removing pre-jazzy ros2 action workflows and the rosrust action, need to update the noetic one to use 22.04

.github/workflows/r2r_galactic.yml

@@ -1,21 +0,0 @@
-name: r2r_galactic
-
-on:
-  push:
-    branches-ignore:
-      - rclrs
-  pull_request:
-    branches-ignore:
-      - rclrs
-  workflow_dispatch:
-
-env:
-  CARGO_TERM_COLOR: always
-
-jobs:
-  tests_galactic:
-    runs-on: ubuntu-latest
-    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

.github/workflows/r2r_humble.yml

@@ -1,21 +0,0 @@
-name: r2r_humble
-
-on:
-  push:
-    branches-ignore:
-      - rclrs
-  pull_request:
-    branches-ignore:
-      - rclrs
-  workflow_dispatch:
-
-env:
-  CARGO_TERM_COLOR: always
-
-jobs:
-  tests_humble:
-    runs-on: ubuntu-latest
-    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

.github/workflows/r2r_iron.yml

@@ -1,21 +0,0 @@
-name: r2r_iron
-
-on:
-  push:
-    branches-ignore:
-      - rclrs
-  pull_request:
-    branches-ignore:
-      - rclrs
-  workflow_dispatch:
-
-env:
-  CARGO_TERM_COLOR: always
-
-jobs:
-  tests_humble:
-    runs-on: ubuntu-latest
-    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

.github/workflows/rclrs_humble.yml

@@ -1,21 +0,0 @@
-name: rclrs_humble
-
-on:
-  push:
-    branches:
-      - rclrs
-  pull_request:
-    branches:
-      - rclrs
-  workflow_dispatch:
-
-env:
-  CARGO_TERM_COLOR: always
-
-jobs:
-  tests_humble:
-    runs-on: ubuntu-latest
-    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

.github/workflows/rclrs_iron.yml

@@ -1,21 +0,0 @@
-name: rclrs_iron
-
-on:
-  push:
-    branches:
-      - rclrs
-  pull_request:
-    branches:
-      - rclrs
-  workflow_dispatch:
-
-env:
-  CARGO_TERM_COLOR: always
-
-jobs:
-  tests_iron:
-    runs-on: ubuntu-latest
-    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

