add 0.5.2 main changes
This commit is contained in:
stelzo
parent
64f1c7cb95
commit
23ede229c7
39
Cargo.toml
39
Cargo.toml
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@ -8,46 +8,47 @@ repository = "https://github.com/stelzo/ros_pointcloud2"
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license = "MIT OR Apache-2.0"
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keywords = ["ros", "pointcloud2", "pointcloud", "message"]
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categories = [
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"science::robotics",
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"encoding",
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"data-structures",
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"api-bindings",
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"science::robotics",
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"encoding",
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"data-structures",
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"api-bindings",
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]
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readme = "README.md"
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documentation = "https://docs.rs/ros_pointcloud2"
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homepage = "https://github.com/stelzo/ros_pointcloud2"
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exclude = [
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"**/.github/**",
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"**/tests/**",
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"**/examples/**",
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"**/benches/**",
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"**/target/**",
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"**/build/**",
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"**/dist/**",
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"**/docs/**",
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"**/doc/**",
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"**/.github/**",
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"**/tests/**",
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"**/examples/**",
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"**/benches/**",
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"**/target/**",
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"**/build/**",
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"**/dist/**",
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"**/docs/**",
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"**/doc/**",
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]
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rust-version = "1.63"
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rust-version = "1.77"
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[dependencies]
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rosrust_msg = { version = "0.1", optional = true }
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rosrust = { version = "0.9.11", optional = true }
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rosrust_msg = { version = "0.1.8", optional = true }
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rosrust = { version = "0.9.12", optional = true }
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r2r = { version = "0.9", optional = true }
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rayon = { version = "1", optional = true }
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nalgebra = { version = "0.33", optional = true, default-features = false }
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rpcl2-derive = { version = "0.3", optional = true }
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rpcl2-derive = { version = "0.4", optional = true }
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memoffset = { version = "0.9", optional = true }
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serde = { version = "1.0", features = ["derive"], optional = true }
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sensor_msgs = { version = "*", optional = true }
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std_msgs = { version = "*", optional = true }
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builtin_interfaces = { version = "*", optional = true }
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[dev-dependencies]
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rand = "0.8"
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criterion = { version = "0.5", features = ["html_reports"] }
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pretty_assertions = "1.0"
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[features]
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serde = ["dep:serde", "nalgebra/serde-serialize-no-std"]
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rclrs_msg = ["dep:sensor_msgs", "dep:std_msgs", "dep:builtin_interfaces"]
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rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
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r2r_msg = ["dep:r2r"]
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@ -59,6 +60,6 @@ std = ["nalgebra/std"]
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default = ["std", "rclrs_msg"]
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[package.metadata.docs.rs]
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features = ["derive", "nalgebra", "rayon"]
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features = ["derive", "nalgebra", "rayon", "serde"]
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default-target = "x86_64-unknown-linux-gnu"
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rustdoc-args = ["--cfg", "docsrs"]
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@ -7,7 +7,7 @@
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ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
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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.
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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.
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## Quickstart
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@ -68,7 +68,7 @@ Features do not work properly with `rcrls` because the messages are linked exter
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```toml
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[dependencies]
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ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.1_rclrs" }
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ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.2_rclrs" }
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```
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Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
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@ -148,6 +148,9 @@ pub mod iterator;
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use crate::ros::{HeaderMsg, PointFieldMsg};
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#[cfg(feature = "serde")]
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use serde::{Deserialize, Serialize};
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#[cfg(feature = "derive")]
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#[doc(hidden)]
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pub use memoffset;
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@ -285,6 +288,7 @@ impl LayoutField {
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/// To assert consistency, the type should be build with the [`PointCloud2MsgBuilder`].
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/// See the offical [ROS message description](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointCloud2.html) for more information on the fields.
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#[derive(Clone, Debug)]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub struct PointCloud2Msg {
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pub header: HeaderMsg,
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pub dimensions: CloudDimensions,
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@ -298,6 +302,7 @@ pub struct PointCloud2Msg {
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/// Endianess encoding hint for the message.
