add 0.5.2 main changes

Cargo.toml

@@ -8,46 +8,47 @@ repository = "https://github.com/stelzo/ros_pointcloud2"
 license = "MIT OR Apache-2.0"
 keywords = ["ros", "pointcloud2", "pointcloud", "message"]
 categories = [
-    "science::robotics",
+  "science::robotics",
-    "encoding",
+  "encoding",
-    "data-structures",
+  "data-structures",
-    "api-bindings",
+  "api-bindings",
 ]
 readme = "README.md"
 documentation = "https://docs.rs/ros_pointcloud2"
 homepage = "https://github.com/stelzo/ros_pointcloud2"
 exclude = [
-    "**/.github/**",
+  "**/.github/**",
-    "**/tests/**",
+  "**/tests/**",
-    "**/examples/**",
+  "**/examples/**",
-    "**/benches/**",
+  "**/benches/**",
-    "**/target/**",
+  "**/target/**",
-    "**/build/**",
+  "**/build/**",
-    "**/dist/**",
+  "**/dist/**",
-    "**/docs/**",
+  "**/docs/**",
-    "**/doc/**",
+  "**/doc/**",
 ]
-rust-version = "1.63"
+rust-version = "1.77"
 
 [dependencies]
-rosrust_msg = { version = "0.1", optional = true }
+rosrust_msg = { version = "0.1.8", optional = true }
-rosrust = { version = "0.9.11", optional = true }
+rosrust = { version = "0.9.12", optional = true }
 r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0.33", optional = true, default-features = false }
-rpcl2-derive = { version = "0.3", optional = true }
+rpcl2-derive = { version = "0.4", optional = true }
 memoffset = { version = "0.9", optional = true }
+serde = { version = "1.0", features = ["derive"], optional = true }
 
 sensor_msgs = { version = "*", optional = true }
 std_msgs = { version = "*", optional = true }
 builtin_interfaces = { version = "*", optional = true }
 
 [dev-dependencies]
-rand = "0.8"
 criterion = { version = "0.5", features = ["html_reports"] }
 pretty_assertions = "1.0"
 
 [features]
+serde = ["dep:serde", "nalgebra/serde-serialize-no-std"]
 rclrs_msg = ["dep:sensor_msgs", "dep:std_msgs", "dep:builtin_interfaces"]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
@@ -59,6 +60,6 @@ std = ["nalgebra/std"]
 default = ["std", "rclrs_msg"]
 
 [package.metadata.docs.rs]
-features = ["derive", "nalgebra", "rayon"]
+features = ["derive", "nalgebra", "rayon", "serde"]
 default-target = "x86_64-unknown-linux-gnu"
 rustdoc-args = ["--cfg", "docsrs"]

README.md

@@ -7,7 +7,7 @@
 
 ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
 
-Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.1/) for a complete guide.
+Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.2/) for a complete guide.
 
 ## Quickstart
 
@@ -68,7 +68,7 @@ Features do not work properly with `rcrls` because the messages are linked exter
 
 ```toml
 [dependencies]
-ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.1_rclrs" }
+ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.2_rclrs" }
 ```
 
 Also, indicate the following dependencies to your linker inside the `package.xml` of your package.

src/lib.rs

@@ -148,6 +148,9 @@ pub mod iterator;
 
 use crate::ros::{HeaderMsg, PointFieldMsg};
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 #[cfg(feature = "derive")]
 #[doc(hidden)]
 pub use memoffset;
@@ -285,6 +288,7 @@ impl LayoutField {
 /// To assert consistency, the type should be build with the [`PointCloud2MsgBuilder`].
 /// See the offical [ROS message description](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointCloud2.html) for more information on the fields.
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointCloud2Msg {
     pub header: HeaderMsg,
     pub dimensions: CloudDimensions,
@@ -298,6 +302,7 @@ pub struct PointCloud2Msg {
 
 /// Endianess encoding hint for the message.
 #[derive(Default, Clone, Debug, PartialEq, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum Endian {
     Big,
     #[default]
@@ -306,6 +311,7 @@ pub enum Endian {
 
 /// Density flag for the message. Writing sparse point clouds is not supported.
 #[derive(Default, Clone, Debug, PartialEq, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum Denseness {
     #[default]
     Dense,
@@ -461,6 +467,7 @@ impl PointCloud2MsgBuilder {
 
 /// Dimensions of the point cloud as width and height.
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct CloudDimensions {
     pub width: u32,
     pub height: u32,

src/points.rs

@@ -1,6 +1,9 @@
 //! Predefined point types commonly used in ROS.
 use crate::{LayoutDescription, LayoutField, PointConvertible, RPCL2Point};
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 /// A packed RGB color encoding as used in ROS tools.
 #[derive(Clone, Copy)]
 #[repr(C, align(4))]
@@ -40,6 +43,29 @@ impl core::fmt::Debug for RGB {
     }
 }
 
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl<'de> Deserialize<'de> for RGB {
+    fn deserialize<D>(deserializer: D) -> Result<RGB, D::Error>
+    where
+        D: serde::Deserializer<'de>,
+    {
+        let packed = f32::deserialize(deserializer)?;
+        Ok(RGB::new_from_packed_f32(packed))
+    }
+}
+
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl Serialize for RGB {
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: serde::Serializer,
+    {
+        f32::from(*self).serialize(serializer)
+    }
+}
+
 impl RGB {
     #[must_use]
     pub fn new(r: u8, g: u8, b: u8) -> Self {
@@ -107,6 +133,7 @@ impl From<f32> for RGB {
 /// This is a 3D point with x, y, z coordinates.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZ {
     pub x: f32,
     pub y: f32,
@@ -114,6 +141,7 @@ pub struct PointXYZ {
 }
 