.github/workflows/rosrust_noetic.yml

@@ -1,108 +0,0 @@
-name: rosrust_noetic
-
-on:
-  push:
-    branches-ignore:
-      - rclrs
-  pull_request:
-    branches-ignore:
-      - rclrs
-  workflow_dispatch:
-
-jobs:
-  build:
-    runs-on: ubuntu-20.04
-    env:
-      ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...]
-      # CI_SOURCE_PATH: $(pwd)
-      ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
-      CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
-      ROS_PARALLEL_JOBS: "-j8 -l6"
-      # Set the python path manually to include /usr/-/python2.7/dist-packages
-      # as this is where apt-get installs python packages.
-      PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
-      ROS_DISTRO: noetic
-    steps:
-      - name: rosrust
-        uses: actions/checkout@v1
-      - name: Install latest rust
-        run: |
-          curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
-          rustc --version
-          cargo --version
-      - name: Configure ROS for install
-        run: |
-          sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
-          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-          sudo apt-get update -qq
-          sudo apt-get install dpkg
-          sudo apt-get install -y libyaml-cpp-dev
-      - name: Install ROS basic packages
-        run: |
-          sudo apt-get install -y python3-catkin-pkg
-          sudo apt-get install -y python3-catkin-tools
-          sudo apt-get install -y python3-rosdep
-          sudo apt-get install -y python3-wstool
-          sudo apt-get install -y python3-osrf-pycommon
-          sudo apt-get install -y ros-cmake-modules
-          sudo apt-get install -y ros-$ROS_DISTRO-ros-base
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          sudo rosdep init
-          rosdep update  # --include-eol-distros  # Support EOL distros.
-      - name: Install ROS additional packages
-        # Does installing these mean rosrust_msg builds more messages, which is a better
-        # check?  Or does it just slow down the action?
-        run: |
-          sudo apt-get install -y ros-$ROS_DISTRO-actionlib
-          sudo apt-get install -y ros-$ROS_DISTRO-actionlib-msgs
-          sudo apt-get install -y ros-$ROS_DISTRO-camera-info-manager
-          sudo apt-get install -y ros-$ROS_DISTRO-compressed-image-transport
-          sudo apt-get install -y ros-$ROS_DISTRO-catkin
-          sudo apt-get install -y ros-$ROS_DISTRO-class-loader
-          sudo apt-get install -y ros-$ROS_DISTRO-cmake-modules
-          sudo apt-get install -y ros-$ROS_DISTRO-cv-bridge
-          sudo apt-get install -y ros-$ROS_DISTRO-dynamic-reconfigure
-          sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure
-          # Not in noetic yet
-          # sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure-python
-          sudo apt-get install -y ros-$ROS_DISTRO-eigen-conversions
-          sudo apt-get install -y ros-$ROS_DISTRO-geometry-msgs
-          sudo apt-get install -y ros-$ROS_DISTRO-genmsg
-          sudo apt-get install -y ros-$ROS_DISTRO-image-geometry
-          sudo apt-get install -y ros-$ROS_DISTRO-image-proc
-          sudo apt-get install -y ros-$ROS_DISTRO-image-transport
-          sudo apt-get install -y ros-$ROS_DISTRO-message-generation
-          sudo apt-get install -y ros-$ROS_DISTRO-message-runtime
-          # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core
-          # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-topic-tools
-          # sudo apt-get install -y ros-$ROS_DISTRO-pcl-conversions
-          # sudo apt-get install -y ros-$ROS_DISTRO-pcl-ros
-          sudo apt-get install -y ros-$ROS_DISTRO-pluginlib
-          sudo apt-get install -y ros-$ROS_DISTRO-roscpp
-          sudo apt-get install -y ros-$ROS_DISTRO-roslib
-          sudo apt-get install -y ros-$ROS_DISTRO-roslint
-          sudo apt-get install -y ros-$ROS_DISTRO-rospy
-          sudo apt-get install -y ros-$ROS_DISTRO-rospy-message-converter
-          sudo apt-get install -y ros-$ROS_DISTRO-rostest
-          sudo apt-get install -y ros-$ROS_DISTRO-sensor-msgs
-          sudo apt-get install -y ros-$ROS_DISTRO-std-msgs
-          sudo apt-get install -y ros-$ROS_DISTRO-tf
-          sudo apt-get install -y ros-$ROS_DISTRO-tf-conversions
-          sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs
-          sudo apt-get install -y ros-$ROS_DISTRO-tf2-msgs
-          sudo apt-get install -y ros-$ROS_DISTRO-tf2-py
-          sudo apt-get install -y ros-$ROS_DISTRO-tf2-ros
-          sudo apt-get install -y ros-$ROS_DISTRO-tf2-sensor-msgs
-      - name: build
-        run: |
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          cargo build  # --verbose
-      - name: Install ROS packages for tests
-        run: |
-          sudo apt-get install -y ros-$ROS_DISTRO-actionlib-tutorials
-          sudo apt-get install -y ros-$ROS_DISTRO-roscpp-tutorials
-          sudo apt-get install -y ros-$ROS_DISTRO-rospy-tutorials
-      - name: test
-        run: |
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          cargo test --features rosrust_msg,derive,nalgebra,rayon

Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
 
-members = [ "derive-test","rpcl2", "rpcl2-derive"]
+members = ["derive-test", "ros_pointcloud2", "rpcl2-derive"]
 
 resolver = "2"

README.md

@@ -43,8 +43,8 @@ let processed_cloud = in_msg.try_into_iter().unwrap()
 
 There are currently 3 integrations for common ROS crates.
 
-- [rosrust_msg](https://github.com/adnanademovic/rosrust)
+- [roslibrust_msg](https://github.com/roslibrust/roslibrust)
-  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml)
+  - TBD roslibrust test to replace old rosrust one
 - [r2r_msg](https://github.com/sequenceplanner/r2r)
   - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml)
   - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml)
@@ -55,13 +55,14 @@ There are currently 3 integrations for common ROS crates.
   - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_iron.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_iron.yml)
   - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_jazzy.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_jazzy.yml)
 
-You can use `rosrust` and `r2r` by enabling the respective feature:
+You can use `roslibrust` and `r2r` by enabling the respective feature:
 
 ```toml
 [dependencies]
 ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
 # or
-ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
+# ros_pointcloud2 = { version = "*", features = ["roslibrust_msg"]}
+ros_pointcloud2 = { version = "*", features = ["roslibrust_msg"]}
 ```
 
 ### rclrs (ros2_rust)

derive-test/Cargo.toml

@@ -15,5 +15,5 @@ categories = [
 ]
 
 [dependencies]
-ros_pointcloud2 = { path = "../rpcl2", features = ["std", "derive"] }
+ros_pointcloud2 = { path = "../ros_pointcloud2", features = ["std", "derive"] }
 rpcl2-derive = { path = "../rpcl2-derive" }

ros_pointcloud2/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.5.0"
+version = "0.6.0"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -31,8 +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", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0.33", optional = true, default-features = false }
@@ -40,16 +38,14 @@ rpcl2-derive = { version = "0.3", optional = true, path = "../rpcl2-derive" }
 memoffset = { version = "0.9", optional = true }
 
