bump version

README.md

@@ -5,18 +5,9 @@
   </p>
 </p>
 
-> [!IMPORTANT]
-> The optional rosrust dependency currently breaks the build of this crate because of a yanked transitive dependency on crates.io.
-> Use [this workaround](https://github.com/adnanademovic/rosrust/issues/210#issuecomment-2609494830) in your project when rosrust is needed.
-> If you are not using rosrust at all, you can also use the main branch of this repository, where the integration is removed at the moment.
-> ```toml
-> [dependencies]
-> ros_pointcloud2 = { version = "0.5.2", git = "https://github.com/stelzo/ros_pointcloud2.git" }
-> ```
-
 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_pointcloud2/0.5.1/) 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_pointcloud2/0.5.2/) for a complete guide.
 
 ## Quickstart
 
@@ -79,7 +70,7 @@ 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 = "v0.5.1_rclrs" }
+ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.2_rclrs" }
 ```
 
 Also, indicate the following dependencies to your linker inside the `package.xml` of your package.

derive-test/Cargo.toml

@@ -8,16 +8,12 @@ repository = "https://github.com/stelzo/ros_pointcloud2"
 license = "MIT OR Apache-2.0"
 keywords = ["ros", "pointcloud2", "pointcloud", "message"]
 categories = [
-    "science::robotics",
-    "encoding",
-    "data-structures",
-    "api-bindings",
+  "science::robotics",
+  "encoding",
+  "data-structures",
+  "api-bindings",
 ]
 
 [dependencies]
 ros_pointcloud2 = { path = "../rpcl2", features = ["std", "derive"] }
 rpcl2-derive = { path = "../rpcl2-derive" }
-
-[patch.crates-io]
-# Fixes https://github.com/adnanademovic/rosrust/issues/210
-xml-rpc = { git = "https://github.com/locusrobotics/xml-rpc-rs", branch = "minimum-update" }

rpcl2/Cargo.toml

@@ -8,31 +8,31 @@ repository = "https://github.com/stelzo/ros_pointcloud2"
 license = "MIT OR Apache-2.0"
 keywords = ["ros", "pointcloud2", "pointcloud", "message"]
 categories = [
-    "science::robotics",
-    "encoding",
-    "data-structures",
-    "api-bindings",
+  "science::robotics",
+  "encoding",
+  "data-structures",
+  "api-bindings",
 ]
 readme = "../README.md"
 documentation = "https://docs.rs/ros_pointcloud2"
 homepage = "https://github.com/stelzo/ros_pointcloud2"
 exclude = [
-    "**/.github/**",
-    "**/tests/**",
-    "**/examples/**",
-    "**/benches/**",
-    "**/target/**",
-    "**/build/**",
-    "**/dist/**",
-    "**/docs/**",
-    "**/doc/**",
-    "**/ensure_no_std/**",
+  "**/.github/**",
+  "**/tests/**",
+  "**/examples/**",
+  "**/benches/**",
+  "**/target/**",
+  "**/build/**",
+  "**/dist/**",
+  "**/docs/**",
+  "**/doc/**",
+  "**/ensure_no_std/**",
 ]
 rust-version = "1.77"
 
 [dependencies]
-#rosrust_msg = { version = "0.1", optional = true }
-#rosrust = { version = "0.9.11", optional = true }
+rosrust_msg = { version = "0.1.8", optional = true }
+rosrust = { version = "0.9.12", optional = true }
 r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0.33", optional = true, default-features = false }
@@ -40,7 +40,7 @@ rpcl2-derive = { version = "0.4", optional = true, path = "../rpcl2-derive" }
 serde = { version = "1.0", features = ["derive"], optional = true }
 
 [dev-dependencies]
-rand = "0.8"
+rand = "0.9"
 criterion = { version = "0.5", features = ["html_reports"] }
 pretty_assertions = "1.0"
 
@@ -51,7 +51,7 @@ path = "benches/roundtrip.rs"
 
 [features]
 serde = ["dep:serde", "nalgebra/serde-serialize-no-std"]
-#rosrust_msg = ["dep:rosrust_msg"]
+rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
 derive = ["dep:rpcl2-derive"]

rpcl2/benches/roundtrip.rs

@@ -100,13 +100,13 @@ fn minus(point1: &PointXYZ, point2: &PointXYZ) -> PointXYZ {
 }
 
 pub fn generate_random_pointcloud(num_points: usize, min: f32, max: f32) -> Vec<PointXYZB> {
-    let mut rng = rand::thread_rng();
+    let mut rng = rand::rng();
     let mut pointcloud = Vec::with_capacity(num_points);
     for _ in 0..num_points {
         let point = PointXYZB {
-            x: rng.gen_range(min..max),
-            y: rng.gen_range(min..max),
-            z: rng.gen_range(min..max),
+            x: rng.random_range(min..max),
+            y: rng.random_range(min..max),
+            z: rng.random_range(min..max),
             ..Default::default()
         };
         pointcloud.push(point);

rpcl2/examples/rayon_bench.rs

@@ -7,13 +7,13 @@ use std::time::Duration;
 use ros_pointcloud2::prelude::*;
 
 pub fn generate_random_pointcloud(num_points: usize, min: f32, max: f32) -> Vec<PointXYZ> {
-    let mut rng = rand::thread_rng();
+    let mut rng = rand::rng();
     let mut pointcloud = Vec::with_capacity(num_points);
     for _ in 0..num_points {
         let point = PointXYZ {
-            x: rng.gen_range(min..max),
-            y: rng.gen_range(min..max),
-            z: rng.gen_range(min..max),
+            x: rng.random_range(min..max),
+            y: rng.random_range(min..max),
+            z: rng.random_range(min..max),
         };
         pointcloud.push(point);
     }

rpcl2/tests/rosrust_msg_test.rs

@@ -1,5 +1,3 @@
-#![allow(unexpected_cfgs)] // TODO remove when rosrust is fixed
-
 #[cfg(feature = "rosrust_msg")]
 #[test]
 fn convertxyz_rosrust_msg() {