional packages:
 sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
 # Install these plugins for cargo and colcon:
-cargo install cargo-ament-build
 pip install git+https://github.com/colcon/colcon-cargo.git
 pip install git+https://github.com/colcon/colcon-ros-cargo.git
 ```

docs/message-generation.md

@@ -0,0 +1,49 @@
+# `ros2_rust` Message Generation
+
+The `ros2_rust` project strives to maintain consistency with the upstream ROS 2 message generation
+system. To this end, it provides two main packages: `rosidl_generator_rs` and `rosidl_runtime_rs`.
+These packages provide the infrastructure required for defining and using ROS 2 messages, services,
+and actions in Rust.
+
+At a high level, the `rosidl_generator_rs` package handles generation of interface crates from the
+`.msg`, `.srv`, and `.action` files defined by a user. The `rosidl_runtime_rs` package provides
+common functionality shared across message packages, such as support types and traits. Each of these
+packages is described in more detail below.
+
+## `rosidl_generator_rs`
+
+`rosidl_generator_rs` follows a very similar pattern to the other message generation packages for
+ROS 2. To tie into this pipeline, it registers itself as a `"rosidl_generate_idl_interfaces"`
+extension with `ament`. Doing so ensures that message packages calling `rosidl_generate_interfaces`
+will invoke the Rust language generator in addition to any others. This is accomplished using the
+various CMake scripts under the `cmake` directory. When this happens, the input interface files will
+be converted into IDL files which, along with additional metadata, are fed into the `generate_rs`
+function of `rosidl_generator_rs/__init__.py`.
+
+From here, the IDL files are parsed into an internal representation using the upstream
+[`rosidl_parser`](https://github.com/ros2/rosidl/tree/rolling/rosidl_parser) package. This abstract
+representation is then used to instantiate the various template files under the `resource`
+subdirectory, producing a full Rust crate for each package.
+
+For each input message type, two `struct`s are generated:
+
+- An ergonomic representation of the message, using more idiomatic `std` types like `Vec` and
+  `String` for sequence and string fields. These are placed directly in the `msg` submodule of the
+  crate.
+- A FFI-suitable `struct` that is ABI-compatible with the layout expected by the RMW layer. While
+  less ergonomic, these avoid the conversion overhead when passed to RMW. These `struct`s are placed
+  under the `msg::rmw` submodule.
+
+All the produced `struct`s implement the standard traits from `std` when possible, such as `Clone`,
+`PartialEq`, and `Debug`. Additionally, when the generated crate's `serde` feature is enabled, these
+structs implement the `Serialize` and `Deserialize` traits.
+
+## `rosidl_runtime_rs`
+
+`rosidl_runtime_rs` is a runtime support package, providing `Message`, `Service`, and `Action`
+traits that are implemented by the corresponding structs generated by `rosidl_generator_rs`. These
+allow for generic interaction with these various interface types, both in client libraries like
+`rclrs` and in user code.
+
+The package also provides a number of string and sequence types that are ABI-compatible with their
+`rosidl_runtime_c` equivalents. This allows for more ergonomic use of the RMW-native message types.

docs/writing_a_simple_publisher_and_subscriber.md

@@ -92,7 +92,6 @@ To construct a node, replace the code in your `main.rs` file with the following:
 ```rust
 /// Creates a SimplePublisherNode, initializes a node and publisher, and provides
 /// methods to publish a simple "Hello World" message on a loop in separate threads.
-
 use rclrs::{create_node, Context, Node, Publisher, RclrsError, QOS_PROFILE_DEFAULT};
 use std::{env, sync::Arc, thread, time::Duration};
 use std_msgs::msg::String as StringMsg;
@@ -103,12 +102,12 @@ struct SimplePublisherNode {
     publisher: Arc<Publisher<StringMsg>>,
 }
 impl SimplePublisherNode {
-    fn new(context: &context) -> result<self, RclrsError> {
+    fn new(context: &Context) -> Result<Self, RclrsError> {
         let node = create_node(context, "simple_publisher").unwrap();
         let publisher = node
-            .create_publisher("publish_hello", qos_profile_default)
+            .create_publisher("publish_hello", QOS_PROFILE_DEFAULT)
             .unwrap();
-        ok(self { node, publisher })
+        Ok(Self { node, publisher })
     }
     fn publish_data(&self, increment: i32) -> Result<i32, RclrsError> {
         let msg: StringMsg = StringMsg {

examples/message_demo/src/message_demo.rs

@@ -15,7 +15,7 @@ fn check_default_values() {
     assert_eq!(msg.float_seq_unbounded, seq![6.0]);
     assert_eq!(msg.string_member.to_string(), "Χαίρετε 你好");
     assert_eq!(msg.wstring_member.to_string(), "αντίο σου 再见");
-    assert_eq!(msg.bounded_string_member.to_string(), "äöü");
+    assert_eq!(msg.bounded_string_member.to_string(), "aou");
     assert_eq!(msg.bounded_wstring_member.to_string(), "äöü");
     assert_eq!(
         msg.string_array.clone().map(|s| s.to_string()),

examples/rclrs_example_msgs/msg/VariousTypes.msg

@@ -13,7 +13,7 @@ float32[] float_seq_unbounded [6.0]
 # String types
 string string_member "Χαίρετε 你好"
 wstring wstring_member "αντίο σου 再见"
-string<=3 bounded_string_member "äöü"
+string<=3 bounded_string_member "aou"
 wstring<=3 bounded_wstring_member "äöü"
 
 # Array/sequence of string type

rclrs/Cargo.toml

@@ -6,7 +6,7 @@ authors = ["Esteve Fernandez <[email protected]>", "Nikolai Morin <nnmmgit@gmail
 edition = "2021"
 license = "Apache-2.0"
 description = "A ROS 2 client library for developing robotics applications in Rust"
-rust-version = "1.63"
+rust-version = "1.75"
 
 [lib]
 path = "src/lib.rs"
@@ -29,6 +29,10 @@ libloading = { version = "0.8", optional = true }
 # Needed for the Message trait, among others
 rosidl_runtime_rs = "0.4"
 
+# Needed for serliazation and deserialization of vendored messages
+serde = { version = "1", optional = true, features = ["derive"] }
+serde-big-array = { version = "0.5.1", optional = true }
+
 [dev-dependencies]
 # Needed for e.g. writing yaml files in tests
 tempfile = "3.3.0"
@@ -46,6 +50,7 @@ cfg-if = "1.0.0"
 [features]
 default = []
 dyn_msg = ["ament_rs", "libloading"]
+serde = ["dep:serde", "dep:serde-big-array", "rosidl_runtime_rs/serde"]
 # This feature is solely for the purpose of being able to generate documetation without a ROS installation
 # The only intended usage of this feature is for docs.rs builders to work, and is not intended to be used by end users
 generate_docs = ["rosidl_runtime_rs/generate_docs"]

rclrs/build.rs

@@ -35,6 +35,7 @@ fn main() {
         }
     };
 
+    println!("cargo:rustc-check-cfg=cfg(ros_distro, values(\"humble\", \"iron\", \"jazzy\", \"rolling\"))");
     println!("cargo:rustc-cfg=ros_distro=\"{ros_distro}\"");
 
     let mut builder = bindgen::Builder::default()