fix build and tests

.github/workflows/nightly.yml

@@ -18,9 +18,9 @@ jobs:
         with:
           components: clippy
       - name: Linting
-        run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings
+        run: cargo clippy --all-targets --features derive,nalgebra,rayon,serde -- -D warnings
       - name: Tests
-        run: cargo test --features derive,nalgebra,rayon
+        run: cargo test --features derive,nalgebra,rayon,serde
 
   outdated:
     name: Outdated

.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 --features r2r_msg,derive,nalgebra,rayon,serde

.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 --features r2r_msg,derive,nalgebra,rayon,serde

.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 --features r2r_msg,derive,nalgebra,rayon,serde

.github/workflows/r2r_jazzy.yml

@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_jazzy --tag r2r_jazzy
-      - run: docker run r2r_jazzy cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_jazzy cargo test --features r2r_msg,derive,nalgebra,rayon,serde

.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 --features derive,nalgebra,rayon,serde

.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 --features derive,nalgebra,rayon,serde

.github/workflows/rclrs_jazzy.yml

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

.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 --features rosrust_msg,derive,nalgebra,rayon,serde

.github/workflows/tests.yml

@@ -21,8 +21,8 @@ jobs:
         with:
           components: clippy
       - name: Linting
-        run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings
+        run: cargo clippy --all-targets --features derive,nalgebra,rayon,serde -- -D warnings
       - name: Build examples with features
-        run: cargo build --examples --features derive,nalgebra,rayon
+        run: cargo build --examples --features derive,nalgebra,rayon,serde
       - name: Test library
-        run: cargo test --features derive,nalgebra,rayon
+        run: cargo test --features derive,nalgebra,rayon,serde

.gitignore

@@ -1,3 +1,3 @@
-Cargo.lock
+Cargo.lock*
 .idea/
 target/

README.md

@@ -5,6 +5,15 @@
   </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.

derive-test/Cargo.toml

@@ -17,3 +17,7 @@ categories = [
 [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

@@ -31,12 +31,13 @@ exclude = [
 rust-version = "1.77"
 
 [dependencies]
-rosrust_msg = { version = "0.1", optional = true }
-rosrust = { version = "0.9.11", optional = true }
+#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 }
 rpcl2-derive = { version = "0.4", optional = true, path = "../rpcl2-derive" }
+serde = { version = "1.0", features = ["derive"], optional = true }
 
 [dev-dependencies]
 rand = "0.8"
@@ -49,7 +50,8 @@ harness = false
 path = "benches/roundtrip.rs"
 
 [features]
-rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
+serde = ["dep:serde", "nalgebra/serde-serialize-no-std"]
+#rosrust_msg = ["dep:rosrust_msg"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
 derive = ["dep:rpcl2-derive"]
@@ -59,6 +61,6 @@ std = ["nalgebra/std"]
 default = ["std"]
 
 [package.metadata.docs.rs]
-features = ["derive", "nalgebra", "rayon"]
+features = ["derive", "nalgebra", "rayon", "serde"]
 default-target = "x86_64-unknown-linux-gnu"
 rustdoc-args = ["--cfg", "docsrs"]

rpcl2/src/lib.rs

@@ -139,6 +139,7 @@
 #![cfg_attr(not(feature = "std"), no_std)]
 // Setup an allocator with #[global_allocator]
 // see: https://doc.rust-lang.org/std/alloc/trait.GlobalAlloc.html
+#![allow(unexpected_cfgs)]
 
 pub mod points;
 pub mod prelude;
@@ -150,6 +151,9 @@ use crate::ros::{HeaderMsg, PointFieldMsg};
 
 use core::str::FromStr;
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 #[macro_use]
 extern crate alloc;
 use alloc::string::String;
@@ -281,6 +285,7 @@ impl LayoutField {
 /// To assert consistency, the type should be build with the [`PointCloud2MsgBuilder`].
 /// See the offical [ROS message description](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointCloud2.html) for more information on the fields.
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointCloud2Msg {
     pub header: HeaderMsg,
     pub dimensions: CloudDimensions,
@@ -294,6 +299,7 @@ pub struct PointCloud2Msg {
 
 /// Endianess encoding hint for the message.
 #[derive(Default, Clone, Debug, PartialEq, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum Endian {
     Big,
     #[default]
@@ -302,6 +308,7 @@ pub enum Endian {
 
