adds rclrs support

.github/workflows/rclrs_humble.yml

@@ -0,0 +1,17 @@
+name: rclrs_humble
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_humble:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile_rclrs_humble --tag rclrs_humble
+    - run: docker run r2r_humble cargo test --features rclrs_msg

Cargo.toml

@@ -21,6 +21,11 @@ rosrust_msg = { version = "0.1", optional = true }
 rosrust = { version = "0.9.11", optional = true }
 r2r = { version = "0.8.4", optional = true }
 
+sensor_msgs = { version = "*", optional = true }
+std_msgs = { version = "*", optional = true }
+builtin_interfaces = { version = "*", optional = true }
+
 [features]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
-r2r_msg = ["dep:r2r"]
+r2r_msg = ["dep:r2r"]
+rclrs_msg = ["dep:sensor_msgs", "dep:std_msgs", "dep:builtin_interfaces"]

src/ros_types.rs

@@ -1,4 +1,4 @@
-#[cfg(not(feature = "rosrust_msg"))]
+#[cfg(not(any(feature = "rosrust_msg", feature = "rclrs_msg")))]
 #[derive(Clone, Debug, Default)]
 pub struct TimeMsg {
     pub sec: u32,
@@ -8,6 +8,9 @@ pub struct TimeMsg {
 #[cfg(feature = "rosrust_msg")]
 pub use rosrust::Time as TimeMsg;
 
+#[cfg(feature = "rclrs_msg")]
+pub use builtin_interfaces::msg::Time as TimeMsg;
+
 #[derive(Clone, Debug, Default)]
 pub struct HeaderMsg {
     pub seq: u32,
@@ -166,3 +169,68 @@ impl Into<rosrust_msg::sensor_msgs::PointCloud2> for PointCloud2Msg {
         }
     }
 }
+
+#[cfg(feature = "rclrs_msg")]
+impl From<sensor_msgs::msg::PointCloud2> for PointCloud2Msg {
+    fn from(msg: sensor_msgs::msg::PointCloud2) -> Self {
+        Self {
+            header: HeaderMsg {
+                seq: 0,
+                stamp: TimeMsg {
+                    sec: msg.header.stamp.sec as u32,
+                    nsec: msg.header.stamp.nanosec,
+                },
+                frame_id: msg.header.frame_id,
+            },
+            height: msg.height,
+            width: msg.width,
+            fields: msg
+                .fields
+                .into_iter()
+                .map(|field| PointFieldMsg {
+                    name: field.name,
+                    offset: field.offset,
+                    datatype: field.datatype,
+                    count: field.count,
+                })
+                .collect(),
+            is_bigendian: msg.is_bigendian,
+            point_step: msg.point_step,
+            row_step: msg.row_step,
+            data: msg.data,
+            is_dense: msg.is_dense,
+        }
+    }
+}
+
+#[cfg(feature = "rclrs_msg")]
+impl Into<sensor_msgs::msg::PointCloud2> for PointCloud2Msg {
+    fn into(self) -> sensor_msgs::msg::PointCloud2 {
+        sensor_msgs::msg::PointCloud2 {
+            header: std_msgs::msg::Header {
+                stamp: builtin_interfaces::msg::Time {
+                    sec: self.header.stamp.sec as i32,
+                    nanosec: self.header.stamp.nsec,
+                },
+                frame_id: self.header.frame_id,
+            },
+            height: self.height,
+            width: self.width,
+            fields: self
+                .fields
+                .into_iter()
+                .map(|field| sensor_msgs::msg::PointField {
+                    name: field.name,
+                    offset: field.offset,
+                    datatype: field.datatype,
+                    count: field.count,
+                })
+                .collect(),
+            is_bigendian: self.is_bigendian,
+            point_step: self.point_step,
+            row_step: self.row_step,
+            data: self.data,
+            is_dense: self.is_dense,
+        }
+    }
+}

tests/Dockerfile_rclrs_humble

@@ -0,0 +1,34 @@
+# syntax=docker/dockerfile:1
+FROM ros:humble
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev \
+    git \
+    python3-pip \
+    python3-vcstool
+
+# Get ros test messages
+RUN apt-get install -y ros-humble-test-msgs ros-humble-example-interfaces
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+RUN cargo install --debug cargo-ament-build
+RUN pip install git+https://github.com/colcon/colcon-cargo.git
+RUN pip install git+https://github.com/colcon/colcon-ros-cargo.git
+
+WORKDIR /ros2_rust_build
+RUN git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
+RUN vcs import src < src/ros2_rust/ros2_rust_humble.repos
+RUN . /opt/ros/humble/setup.sh && colcon build
+
+WORKDIR /rclrs
+COPY . .
+RUN chmod +x /rclrs/tests/rclrs_test.bash
+ENTRYPOINT [ "/rclrs/tests/rclrs_test.bash" ]

tests/rclrs_msg_test.rs

@@ -0,0 +1,34 @@
+#[cfg(feature = "rclrs_msg")]
+#[test]
+fn convertxyz_rclrs_msg() {
+    use ros_pointcloud2::fallible_iterator::FallibleIterator;
+    use ros_pointcloud2::pcl_utils::PointXYZ;
+    use ros_pointcloud2::ros_types::PointCloud2Msg;
+    use ros_pointcloud2::ConvertXYZ;
+    use sensor_msgs::msg::PointCloud2;
+
+    let cloud = vec![
+        PointXYZ {
+            x: 1.0,
+            y: 2.0,
+            z: 3.0,
+        },
+        PointXYZ {
+            x: 4.0,
+            y: 5.0,
+            z: 6.0,
+        },
+        PointXYZ {
+            x: 7.0,
+            y: 8.0,
+            z: 9.0,
+        },
+    ];
+    let copy = cloud.clone();
+    let internal_cloud: PointCloud2Msg = ConvertXYZ::try_from(cloud).unwrap().try_into().unwrap();
+    let rclrs_msg_cloud: PointCloud2 = internal_cloud.into();
+    let convert_back_internal: PointCloud2Msg = rclrs_msg_cloud.into();
+    let to_convert: ConvertXYZ = ConvertXYZ::try_from(convert_back_internal).unwrap();
+    let back_to_type = to_convert.map(|point| Ok(point)).collect::<Vec<PointXYZ>>();
+    assert_eq!(copy, back_to_type.unwrap());
+}

tests/rclrs_test.bash

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+. "$HOME/.cargo/env"
+
+# run rustup to test with latest rust version
+rustup update
+
+if [ -e "/opt/ros/iron/setup.bash" ]; then
+    source "/opt/ros/iron/setup.bash"
+    source "/ros2_rust_build/install/local_setup.bash"
+fi
+
+if [ -e "/opt/ros/humble/setup.bash" ]; then
+    source "/opt/ros/humble/setup.bash"
+    source "/ros2_rust_build/install/local_setup.bash"
+fi
+
+if [ -e "/opt/ros/galactic/setup.bash" ]; then
+    source "/opt/ros/galactic/setup.bash"
+    source "/ros2_rust_build/install/local_setup.bash"
+fi
+
+cd /rclrs/ || exit
+
+"$@"