Merge branch 'main' into dynamic_messages_3

.github/workflows/rust.yml

@@ -5,6 +5,8 @@ on:
     branches: [ main ]
   pull_request:
     branches: [ main ]
+  schedule:
+    - cron: '0 0 * * *'
 
 env:
   CARGO_TERM_COLOR: always
@@ -14,45 +16,42 @@ jobs:
     strategy:
       matrix:
         ros_distribution:
-          - foxy
-          - galactic
           - humble
+          - iron
           - rolling
         include:
-          # Foxy Fitzroy (June 2020 - May 2023)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
-            ros_distribution: foxy
-            ros_version: 2
-          # Galactic Geochelone (May 2021 - November 2022)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
-            ros_distribution: galactic
-            ros_version: 2
           # 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@v2
+    - uses: actions/checkout@v4
 
     - name: Search packages in this repository
       id: list_packages
       run: |
         echo ::set-output name=package_list::$(colcon list --names-only)
 
     - name: Setup ROS environment
-      uses: ros-tooling/setup-ros@v0.3
+      uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
+        use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
 
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@1.63.0
+      uses: dtolnay/rust-toolchain@1.74.0
       with:
         components: clippy, rustfmt
 
@@ -75,7 +74,7 @@ jobs:
 
     - name: Build and test
       id: build
-      uses: ros-tooling/action-ros-ci@v0.2
+      uses: ros-tooling/action-ros-ci@v0.3
       with:
         package-name: ${{ steps.list_packages.outputs.package_list }}
         target-ros2-distro: ${{ matrix.ros_distribution }}
@@ -88,7 +87,12 @@ jobs:
         for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
         cd $path
         echo "Running clippy in $path"
-        cargo clippy --all-targets --all-features -- -D warnings
+        # Run clippy for all features except generate_docs (needed for docs.rs)
+        if [ "$(basename $path)" = "rclrs" ]; then
+          cargo clippy --all-targets -F default,dyn_msg -- -D warnings
+        else
+          cargo clippy --all-targets --all-features -- -D warnings
+        fi
         cd -
         done
 
@@ -99,7 +103,14 @@ jobs:
         for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" { print $2 }'); do
         cd $path
         echo "Running cargo test in $path"
-        cargo test --all-features
+        # Run cargo test for all features except generate_docs (needed for docs.rs)
+        if [ "$(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
 

Dockerfile

@@ -1,4 +1,5 @@
-FROM ros:foxy as base
+ARG ROS_DISTRO=humble
+FROM ros:$ROS_DISTRO as base
 ARG DEBIAN_FRONTEND=noninteractive
 
 # Install dependencies
@@ -11,7 +12,7 @@ RUN apt-get update && apt-get install -y \
     && 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 1.63.0 -y
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.74.0 -y
 ENV PATH=/root/.cargo/bin:$PATH
 RUN cargo install cargo-ament-build
 

README.md

@@ -33,7 +33,7 @@ Here are the steps for building the `ros2_rust` examples in a vanilla Ubuntu Foc
 <!--- These steps should be kept in sync with docs/Building.md --->
 ```shell
 # Install Rust, e.g. as described in https://rustup.rs/
-# Install ROS 2 as described in https://docs.ros.org/en/foxy/Installation.html
+# Install ROS 2 as described in https://docs.ros.org/en/humble/Installation.html
 # 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:
@@ -43,8 +43,8 @@ pip install git+https://github.com/colcon/colcon-ros-cargo.git
 
 mkdir -p workspace/src && cd workspace
 git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
-vcs import src < src/ros2_rust/ros2_rust_foxy.repos
-. /opt/ros/foxy/setup.sh
+vcs import src < src/ros2_rust/ros2_rust_humble.repos
+. /opt/ros/humble/setup.sh
 colcon build
 ```
 

docs/building.md

@@ -2,7 +2,7 @@
 
 This is a more detailed guide on how to build ROS 2 packages written in Rust that expands on the minimal steps in the README.
 
-In this guide, the Foxy distribution of ROS 2 is used, but newer distributions can be used by simply replacing 'foxy' with the distribution name everywhere.
+In this guide, the Humble distribution of ROS 2 is used, but newer distributions can be used by simply replacing 'humble' with the distribution name everywhere.
 
 
 ## Choosing a workspace directory and cloning `ros2_rust`
@@ -24,7 +24,7 @@ git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
 
 ## Environment setup
 
-Building `rclrs` requires a standard [ROS 2 installation](https://docs.ros.org/en/foxy/Installation.html), and a few extensions.
+Building `rclrs` requires a standard [ROS 2 installation](https://docs.ros.org/en/humble/Installation.html), and a few extensions.
 These extensions are: `colcon-cargo`, `colcon-ros-cargo`, `cargo-ament-build`. The first two are `colcon` plugins, and the third is a `cargo` plugin.
 