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#[derive(Default, Clone, Debug, PartialEq, Copy)]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub enum Endian {
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Big,
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#[default]
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@ -306,6 +311,7 @@ pub enum Endian {
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/// Density flag for the message. Writing sparse point clouds is not supported.
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#[derive(Default, Clone, Debug, PartialEq, Copy)]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub enum Denseness {
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#[default]
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Dense,
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@ -461,6 +467,7 @@ impl PointCloud2MsgBuilder {
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/// Dimensions of the point cloud as width and height.
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#[derive(Clone, Debug, Default)]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub struct CloudDimensions {
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pub width: u32,
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pub height: u32,
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217
src/points.rs
217
src/points.rs
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@ -1,6 +1,9 @@
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//! Predefined point types commonly used in ROS.
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use crate::{LayoutDescription, LayoutField, PointConvertible, RPCL2Point};
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#[cfg(feature = "serde")]
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use serde::{Deserialize, Serialize};
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/// A packed RGB color encoding as used in ROS tools.
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#[derive(Clone, Copy)]
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#[repr(C, align(4))]
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@ -40,6 +43,29 @@ impl core::fmt::Debug for RGB {
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}
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}
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#[cfg(feature = "serde")]
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#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
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impl<'de> Deserialize<'de> for RGB {
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fn deserialize<D>(deserializer: D) -> Result<RGB, D::Error>
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where
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D: serde::Deserializer<'de>,
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{
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let packed = f32::deserialize(deserializer)?;
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Ok(RGB::new_from_packed_f32(packed))
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}
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}
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#[cfg(feature = "serde")]
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#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
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impl Serialize for RGB {
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fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
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where
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S: serde::Serializer,
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{
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f32::from(*self).serialize(serializer)
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}
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}
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impl RGB {
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#[must_use]
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pub fn new(r: u8, g: u8, b: u8) -> Self {
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@ -107,6 +133,7 @@ impl From<f32> for RGB {
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/// This is a 3D point with x, y, z coordinates.
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#[derive(Clone, Debug, PartialEq, Copy, Default)]
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#[repr(C, align(16))]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub struct PointXYZ {
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pub x: f32,
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pub y: f32,
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@ -114,6 +141,7 @@ pub struct PointXYZ {
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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impl From<nalgebra::Point3<f32>> for PointXYZ {
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fn from(point: nalgebra::Point3<f32>) -> Self {
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Self {
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@ -125,12 +153,73 @@ impl From<nalgebra::Point3<f32>> for PointXYZ {
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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impl From<&nalgebra::Point3<f32>> for PointXYZ {
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fn from(point: &nalgebra::Point3<f32>) -> Self {
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Self {
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x: point.x,
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y: point.y,
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z: point.z,
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}
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}
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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impl From<&nalgebra::Point3<f64>> for PointXYZ {
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fn from(point: &nalgebra::Point3<f64>) -> Self {
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Self {
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x: point.x as f32,
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y: point.y as f32,
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z: point.z as f32,
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}
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}
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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impl From<nalgebra::Point3<f64>> for PointXYZ {
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fn from(point: nalgebra::Point3<f64>) -> Self {
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Self {
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x: point.x as f32,
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y: point.y as f32,
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z: point.z as f32,
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}
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}
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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impl From<PointXYZ> for nalgebra::Point3<f32> {
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fn from(point: PointXYZ) -> Self {
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nalgebra::Point3::new(point.x, point.y, point.z)
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}
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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impl From<&PointXYZ> for nalgebra::Point3<f32> {
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fn from(point: &PointXYZ) -> Self {
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nalgebra::Point3::new(point.x, point.y, point.z)
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}
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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impl From<PointXYZ> for nalgebra::Point3<f64> {
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fn from(point: PointXYZ) -> Self {
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nalgebra::Point3::new(point.x as f64, point.y as f64, point.z as f64)
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}
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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impl From<&PointXYZ> for nalgebra::Point3<f64> {
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fn from(point: &PointXYZ) -> Self {
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nalgebra::Point3::new(point.x as f64, point.y as f64, point.z as f64)
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}
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}
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impl PointXYZ {
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#[must_use]
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pub fn new(x: f32, y: f32, z: f32) -> Self {
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@ -139,9 +228,22 @@ impl PointXYZ {
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/// Get the coordinates as a nalgebra Point3.