 /// Density flag for the message. Writing sparse point clouds is not supported.
 #[derive(Default, Clone, Debug, PartialEq, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum Denseness {
     #[default]
     Dense,
@@ -458,6 +465,7 @@ impl PointCloud2MsgBuilder {
 
 /// Dimensions of the point cloud as width and height.
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct CloudDimensions {
     pub width: u32,
     pub height: u32,

rpcl2/src/points.rs

@@ -1,6 +1,9 @@
 //! Predefined point types commonly used in ROS.
 use crate::{LayoutDescription, LayoutField, PointConvertible, RPCL2Point};
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 /// Packed RGB color encoding as used in ROS tools.
 #[derive(Clone, Copy)]
 #[repr(C, align(4))]
@@ -9,6 +12,29 @@ pub union RGB {
     unpacked: [u8; 4], // Padding
 }
 
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl<'de> Deserialize<'de> for RGB {
+    fn deserialize<D>(deserializer: D) -> Result<RGB, D::Error>
+    where
+        D: serde::Deserializer<'de>,
+    {
+        let packed = f32::deserialize(deserializer)?;
+        Ok(RGB::new_from_packed_f32(packed))
+    }
+}
+
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl Serialize for RGB {
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: serde::Serializer,
+    {
+        f32::from(*self).serialize(serializer)
+    }
+}
+
 unsafe impl Send for RGB {}
 unsafe impl Sync for RGB {}
 
@@ -106,6 +132,7 @@ impl From<f32> for RGB {
 /// 3D point with x, y, z coordinates, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZ {
     pub x: f32,
     pub y: f32,
@@ -248,6 +275,7 @@ unsafe impl PointConvertible<3> for PointXYZ {
 /// 3D point with x, y, z coordinates and an intensity value, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZI {
     pub x: f32,
     pub y: f32,
@@ -321,6 +349,7 @@ unsafe impl PointConvertible<4> for PointXYZI {
 /// 3D point with x, y, z coordinates and a label, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZL {
     pub x: f32,
     pub y: f32,
@@ -394,6 +423,7 @@ unsafe impl PointConvertible<4> for PointXYZL {
 /// 3D point with x, y, z coordinates and an RGB color value, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGB {
     pub x: f32,
     pub y: f32,
@@ -485,6 +515,7 @@ unsafe impl PointConvertible<4> for PointXYZRGB {
 /// The alpha channel is commonly used as padding but this crate uses every channel and no padding.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBA {
     pub x: f32,
     pub y: f32,
@@ -580,6 +611,7 @@ unsafe impl PointConvertible<5> for PointXYZRGBA {
 /// 3D point with x, y, z coordinates, an RGB color value and a normal vector, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBNormal {
     pub x: f32,
     pub y: f32,
@@ -698,6 +730,7 @@ unsafe impl PointConvertible<7> for PointXYZRGBNormal {
 /// 3D point with x, y, z coordinates, an intensity value and a normal vector, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZINormal {
     pub x: f32,
     pub y: f32,
@@ -801,6 +834,7 @@ unsafe impl PointConvertible<7> for PointXYZINormal {
 /// 3D point with x, y, z coordinates and a label, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBL {
     pub x: f32,
     pub y: f32,
@@ -902,6 +936,7 @@ unsafe impl PointConvertible<5> for PointXYZRGBL {
 /// 3D point with x, y, z coordinates and a normal vector, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZNormal {
     pub x: f32,
     pub y: f32,

rpcl2/src/ros.rs

@@ -25,8 +25,12 @@
 
 use alloc::string::String;
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.
-#[derive(Clone, Debug, Default)]
+#[derive(Clone, Debug, Default, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TimeMsg {
     pub sec: i32,
     pub nanosec: u32,
@@ -44,6 +48,7 @@ impl From<rosrust::Time> for TimeMsg {
 
 /// Represents the [header of a ROS message](https://docs.ros2.org/latest/api/std_msgs/msg/Header.html).
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct HeaderMsg {
     pub seq: u32,
     pub stamp: TimeMsg,
@@ -52,6 +57,7 @@ pub struct HeaderMsg {
 
 /// Describing a point encoded in the byte buffer of a PointCloud2 message. See the [official message description](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointField.html) for more information.
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointFieldMsg {
     pub name: String,
     pub offset: u32,

rpcl2/tests/rosrust_msg_test.rs

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