 The `libclang` library is also required for automatically generating FFI bindings with `bindgen`. See the [`bindgen` docs](https://rust-lang.github.io/rust-bindgen/requirements.html) on how to install it. As a side note, on Ubuntu the `clang` package is not required, only the `libclang-dev` package.
@@ -41,7 +41,7 @@ The exact steps may differ between platforms, but as an example, here is how you
 <!--- These steps should be kept in sync with README.md --->
 ```shell
 # Install Rust, e.g. as described in https://rustup.rs/
-# Install ROS 2 as described in https://docs.ros.org/en/foxy/Installation.html
+# Install ROS 2 as described in https://docs.ros.org/en/humble/Installation.html
 # 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:
@@ -56,7 +56,8 @@ Build the Docker image with
 
 ```shell
 # Make sure to run this in the workspace directory
-docker build -t ros2_rust_dev - < src/ros2_rust/Dockerfile
+# ROS_DISTRO can be humble|iron|rolling
+docker build -f src/ros2_rust/Dockerfile --build-arg "ROS_DISTRO=humble" -t ros2_rust_dev
 ```
 
 and then run it with
@@ -75,7 +76,7 @@ As you can see, this maps the workspace directory to `/workspace` inside the con
 
 ```shell
 # Make sure to run this in the workspace directory
-vcs import src < src/ros2_rust/ros2_rust_foxy.repos
+vcs import src < src/ros2_rust/ros2_rust_humble.repos
 ```
 
 This uses the [`vcs` tool](https://github.com/dirk-thomas/vcstool), which is preinstalled in the Docker image.
@@ -87,13 +88,13 @@ The list of needed repositories should very rarely change, so you typically only
 ### Sourcing the ROS 2 installation
 
 Before building, the ROS 2 installation, and ideally _only_ the ROS 2 installation, should be sourced.
-Sourcing an installation populates a few environment variables such as `$AMENT_PREFIX_PATH`, so if you are not sure, you can check that the `$AMENT_PREFIX_PATH` environment variable contains the ROS 2 installation, e.g. `/opt/ros/foxy`.
+Sourcing an installation populates a few environment variables such as `$AMENT_PREFIX_PATH`, so if you are not sure, you can check that the `$AMENT_PREFIX_PATH` environment variable contains the ROS 2 installation, e.g. `/opt/ros/humble`.
 
 In the pre-made Docker image, sourcing is already done for you. Otherwise, if `$AMENT_PREFIX_PATH` is empty, you need to source the ROS 2 installation yourself:
 
 ```shell
-# You can also do `source /opt/ros/foxy/setup.bash` in bash
-. /opt/ros/foxy/setup.sh
+# You can also do `source /opt/ros/humble/setup.bash` in bash
+. /opt/ros/humble/setup.sh
 ````
 
 If `$AMENT_PREFIX_PATH` contains undesired paths, exit and reopen your shell. If the problem persists, it's probably because of a sourcing command in your `~/.bashrc` or similar.

docs/writing-your-first-rclrs-node.md

@@ -47,14 +47,14 @@ use std::sync::Arc;
 use std_msgs::msg::String as StringMsg;
 
 struct RepublisherNode {
-    node: rclrs::Node,
+    node: Arc<rclrs::Node>,
     _subscription: Arc<rclrs::Subscription<StringMsg>>,
     data: Option<StringMsg>,
 }
 
 impl RepublisherNode {
     fn new(context: &rclrs::Context) -> Result<Self, rclrs::RclrsError> {
-        let mut node = rclrs::Node::new(context, "republisher")?;
+        let node = rclrs::Node::new(context, "republisher")?;
         let data = None;
         let _subscription = node.create_subscription(
             "in_topic",
@@ -76,7 +76,7 @@ Next, add a main function to launch it:
 fn main() -> Result<(), rclrs::RclrsError> {
     let context = rclrs::Context::new(std::env::args())?;
     let republisher = RepublisherNode::new(&context)?;
-    rclrs::spin(&republisher.node)
+    rclrs::spin(republisher.node)
 }
 ```
 
@@ -114,14 +114,14 @@ use std::sync::{Arc, Mutex};  // (1)
 use std_msgs::msg::String as StringMsg;
 
 struct RepublisherNode {
-    node: rclrs::Node,
+    node: Arc<rclrs::Node>,
     _subscription: Arc<rclrs::Subscription<StringMsg>>,
     data: Arc<Mutex<Option<StringMsg>>>,  // (2)
 }
 
 impl RepublisherNode {
     fn new(context: &rclrs::Context) -> Result<Self, rclrs::RclrsError> {
-        let mut node = rclrs::Node::new(context, "republisher")?;
+        let node = rclrs::Node::new(context, "republisher")?;
         let data = Arc::new(Mutex::new(None));  // (3)
         let data_cb = Arc::clone(&data);
         let _subscription = {
@@ -190,7 +190,7 @@ fn main() -> Result<(), rclrs::RclrsError> {
             republisher.republish()?;
         }
     });
-    rclrs::spin(&republisher.node)
+    rclrs::spin(republisher.node)
 }
 ```
 
@@ -212,7 +212,7 @@ fn main() -> Result<(), rclrs::RclrsError> {
             republisher_other_thread.republish()?;
         }
     });
-    rclrs::spin(&republisher.node)
+    rclrs::spin(Arc::clone(&republisher.node))
 }
 ```
 

examples/message_demo/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "examples_rclrs_message_demo"
-version = "0.3.1"
+version = "0.4.1"
 authors = ["Nikolai Morin <[email protected]>"]
 edition = "2021"
 
