cfg dep detection

.github/workflows/r2r_galactic.yml

@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_galactic --tag r2r_galactic
-      - run: docker run r2r_galactic cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_galactic cargo test

.github/workflows/r2r_humble.yml

@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_humble --tag r2r_humble
-      - run: docker run r2r_humble cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_humble cargo test

.github/workflows/r2r_iron.yml

@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_iron --tag r2r_iron
-      - run: docker run r2r_iron cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_iron cargo test

.github/workflows/rclrs_humble.yml

@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_rclrs_humble --tag rclrs_humble
-      - run: docker run rclrs_humble cargo test --features derive,nalgebra,rayon
+      - run: docker run rclrs_humble cargo test

.github/workflows/rclrs_iron.yml

@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_rclrs_iron --tag rclrs_iron
-      - run: docker run rclrs_iron cargo test --features derive,nalgebra,rayon
+      - run: docker run rclrs_iron cargo test

.github/workflows/rosrust_noetic.yml

@@ -105,4 +105,4 @@ jobs:
       - name: test
         run: |
           source /opt/ros/$ROS_DISTRO/setup.bash
-          cargo test --features rosrust_msg,derive,nalgebra,rayon
+          cargo test

rpcl2/Cargo.toml

@@ -31,9 +31,6 @@ exclude = [
 rust-version = "1.63"
 
 [dependencies]
-rosrust_msg = { version = "0.1", optional = true }
-rosrust = { version = "0.9.11", optional = true }
-r2r = { version = "0.9.0", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0.32.5", optional = true, default-features = false }
 rpcl2-derive = { version = "0.2.0", optional = true, path = "../rpcl2-derive" }
@@ -49,8 +46,6 @@ harness = false
 path = "benches/roundtrip.rs"
 
 [features]
-rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
-r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
 derive = ["dep:rpcl2-derive", "dep:memoffset"]
 nalgebra = ["dep:nalgebra"]

rpcl2/src/ros.rs

@@ -32,7 +32,7 @@ pub struct TimeMsg {
     pub nanosec: u32,
 }
 
-#[cfg(feature = "rosrust_msg")]
+#[cfg(rosrust)]
 impl From<rosrust::Time> for TimeMsg {
     fn from(time: rosrust::Time) -> Self {
         Self {
@@ -70,7 +70,7 @@ impl Default for PointFieldMsg {
     }
 }
 
-#[cfg(feature = "r2r_msg")]
+#[cfg(r2r)]
 impl From<r2r::sensor_msgs::msg::PointCloud2> for crate::PointCloud2Msg {
     fn from(msg: r2r::sensor_msgs::msg::PointCloud2) -> Self {
         Self {
@@ -113,7 +113,7 @@ impl From<r2r::sensor_msgs::msg::PointCloud2> for crate::PointCloud2Msg {
     }
 }
 
-#[cfg(feature = "r2r_msg")]
+#[cfg(r2r)]
 impl From<crate::PointCloud2Msg> for r2r::sensor_msgs::msg::PointCloud2 {
     fn from(msg: crate::PointCloud2Msg) -> Self {
         r2r::sensor_msgs::msg::PointCloud2 {
@@ -151,7 +151,7 @@ impl From<crate::PointCloud2Msg> for r2r::sensor_msgs::msg::PointCloud2 {
     }
 }
 
-#[cfg(feature = "rosrust_msg")]
+#[cfg(rosrust)]
 impl From<rosrust_msg::sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
     fn from(msg: rosrust_msg::sensor_msgs::PointCloud2) -> Self {
         Self {
@@ -194,7 +194,7 @@ impl From<rosrust_msg::sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
     }
 }
 
-#[cfg(feature = "rosrust_msg")]
+#[cfg(rosrust)]
 impl From<crate::PointCloud2Msg> for rosrust_msg::sensor_msgs::PointCloud2 {
     fn from(msg: crate::PointCloud2Msg) -> Self {
         rosrust_msg::sensor_msgs::PointCloud2 {

rpcl2/tests/r2r_msg_test.rs

@@ -1,4 +1,4 @@
-#[cfg(feature = "r2r_msg")]
+#[cfg(r2r)]
 #[test]
 fn convertxyz_r2r_msg() {
     use ros_pointcloud2::{points::PointXYZ, PointCloud2Msg};

rpcl2/tests/rosrust_msg_test.rs

@@ -1,4 +1,4 @@
-#[cfg(feature = "rosrust_msg")]
+#[cfg(rosrust)]
 #[test]
 fn convertxyz_rosrust_msg() {
     use ros_pointcloud2::{points::PointXYZ, PointCloud2Msg};