 [dependencies.roslibrust]
-version = "0.10.2"
+git = "https://github.com/lucasw/roslibrust"
-optional = true
+branch = "get_rx_msg_def_v0_12"
 features = ["ros1"]
-
-[dependencies.roslibrust_codegen]
-version = "0.10"
 optional = true
 
-[dependencies.roslibrust_codegen_macro]
+[dependencies.roslibrust_util]
-version = "0.10"
+git = "https://github.com/lucasw/tf_roslibrust"
+version = "0.2.0"
 optional = true
 
 [dev-dependencies]
@@ -63,8 +59,7 @@ harness = false
 path = "benches/roundtrip.rs"
 
 [features]
-roslibrust_msg = ["dep:roslibrust", "dep:roslibrust_codegen", "dep:roslibrust_codegen_macro"]
+roslibrust_msg = ["dep:roslibrust", "dep:roslibrust_util"]
-rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
 derive = ["dep:rpcl2-derive", "dep:memoffset"]

ros_pointcloud2/src/iterator.rs

@@ -15,15 +15,15 @@ use alloc::vec::Vec;
 /// When using within a ROS node, the PointCloud2 (created by the ROS crate) must be converted first.
 /// The cost of this operation is low, as it mostly moves ownership without iterating over the point data.
 ///
-/// ROS1 with rosrust:
+/// ROS1 with roslibrust:
-/// let msg: rosrust_msg::sensor_msgs::PointCloud2; // inside the callback
+/// let msg: roslibrust_msg::sensor_msgs::PointCloud2; // inside the callback
 /// let converted: ros_pointcloud2::PointCloud2Msg = msg.into();
 ///
 /// ROS2 with r2r:
 /// let msg: r2r::sensor_msgs::msg::PointCloud2 = internal_msg.into();
 /// let converted: ros_pointcloud2::PointCloud2Msg = msg.into();
 ///
-/// `ros_pointcloud2` supports r2r, rclrs and rosrust as conversion targets out of the box via feature flags.
+/// `ros_pointcloud2` supports r2r, rclrs and roslibrust as conversion targets out of the box via feature flags.
 ///
 pub struct PointCloudIterator<const N: usize, C>
 where

ros_pointcloud2/src/lib.rs

@@ -54,7 +54,7 @@
 //!
 //! # Features
 //! - r2r_msg — Integration for the ROS2 library [r2r](https://github.com/sequenceplanner/r2r).
-//! - rosrust_msg — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) library for ROS1 message types.
+//! - roslibrust_msg — Integration with the [roslibrust](https://github.com/roslibrust/roslibrust) library for ROS1 message types.
 //! - (rclrs_msg) — Integration for ROS2 [rclrs](https://github.com/ros2-rust/ros2_rust) but it currently needs [this workaround](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#rclrs-ros2_rust).
 //! - derive — Offers implementations for the [`PointConvertible`] trait needed for custom points.
 //! - rayon — Parallel iterator support for `_par_iter` functions.

ros_pointcloud2/src/ros.rs

@@ -26,7 +26,13 @@
 use alloc::string::String;
 
 #[cfg(feature = "roslibrust_msg")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!();
+use roslibrust::codegen::integral_types::Time as RosTime;
+
+#[cfg(feature = "roslibrust_msg")]
+use roslibrust_util::sensor_msgs;
+
+#[cfg(feature = "roslibrust_msg")]
+use roslibrust_util::std_msgs;
 
 /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.
 #[derive(Clone, Debug, Default)]
@@ -36,21 +42,11 @@ pub struct TimeMsg {
 }
 
