Feature/support_r2r (#8)

* add r2r crate support and its test

* add files for tests of feature r2r_msg

* r2r prefixes

.github/workflows/r2r_galactic_20.04.yml

@@ -0,0 +1,17 @@
+name: galactic_r2r_test
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_galactic:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile_r2r_galactic --tag r2r_galactic
+    - run: docker run r2r_galactic cargo test --features r2r_msg

Cargo.toml

@@ -19,6 +19,8 @@ num-traits = "0.2.15"
 fallible-iterator = "0.3.0"
 rosrust_msg = { version = "0.1", optional = true }
 rosrust = { version = "0.9", optional = true }
+r2r = { version = "0.7.5", optional = true }
 
 [features]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
+r2r_msg = ["dep:r2r"]

src/ros_types.rs

@@ -80,6 +80,71 @@ impl Default for PointCloud2Msg {
     }
 }
 
+#[cfg(feature = "r2r_msg")]
+impl From<r2r::sensor_msgs::msg::PointCloud2> for PointCloud2Msg {
+    fn from(msg: r2r::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 = "r2r_msg")]
+impl Into<r2r::sensor_msgs::msg::PointCloud2> for PointCloud2Msg {
+    fn into(self) -> r2r::sensor_msgs::msg::PointCloud2 {
+        r2r::sensor_msgs::msg::PointCloud2 {
+            header: r2r::std_msgs::msg::Header {
+                stamp: r2r::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| r2r::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,
+        }
+    }
+}
+
 #[cfg(feature = "rosrust_msg")]
 impl From<rosrust_msg::sensor_msgs::PointCloud2> for PointCloud2Msg {
     fn from(msg: rosrust_msg::sensor_msgs::PointCloud2) -> Self {

tests/Dockerfile_r2r_galactic

@@ -0,0 +1,22 @@
+# syntax=docker/dockerfile:1
+FROM ros:galactic
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get ros test messages
+RUN apt-get install -y ros-galactic-test-msgs ros-galactic-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
+
+COPY . /r2r
+RUN chmod +x /r2r/tests/r2r_20.04_test.bash
+ENTRYPOINT [ "/r2r/tests/r2r_20.04_test.bash" ]

tests/r2r_20.04_test.bash

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+. "$HOME/.cargo/env"
+
+# run rustup to test with latest rust version
+rustup update
+
+if [ -e "/opt/ros/humble/setup.bash" ]; then
+    source "/opt/ros/humble/setup.bash"
+fi
+if [ -e "/opt/ros/galactic/setup.bash" ]; then
+    source "/opt/ros/galactic/setup.bash"
+fi
+if [ -e "/opt/ros/foxy/setup.bash" ]; then
+    source "/opt/ros/foxy/setup.bash"
+fi
+
+cd /r2r/ || exit
+
+"$@"

tests/r2r_msg_test.rs

@@ -0,0 +1,33 @@
+#[cfg(feature = "r2r_msg")]
+#[test]
+fn convertxyz_r2r_msg() {
+    use ros_pointcloud2::fallible_iterator::FallibleIterator;
+    use ros_pointcloud2::pcl_utils::PointXYZ;
+    use ros_pointcloud2::ros_types::PointCloud2Msg;
+    use ros_pointcloud2::ConvertXYZ;
+
+    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 rosrust_msg_cloud: r2r::sensor_msgs::msg::PointCloud2 = internal_cloud.into();
+    let convert_back_internal: PointCloud2Msg = rosrust_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());
+}