@@ -12,13 +12,13 @@ path = "src/message_demo.rs"
 anyhow = {version = "1", features = ["backtrace"]}
 
 [dependencies.rclrs]
-version = "0.3"
+version = "0.4"
 
 [dependencies.rosidl_runtime_rs]
-version = "0.3"
+version = "0.4"
 
 [dependencies.rclrs_example_msgs]
-version = "0.3"
+version = "0.4"
 features = ["serde"]
 
 [dependencies.serde_json]

examples/message_demo/package.xml

@@ -4,7 +4,7 @@
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>examples_rclrs_message_demo</name>
-  <version>0.3.1</version>
+  <version>0.4.1</version>
   <description>Package containing an example of message-related functionality in rclrs.</description>
   <maintainer email="[email protected]">Nikolai Morin</maintainer>
   <license>Apache License 2.0</license>

examples/message_demo/src/message_demo.rs

@@ -1,5 +1,6 @@
 use std::convert::TryInto;
 use std::env;
+use std::sync::Arc;
 
 use anyhow::{Error, Result};
 use rosidl_runtime_rs::{seq, BoundedSequence, Message, Sequence};
@@ -132,7 +133,7 @@ fn demonstrate_pubsub() -> Result<(), Error> {
     println!("================== Interoperability demo ==================");
     // Demonstrate interoperability between idiomatic and RMW-native message types
     let context = rclrs::Context::new(env::args())?;
-    let mut node = rclrs::create_node(&context, "message_demo")?;
+    let node = rclrs::create_node(&context, "message_demo")?;
 
     let idiomatic_publisher = node.create_publisher::<rclrs_example_msgs::msg::VariousTypes>(
         "topic",
@@ -159,10 +160,10 @@ fn demonstrate_pubsub() -> Result<(), Error> {
         )?;
     println!("Sending idiomatic message.");
     idiomatic_publisher.publish(rclrs_example_msgs::msg::VariousTypes::default())?;
-    rclrs::spin_once(&node, None)?;
+    rclrs::spin_once(Arc::clone(&node), None)?;
     println!("Sending RMW-native message.");
     direct_publisher.publish(rclrs_example_msgs::msg::rmw::VariousTypes::default())?;
-    rclrs::spin_once(&node, None)?;
+    rclrs::spin_once(Arc::clone(&node), None)?;
 
     Ok(())
 }

examples/minimal_client_service/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "examples_rclrs_minimal_client_service"
-version = "0.3.1"
+version = "0.4.1"
 authors = ["Esteve Fernandez <[email protected]>"]
 edition = "2021"
 
@@ -21,10 +21,10 @@ anyhow = {version = "1", features = ["backtrace"]}
 tokio = { version = "1", features = ["macros", "rt", "rt-multi-thread", "time"] }
 
 [dependencies.rclrs]
-version = "0.3"
+version = "0.4"
 
 [dependencies.rosidl_runtime_rs]
-version = "0.3"
+version = "0.4"
 
 [dependencies.example_interfaces]
 version = "*"

examples/minimal_client_service/package.xml

@@ -4,7 +4,7 @@
    schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>examples_rclrs_minimal_client_service</name>
-  <version>0.3.1</version>
+  <version>0.4.1</version>
   <description>Package containing an example of the client-service mechanism in rclrs.</description>
   <maintainer email="[email protected]">Esteve Fernandez</maintainer>
   <license>Apache License 2.0</license>

examples/minimal_client_service/src/minimal_client.rs

@@ -5,15 +5,17 @@ use anyhow::{Error, Result};
 fn main() -> Result<(), Error> {
     let context = rclrs::Context::new(env::args())?;
 
-    let mut node = rclrs::create_node(&context, "minimal_client")?;
+    let node = rclrs::create_node(&context, "minimal_client")?;
 
     let client = node.create_client::<example_interfaces::srv::AddTwoInts>("add_two_ints")?;
 
     let request = example_interfaces::srv::AddTwoInts_Request { a: 41, b: 1 };
 
     println!("Starting client");
 
-    std::thread::sleep(std::time::Duration::from_millis(500));
+    while !client.service_is_ready()? {
+        std::thread::sleep(std::time::Duration::from_millis(10));
+    }
 
     client.async_send_request_with_callback(
         &request,
@@ -28,5 +30,5 @@ fn main() -> Result<(), Error> {
     std::thread::sleep(std::time::Duration::from_millis(500));
 
     println!("Waiting for response");
-    rclrs::spin(&node).map_err(|err| err.into())
+    rclrs::spin(node).map_err(|err| err.into())
 }