 #[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
 impl From<nalgebra::Point3<f32>> for PointXYZ {
     fn from(point: nalgebra::Point3<f32>) -> Self {
         Self {
@@ -125,12 +153,73 @@ impl From<nalgebra::Point3<f32>> for PointXYZ {
 }
 
 #[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&nalgebra::Point3<f32>> for PointXYZ {
+    fn from(point: &nalgebra::Point3<f32>) -> Self {
+        Self {
+            x: point.x,
+            y: point.y,
+            z: point.z,
+        }
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&nalgebra::Point3<f64>> for PointXYZ {
+    fn from(point: &nalgebra::Point3<f64>) -> Self {
+        Self {
+            x: point.x as f32,
+            y: point.y as f32,
+            z: point.z as f32,
+        }
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<nalgebra::Point3<f64>> for PointXYZ {
+    fn from(point: nalgebra::Point3<f64>) -> Self {
+        Self {
+            x: point.x as f32,
+            y: point.y as f32,
+            z: point.z as f32,
+        }
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
 impl From<PointXYZ> for nalgebra::Point3<f32> {
     fn from(point: PointXYZ) -> Self {
         nalgebra::Point3::new(point.x, point.y, point.z)
     }
 }
 
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&PointXYZ> for nalgebra::Point3<f32> {
+    fn from(point: &PointXYZ) -> Self {
+        nalgebra::Point3::new(point.x, point.y, point.z)
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<PointXYZ> for nalgebra::Point3<f64> {
+    fn from(point: PointXYZ) -> Self {
+        nalgebra::Point3::new(point.x as f64, point.y as f64, point.z as f64)
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&PointXYZ> for nalgebra::Point3<f64> {
+    fn from(point: &PointXYZ) -> Self {
+        nalgebra::Point3::new(point.x as f64, point.y as f64, point.z as f64)
+    }
+}
+
 impl PointXYZ {
     #[must_use]
     pub fn new(x: f32, y: f32, z: f32) -> Self {
@@ -139,9 +228,22 @@ impl PointXYZ {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
-        nalgebra::Point3::new(self.x, self.y, self.z)
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        self.into()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        self.into()
     }
 }
 
@@ -175,6 +277,7 @@ unsafe impl PointConvertible<3> for PointXYZ {
 /// This is a 3D point with x, y, z coordinates and an intensity value.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZI {
     pub x: f32,
     pub y: f32,
@@ -190,9 +293,22 @@ impl PointXYZI {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZI {}
@@ -236,6 +352,7 @@ unsafe impl PointConvertible<4> for PointXYZI {
 /// This is a 3D point with x, y, z coordinates and a label.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZL {
     pub x: f32,
     pub y: f32,
@@ -251,9 +368,22 @@ impl PointXYZL {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZL {}
@@ -297,6 +427,7 @@ unsafe impl PointConvertible<4> for PointXYZL {
 /// This is a 3D point with x, y, z coordinates and an RGB color value.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGB {
     pub x: f32,
     pub y: f32,
@@ -329,9 +460,22 @@ impl PointXYZRGB {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZRGB {}
@@ -376,6 +520,7 @@ unsafe impl PointConvertible<4> for PointXYZRGB {
 /// The alpha channel is commonly used as padding but this crate uses every channel and no padding.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBA {
     pub x: f32,
     pub y: f32,
@@ -409,9 +554,22 @@ impl PointXYZRGBA {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZRGBA {}
@@ -459,6 +617,7 @@ unsafe impl PointConvertible<5> for PointXYZRGBA {
 /// This is a 3D point with x, y, z coordinates, an RGB color value and a normal vector.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBNormal {
     pub x: f32,
     pub y: f32,
@@ -509,9 +668,22 @@ impl PointXYZRGBNormal {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZRGBNormal {}
@@ -565,6 +737,7 @@ unsafe impl PointConvertible<7> for PointXYZRGBNormal {
 /// This is a 3D point with x, y, z coordinates, an intensity value and a normal vector.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZINormal {
     pub x: f32,
     pub y: f32,
@@ -600,9 +773,21 @@ impl PointXYZINormal {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZINormal {}
@@ -656,6 +841,7 @@ unsafe impl PointConvertible<7> for PointXYZINormal {
 /// This is a 3D point with x, y, z coordinates and a label.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBL {
     pub x: f32,
     pub y: f32,
@@ -698,9 +884,22 @@ impl PointXYZRGBL {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 impl From<RPCL2Point<5>> for PointXYZRGBL {
@@ -745,6 +944,7 @@ unsafe impl PointConvertible<5> for PointXYZRGBL {
 /// This is a 3D point with x, y, z coordinates and a normal vector.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZNormal {
     pub x: f32,
     pub y: f32,
@@ -770,9 +970,22 @@ impl PointXYZNormal {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZNormal {}

src/ros.rs

@@ -25,9 +25,13 @@
 
 use alloc::string::String;
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.
 #[cfg(not(any(feature = "rclrs_msg")))]
-#[derive(Clone, Debug, Default)]
+#[derive(Clone, Debug, Default, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TimeMsg {
     pub sec: i32,
     pub nanosec: u32,
@@ -48,6 +52,7 @@ impl From<rosrust::Time> for TimeMsg {
 
 /// Represents the [header of a ROS message](https://docs.ros2.org/latest/api/std_msgs/msg/Header.html).
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct HeaderMsg {
     pub seq: u32,
     pub stamp: TimeMsg,
@@ -56,6 +61,7 @@ pub struct HeaderMsg {
 
 /// Describing a point encoded in the byte buffer of a PointCloud2 message. See the [official message description](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointField.html) for more information.
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointFieldMsg {
     pub name: String,
     pub offset: u32,