Merge 47b09c60af into 83e9d1019e

.github/workflows/roslibrust_noetic.yml

@@ -0,0 +1,108 @@
+name: roslibrust_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: roslibrust
+        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/$ROS_DISTRO/setup.bash
+          sudo rosdep init
+          rosdep update  # --include-eol-distros  # Support EOL distros.
+      - name: Install ROS additional packages
+        # Does installing these mean roslibrust_msg builds more messages, which is a better
+        # check?  Or does it just slow down the action?
+        run: |
+          sudo apt-get install -y ros-$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/$ROS_DISTRO/setup.bash
+          ROS_PACKAGE_PATH=`rospack find geometry_msgs`:`rospack find tf2_msgs`:`rospack find sensor_msgs`:`rospack find std_msgs`:`rospack find actionlib_msgs` cargo build  # --verbose
+      - name: Install ROS packages for tests
+        run: |
+          sudo apt-get install -y ros-$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
+          ROS_PACKAGE_PATH=`rospack find geometry_msgs`:`rospack find tf2_msgs`:`rospack find sensor_msgs`:`rospack find std_msgs`:`rospack find actionlib_msgs` cargo test --features roslibrust_msg,derive,nalgebra,rayon

rpcl2-derive/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "rpcl2-derive"
 description = "Derive macros for ros_pointcloud2 crate."
-version = "0.3.0"
+version = "0.4.0"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 homepage = "https://github.com/stelzo/ros_pointcloud2"

rpcl2-derive/src/lib.rs

@@ -188,7 +188,7 @@ fn layout_of_type(struct_name: &Ident, data: &Data) -> proc_macro2::TokenStream
 
                     quote! {
                         let size = ::core::mem::size_of::<#field_ty>();
-                        let offset = ::ros_pointcloud2::memoffset::offset_of!(#struct_name, #field_name);
+                        let offset = ::core::mem::offset_of!(#struct_name, #field_name);
                         if offset > last_field_end {
                             fields.push((1, "", offset - last_field_end));
                         }

rpcl2/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.5.1"
+version = "0.5.2"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -28,7 +28,7 @@ exclude = [
     "**/doc/**",
     "**/ensure_no_std/**",
 ]
-rust-version = "1.63"
+rust-version = "1.77"
 
 [dependencies]
 rosrust_msg = { version = "0.1", optional = true }
@@ -36,8 +36,20 @@ 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 = "0.3", optional = true, path = "../rpcl2-derive" }
-memoffset = { version = "0.9", optional = true }
+rpcl2-derive = { version = "0.4", optional = true, path = "../rpcl2-derive" }
+
+[dependencies.roslibrust]
+version = "0.10.2"
+optional = true
+features = ["ros1"]
+
+[dependencies.roslibrust_codegen]
+version = "0.10"
+optional = true
+
+[dependencies.roslibrust_codegen_macro]
+version = "0.10"
+optional = true
 
 [dev-dependencies]
 rand = "0.8"
@@ -50,10 +62,11 @@ harness = false
 path = "benches/roundtrip.rs"
 
 [features]
+roslibrust_msg = ["dep:roslibrust", "dep:roslibrust_codegen", "dep:roslibrust_codegen_macro"]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
-derive = ["dep:rpcl2-derive", "dep:memoffset"]
+derive = ["dep:rpcl2-derive"]
 nalgebra = ["dep:nalgebra"]
 std = ["nalgebra/std"]
 

rpcl2/src/lib.rs

@@ -148,10 +148,6 @@ pub mod iterator;
 
 use crate::ros::{HeaderMsg, PointFieldMsg};
 
-#[cfg(feature = "derive")]
-#[doc(hidden)]
-pub use memoffset;
-
 use core::str::FromStr;
 
 #[macro_use]

rpcl2/src/points.rs

@@ -113,6 +113,7 @@ pub struct PointXYZ {
 }
 
 #[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
 impl From<nalgebra::Point3<f32>> for PointXYZ {
     fn from(point: nalgebra::Point3<f32>) -> Self {
         Self {
@@ -124,12 +125,73 @@ impl From<nalgebra::Point3<f32>> for PointXYZ {
 }
 
 #[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&nalgebra::Point3<f32>> for PointXYZ {
+    fn from(point: &nalgebra::Point3<f32>) -> Self {
+        Self {
+            x: point.x,
+            y: point.y,
+            z: point.z,
+        }
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<nalgebra::Point3<f64>> for PointXYZ {
+    fn from(point: nalgebra::Point3<f64>) -> Self {
+        Self {
+            x: point.x as f32,
+            y: point.y as f32,
+            z: point.z as f32,
+        }
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&nalgebra::Point3<f64>> for PointXYZ {
+    fn from(point: &nalgebra::Point3<f64>) -> Self {
+        Self {
+            x: point.x as f32,
+            y: point.y as f32,
+            z: point.z as f32,
+        }
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
 impl From<PointXYZ> for nalgebra::Point3<f32> {
     fn from(point: PointXYZ) -> Self {
         nalgebra::Point3::new(point.x, point.y, point.z)
     }
 }
 