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#[cfg(feature = "nalgebra")]
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#[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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pub fn xyz(&self) -> nalgebra::Point3<f32> {
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nalgebra::Point3::new(self.x, self.y, self.z)
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self.xyz_f32()
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
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self.into()
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
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self.into()
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}
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}
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@ -175,6 +277,7 @@ unsafe impl PointConvertible<3> for PointXYZ {
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/// This is a 3D point with x, y, z coordinates and an intensity value.
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#[derive(Clone, Debug, PartialEq, Copy, Default)]
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#[repr(C, align(16))]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub struct PointXYZI {
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pub x: f32,
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pub y: f32,
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@ -190,9 +293,22 @@ impl PointXYZI {
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/// Get the coordinates as a nalgebra Point3.
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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#[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
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pub fn xyz(&self) -> nalgebra::Point3<f32> {
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nalgebra::Point3::new(self.x, self.y, self.z)
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
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nalgebra::Point3::new(self.x, self.y, self.z)
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
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nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
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}
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}
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unsafe impl Send for PointXYZI {}
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@ -236,6 +352,7 @@ unsafe impl PointConvertible<4> for PointXYZI {
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/// This is a 3D point with x, y, z coordinates and a label.
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#[derive(Clone, Debug, PartialEq, Copy, Default)]
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#[repr(C, align(16))]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub struct PointXYZL {
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pub x: f32,
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pub y: f32,
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@ -251,9 +368,22 @@ impl PointXYZL {
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/// Get the coordinates as a nalgebra Point3.
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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#[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
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pub fn xyz(&self) -> nalgebra::Point3<f32> {
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nalgebra::Point3::new(self.x, self.y, self.z)
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
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nalgebra::Point3::new(self.x, self.y, self.z)
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
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nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
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}
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}
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unsafe impl Send for PointXYZL {}
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@ -297,6 +427,7 @@ unsafe impl PointConvertible<4> for PointXYZL {
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/// This is a 3D point with x, y, z coordinates and an RGB color value.
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#[derive(Clone, Debug, PartialEq, Copy, Default)]
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#[repr(C, align(16))]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub struct PointXYZRGB {
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pub x: f32,
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pub y: f32,
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@ -329,9 +460,22 @@ impl PointXYZRGB {
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/// Get the coordinates as a nalgebra Point3.
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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#[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
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pub fn xyz(&self) -> nalgebra::Point3<f32> {
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nalgebra::Point3::new(self.x, self.y, self.z)
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
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nalgebra::Point3::new(self.x, self.y, self.z)
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
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nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
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}
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}
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unsafe impl Send for PointXYZRGB {}
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@ -376,6 +520,7 @@ unsafe impl PointConvertible<4> for PointXYZRGB {
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/// The alpha channel is commonly used as padding but this crate uses every channel and no padding.
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#[derive(Clone, Debug, PartialEq, Copy, Default)]
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#[repr(C, align(16))]
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#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
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pub struct PointXYZRGBA {
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pub x: f32,
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pub y: f32,
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@ -409,9 +554,22 @@ impl PointXYZRGBA {
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/// Get the coordinates as a nalgebra Point3.
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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#[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
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pub fn xyz(&self) -> nalgebra::Point3<f32> {
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nalgebra::Point3::new(self.x, self.y, self.z)
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}
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#[cfg(feature = "nalgebra")]
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#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
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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 {}
|
||||
|
|
@ -817,4 +1030,4 @@ unsafe impl PointConvertible<6> for PointXYZNormal {
|
|||
LayoutField::padding(8),
|
||||
])
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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,
|
||||
|
|
|
|||
Loading…
Reference in New Issue