 #[cfg(feature = "roslibrust_msg")]
-impl From<roslibrust_codegen::Time> for TimeMsg {
+impl From<RosTime> for TimeMsg {
-    fn from(time: roslibrust_codegen::Time) -> Self {
+    fn from(time: RosTime) -> Self {
         Self {
             sec: time.secs as i32,
-            nanosec: time.nsecs,
+            nanosec: time.nsecs as u32,
-        }
-    }
-}
-
-#[cfg(feature = "rosrust_msg")]
-impl From<rosrust::Time> for TimeMsg {
-    fn from(time: rosrust::Time) -> Self {
-        Self {
-            sec: time.sec as i32,
-            nanosec: time.nsec,
         }
     }
 }
@@ -172,7 +168,7 @@ impl From<sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
                 seq: msg.header.seq,
                 stamp: TimeMsg {
                     sec: msg.header.stamp.secs as i32,
-                    nanosec: msg.header.stamp.nsecs,
+                    nanosec: msg.header.stamp.nsecs as u32,
                 },
                 frame_id: msg.header.frame_id,
             },
@@ -213,9 +209,9 @@ impl From<crate::PointCloud2Msg> for sensor_msgs::PointCloud2 {
         sensor_msgs::PointCloud2 {
             header: std_msgs::Header {
                 seq: msg.header.seq,
-                stamp: roslibrust_codegen::Time {
+                stamp: RosTime {
-                    secs: msg.header.stamp.sec as u32,
+                    secs: msg.header.stamp.sec,
-                    nsecs: msg.header.stamp.nanosec,
+                    nsecs: msg.header.stamp.nanosec as i32,
                 },
                 frame_id: msg.header.frame_id,
             },
@@ -247,87 +243,3 @@ impl From<crate::PointCloud2Msg> for sensor_msgs::PointCloud2 {
         }
     }
 }
-
-#[cfg(feature = "rosrust_msg")]
-impl From<rosrust_msg::sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
-    fn from(msg: rosrust_msg::sensor_msgs::PointCloud2) -> Self {
-        Self {
-            header: HeaderMsg {
-                seq: msg.header.seq,
-                stamp: TimeMsg {
-                    sec: msg.header.stamp.sec as i32,
-                    nanosec: msg.header.stamp.nsec,
-                },
-                frame_id: msg.header.frame_id,
-            },
-            dimensions: crate::CloudDimensions {
-                width: msg.width,
-                height: msg.height,
-            },
-            fields: msg
-                .fields
-                .into_iter()
-                .map(|field| PointFieldMsg {
-                    name: field.name,
-                    offset: field.offset,
-                    datatype: field.datatype,
-                    count: field.count,
-                })
-                .collect(),
-            endian: if msg.is_bigendian {
-                crate::Endian::Big
-            } else {
-                crate::Endian::Little
-            },
-            point_step: msg.point_step,
-            row_step: msg.row_step,
-            data: msg.data,
-            dense: if msg.is_dense {
-                crate::Denseness::Dense
-            } else {
-                crate::Denseness::Sparse
-            },
-        }
-    }
-}
-
-#[cfg(feature = "rosrust_msg")]
-impl From<crate::PointCloud2Msg> for rosrust_msg::sensor_msgs::PointCloud2 {
-    fn from(msg: crate::PointCloud2Msg) -> Self {
-        rosrust_msg::sensor_msgs::PointCloud2 {
-            header: rosrust_msg::std_msgs::Header {
-                seq: msg.header.seq,
-                stamp: rosrust::Time {
-                    sec: msg.header.stamp.sec as u32,
-                    nsec: msg.header.stamp.nanosec,
-                },
-                frame_id: msg.header.frame_id,
-            },
-            height: msg.dimensions.height,
-            width: msg.dimensions.width,
-            fields: msg
-                .fields
-                .into_iter()
-                .map(|field| rosrust_msg::sensor_msgs::PointField {
-                    name: field.name,
-                    offset: field.offset,
-                    datatype: field.datatype,
-                    count: field.count,
-                })
-                .collect(),
-            is_bigendian: if msg.endian == crate::Endian::Big {
-                true
-            } else {
-                false
-            },
-            point_step: msg.point_step,
-            row_step: msg.row_step,
-            data: msg.data,
-            is_dense: if msg.dense == crate::Denseness::Dense {
-                true
-            } else {
-                false
-            },
-        }
-    }
-}

ros_pointcloud2/tests/rosrust_msg_test.rs

@@ -1,6 +1,6 @@
-#[cfg(feature = "rosrust_msg")]
+#[cfg(feature = "roslibrust_msg")]
 #[test]
-fn convertxyz_rosrust_msg() {
+fn convertxyz_roslibrust_msg() {
     use ros_pointcloud2::{points::PointXYZ, PointCloud2Msg};
 
     let cloud = vec![
@@ -22,8 +22,8 @@ fn convertxyz_rosrust_msg() {
     ];
     let copy = cloud.clone();
     let internal_cloud = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let rosrust_msg_cloud: rosrust_msg::sensor_msgs::PointCloud2 = internal_cloud.into();
+    let roslibrust_msg_cloud: roslibrust_util::sensor_msgs::PointCloud2 = internal_cloud.into();
-    let convert_back_internal: PointCloud2Msg = rosrust_msg_cloud.into();
+    let convert_back_internal: PointCloud2Msg = roslibrust_msg_cloud.into();
     let to_convert = convert_back_internal.try_into_iter().unwrap();
     let back_to_type = to_convert.collect::<Vec<PointXYZ>>();
     assert_eq!(copy, back_to_type);