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&PointXYZ> for nalgebra::Point3<f32> {
+    fn from(point: &PointXYZ) -> Self {
+        nalgebra::Point3::new(point.x, point.y, point.z)
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<PointXYZ> for nalgebra::Point3<f64> {
+    fn from(point: PointXYZ) -> Self {
+        nalgebra::Point3::new(point.x as f64, point.y as f64, point.z as f64)
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&PointXYZ> for nalgebra::Point3<f64> {
+    fn from(point: &PointXYZ) -> Self {
+        nalgebra::Point3::new(point.x as f64, point.y as f64, point.z as f64)
+    }
+}
+
 impl PointXYZ {
     #[must_use]
     pub fn new(x: f32, y: f32, z: f32) -> Self {
@@ -138,9 +200,22 @@ impl PointXYZ {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
-        nalgebra::Point3::new(self.x, self.y, self.z)
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        self.into()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        self.into()
     }
 }
 
@@ -187,10 +262,23 @@ impl PointXYZI {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZI {}
@@ -247,10 +335,23 @@ impl PointXYZL {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZL {}
@@ -324,10 +425,23 @@ impl PointXYZRGB {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZRGB {}
@@ -403,10 +517,23 @@ impl PointXYZRGBA {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZRGBA {}
@@ -502,10 +629,23 @@ impl PointXYZRGBNormal {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZRGBNormal {}
@@ -592,10 +732,23 @@ impl PointXYZINormal {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZINormal {}
@@ -689,10 +842,23 @@ impl PointXYZRGBL {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 impl From<RPCL2Point<5>> for PointXYZRGBL {
@@ -760,10 +926,23 @@ impl PointXYZNormal {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZNormal {}

rpcl2/src/ros.rs

@@ -25,6 +25,9 @@
 
 use alloc::string::String;
 
+#[cfg(feature = "roslibrust_msg")]
+roslibrust_codegen_macro::find_and_generate_ros_messages!();
+
 /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.
 #[derive(Clone, Debug, Default)]
 pub struct TimeMsg {
@@ -32,6 +35,16 @@ pub struct TimeMsg {
     pub nanosec: u32,
 }
 
+#[cfg(feature = "roslibrust_msg")]
+impl From<roslibrust_codegen::Time> for TimeMsg {
+    fn from(time: roslibrust_codegen::Time) -> Self {
+        Self {
+            sec: time.secs as i32,
+            nanosec: time.nsecs,
+        }
+    }
+}
+
 #[cfg(feature = "rosrust_msg")]
 impl From<rosrust::Time> for TimeMsg {
     fn from(time: rosrust::Time) -> Self {
@@ -151,6 +164,90 @@ impl From<crate::PointCloud2Msg> for r2r::sensor_msgs::msg::PointCloud2 {
     }
 }
 
+#[cfg(feature = "roslibrust_msg")]
+impl From<sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
+    fn from(msg: sensor_msgs::PointCloud2) -> Self {
+        Self {
+            header: HeaderMsg {
+                seq: msg.header.seq,
+                stamp: TimeMsg {
+                    sec: msg.header.stamp.secs as i32,
+                    nanosec: msg.header.stamp.nsecs,
+                },
+                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 = "roslibrust_msg")]
+impl From<crate::PointCloud2Msg> for sensor_msgs::PointCloud2 {
+    fn from(msg: crate::PointCloud2Msg) -> Self {
+        sensor_msgs::PointCloud2 {
+            header: std_msgs::Header {
+                seq: msg.header.seq,
+                stamp: roslibrust_codegen::Time {
+                    secs: msg.header.stamp.sec as u32,
+                    nsecs: 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| 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
+            },
+        }
+    }
+}
+
 #[cfg(feature = "rosrust_msg")]
 impl From<rosrust_msg::sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
     fn from(msg: rosrust_msg::sensor_msgs::PointCloud2) -> Self {

rpcl2/tests/r2r_test.bash

@@ -5,6 +5,10 @@
 # run rustup to test with latest rust version
 rustup update
 
+if [ -e "/opt/ros/jazzy/setup.bash" ]; then
+    source "/opt/ros/jazzy/setup.bash"
+fi
+
 if [ -e "/opt/ros/iron/setup.bash" ]; then
     source "/opt/ros/iron/setup.bash"
 fi

rpcl2/tests/rclrs_test.bash

@@ -5,16 +5,19 @@
 # run rustup to test with latest rust version
 rustup update
 
+if [ -e "/opt/ros/jazzy/setup.bash" ]; then
+    . "/opt/ros/jazzy/setup.bash"
+fi
+
 if [ -e "/opt/ros/iron/setup.bash" ]; then
     . "/opt/ros/iron/setup.bash"
-    . "/ros2_rust_build/install/local_setup.bash"
 fi
 
 if [ -e "/opt/ros/humble/setup.bash" ]; then
     . "/opt/ros/humble/setup.bash"
-    . "/ros2_rust_build/install/local_setup.bash"
 fi
 
+. "/ros2_rust_build/install/local_setup.bash"
 cd /ros2_rust_build/src/ros_pointcloud2_tests/ || exit
 
 "$@"