prepare version

.github/workflows/tests.yml

@@ -23,6 +23,6 @@ jobs:
           rustc --version
           cargo --version
       - name: Linting
-        run: cargo clippy --all-targets -- -D warnings
+        run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings
       - name: Tests
         run: cargo test --features derive,nalgebra,rayon

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "1.0.0-rc.1"
+version = "0.5.0-rc.1"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -53,7 +53,7 @@ derive = ["dep:rpcl2_derive", "dep:type-layout"]
 nalgebra = ["dep:nalgebra"]
 std = []
 
-default = ["derive", "std"]
+default = ["std", "derive"]
 
 [package.metadata.docs.rs]
 features = ["derive", "nalgebra", "rayon"]

README.md

@@ -1,5 +1,5 @@
 > [!NOTE]  
-> This library is currently in preparation for v1. For the documentation of the current crates.io v0.4, visit the [docs](https://docs.rs/ros_pointcloud2/0.4.0/ros_pointcloud2/).
+> This library is currently in preparation for v0.5 with many breaking changes. For the documentation of the current crates.io v0.4.0, visit the [docs](https://docs.rs/ros_pointcloud2/0.4.0/ros_pointcloud2/). Since rclrs still needs a workaround, the version number must be changed to your desired version which supports rclrs (currently only v0.4.0) — regardless of the version number shown in this Readme.
 
 <p align="center">
   <h3 align="center">ROS PointCloud2</h3>
@@ -10,7 +10,7 @@
 
 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_pointcloud2/1.0.0-rc.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_pointcloud2/0.5.0-rc.1/) for a complete guide.
 
 ## Quickstart
 
@@ -71,7 +71,7 @@ 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 = "v0.4.0_rclrs" }
+ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0-rc.1_rclrs" }
 ```
 
 Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
@@ -96,7 +96,7 @@ For minimizing the conversion overhead in general, always use the functions that
 
 ## `no_std` Environments
 
-The `_iter` conversions are compatible with `#[no_std]` environments when an allocator is provided. This is due to the fact that names for point fields do not have a maximum length, and PointCloud2 data vectors can have arbitrary sizes. Use `default-features = false` to disable std for this crate.
+The `_iter` conversions are compatible with `#[no_std]` environments if an allocator is provided. This is due to the fact that names for point fields do not have a maximum length, and PointCloud2 data vectors can have arbitrary sizes. Use `default-features = false` to disable std for this crate.
 
 ## License
 

src/iterator.rs

@@ -4,14 +4,9 @@ use crate::{
     RPCL2Point,
 };
 
-#[cfg(not(feature = "std"))]
-use alloc::string::String;
-
-#[cfg(not(feature = "std"))]
-use alloc::vec::Vec;
-
-#[cfg(not(feature = "std"))]
 use alloc::borrow::ToOwned;
+use alloc::string::String;
+use alloc::vec::Vec;
 
 /// The PointCloudIterator provides a an iterator abstraction of the [`PointCloud2Msg`].
 ///
@@ -166,7 +161,7 @@ where
 
 struct ByteBufferView<const N: usize> {
     #[cfg(feature = "rayon")]
-    data: std::sync::Arc<[u8]>,
+    data: alloc::sync::Arc<[u8]>,
     #[cfg(not(feature = "rayon"))]
     data: Vec<u8>,
     start_point_idx: usize,
@@ -189,7 +184,7 @@ impl<const N: usize> ByteBufferView<N> {
     ) -> Self {
         Self {
             #[cfg(feature = "rayon")]
-            data: std::sync::Arc::<[u8]>::from(data),
+            data: alloc::sync::Arc::<[u8]>::from(data),
             #[cfg(not(feature = "rayon"))]
             data,
             start_point_idx,
@@ -380,6 +375,7 @@ where
 
 #[cfg(feature = "rayon")]
 mod test {
+    #![allow(clippy::unwrap_used)]
 
     #[test]
     fn test_double_ended_iter() {

src/lib.rs

@@ -128,7 +128,7 @@
 //! ```
 #![crate_type = "lib"]
 #![cfg_attr(docsrs, feature(doc_cfg))]
-#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/1.0.0-rc.1")]
+#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.1")]
 #![warn(clippy::print_stderr)]
 #![warn(clippy::print_stdout)]
 #![warn(clippy::unwrap_used)]
@@ -148,16 +148,12 @@ pub mod iterator;
 
 use crate::ros::{HeaderMsg, PointFieldMsg};
 
+#[cfg(feature = "derive")]
 use core::str::FromStr;
 
-#[cfg(not(feature = "std"))]
 #[macro_use]
 extern crate alloc;
-
-#[cfg(not(feature = "std"))]
 use alloc::string::String;
-
-#[cfg(not(feature = "std"))]
 use alloc::vec::Vec;
 
 /// All errors that can occur while converting to or from the message type.
@@ -1474,7 +1470,6 @@ mod tests {
     use super::Fields;
     use rpcl2_derive::Fields;
 
-    #[cfg(not(feature = "std"))]
     use alloc::string::String;
 
     #[allow(dead_code)]

src/points.rs

@@ -4,7 +4,7 @@ use crate::{Fields, PointConvertible, RPCL2Point};
 #[cfg(feature = "derive")]
 use type_layout::TypeLayout;
 
-#[cfg(all(not(feature = "std"), feature = "derive"))]
+#[cfg(feature = "derive")]
 use alloc::vec::Vec;
 
 /// A packed RGB color encoding as used in ROS tools.

src/ros.rs

@@ -23,7 +23,6 @@
 //! }
 //! ```
 
-#[cfg(not(feature = "std"))]
 use alloc::string::String;
 
 /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.