Clearer env var name, version bumps, and updated readme

Cargo.toml

@@ -1,7 +1,7 @@
 
 [package]
 name = "r2r"
-version = "0.0.5"
+version = "0.0.6"
 authors = ["Martin Dahl <martin.dahl@gmail.com>"]
 description = "Minimal ros2 bindings."
 license = "Apache-2.0/MIT"
@@ -13,15 +13,15 @@ serde_json = "1.0.62"
 failure = "0.1.8"
 failure_derive = "0.1.8"
 lazy_static = "1.4.0"
-common = { path = "common", version = "0.0.2" }
+common = { path = "common", version = "0.0.3" }
-rcl = { path = "rcl", version = "0.0.2" }
+rcl = { path = "rcl", version = "0.0.3" }
-msg_gen = { path = "msg_gen", version = "0.0.2" }
+msg_gen = { path = "msg_gen", version = "0.0.3" }
 
 [dev-dependencies]
 serde_json = "1.0.62"
 
 [build-dependencies]
-common = { path = "common", version = "0.0.2" }
+common = { path = "common", version = "0.0.3" }
-msg_gen = { path = "msg_gen", version = "0.0.2" }
+msg_gen = { path = "msg_gen", version = "0.0.3" }
 
 [workspace]

README.md

@@ -3,6 +3,8 @@ R2R - Minimal ROS2 Rust bindings
 
 Minimal bindings for ROS2 that do *not* require hooking in to the ROS2 build infrastructure. If you want a more ROS-oriented approach, see <https://github.com/ros2-rust/ros2_rust>. In these bindings, convenience Rust types are created by calling into the c introspection libraries to circumvent the .msg/.idl pipeline. The convenience types can be ignored when you need to trade convenience for performance, e.g. treating large chunks of data manually.
 
+When integration with other ROS2 software is desired, instead of the default mode of r2r, which is to build bindings to RCL and messages depending on what is currently sourced, a CMakeLists.txt file can be used to limit the binding to only include specific dependencies. This is done through additional environment variables. See the minimal example at <https://github.com/m-dahl/r2r_minimal_node/>.
+
 Manual is available on github pages <https://sequenceplanner.github.io/r2r/>
 
 How to use

build.rs

@@ -10,7 +10,7 @@ fn main() {
 
     let msg_list = if let Some(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS").ok() {
         let packages = cmake_includes.split(":").flat_map(|i| Path::new(i).parent()).collect::<Vec<_>>();
-        let deps = env::var("CMAKE_RECURSIVE_DEPENDENCIES").unwrap_or(String::default());
+        let deps = env::var("CMAKE_IDL_PACKAGES").unwrap_or(String::default());
         let deps = deps.split(":").collect::<Vec<_>>();
         let msgs = common::get_ros_msgs(&packages);
         common::parse_msgs(&msgs).into_iter()

common/Cargo.toml

@@ -1,9 +1,8 @@
 
 [package]
 name = "common"
-version = "0.0.2"
+version = "0.0.3"
 authors = ["Martin Dahl <martin.dahl@gmail.com>"]
 description = "Minimal ros2 bindings."
 license = "Apache-2.0/MIT"
 edition = "2018"
-

msg_gen/Cargo.toml

@@ -1,16 +1,16 @@
 [package]
 name = "msg_gen"
-version = "0.0.2"
+version = "0.0.3"
 authors = ["Martin Dahl <martin.dahl@gmail.com>"]
 edition = "2018"
 
 [dependencies]
 lazy_static = "1.4.0"
-rcl = { path = "../rcl", version = "0.0.2" }
+rcl = { path = "../rcl", version = "0.0.3" }
-common = { path = "../common", version = "0.0.2" }
+common = { path = "../common", version = "0.0.3" }
 
 [build-dependencies]
 bindgen = "0.57.0"
-rcl = { path = "../rcl", version = "0.0.2" }
+rcl = { path = "../rcl", version = "0.0.3" }
-common = { path = "../common", version = "0.0.2" }
+common = { path = "../common", version = "0.0.3" }
 heck = "0.3.2"

msg_gen/build.rs

@@ -16,7 +16,7 @@ fn main() {
             builder = builder.clang_arg(format!("-I{}", p));
             println!("adding include path: {}", p);
         }
-        let deps = env::var("CMAKE_RECURSIVE_DEPENDENCIES").unwrap_or(String::default());
+        let deps = env::var("CMAKE_IDL_PACKAGES").unwrap_or(String::default());
         let deps = deps.split(":").collect::<Vec<_>>();
         let msgs = common::get_ros_msgs(&packages);
         common::parse_msgs(&msgs).into_iter()

rcl/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rcl"
-version = "0.0.2"
+version = "0.0.3"
 authors = ["Martin Dahl <martin.dahl@gmail.com>"]
 edition = "2018"
 
@@ -11,4 +11,4 @@ widestring = "0.4.3"
 [build-dependencies]
 bindgen = "0.57.0"
 itertools = "0.10.0"
-common = { path = "../common", version = "0.0.2" }
+common = { path = "../common", version = "0.0.3" }