fix lint

Updates the requirements on [r2r](https://github.com/sequenceplanner/r2r) to permit the latest version.
- [Commits](https://github.com/sequenceplanner/r2r/compare/0.8.4...0.9.0)

---
updated-dependencies:
- dependency-name: r2r
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

.gitattributes

@@ -0,0 +1 @@
+rpcl2/tests/*.bash linguist-vendored

.github/workflows/nightly.yml

@@ -0,0 +1,34 @@
+name: Nightly testing
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+  schedule: [cron: "40 1 * * *"]
+
+permissions:
+  contents: read
+
+jobs:
+  ubuntu:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@nightly
+        with:
+          components: clippy
+      - name: Linting
+        run: cargo clippy --all-targets --features derive,nalgebra,rayon,serde,ros2-interfaces-jazzy -- -D warnings
+      - name: Tests
+        run: cargo test --features derive,nalgebra,rayon,serde,ros2-interfaces-jazzy
+
+  # outdated:
+  #   name: Outdated
+  #   runs-on: ubuntu-latest
+  #   if: github.event_name != 'pull_request'
+  #   timeout-minutes: 45
+  #   steps:
+  #     - uses: actions/checkout@v4
+  #     - uses: dtolnay/rust-toolchain@stable
+  #     - uses: dtolnay/install@cargo-outdated
+  #     - run: cargo outdated --exit-code 1

.github/workflows/no_std.yml

@@ -0,0 +1,24 @@
+name: Build no_std
+
+on:
+  push:
+    branches-ignore:
+      - rclrs
+  pull_request:
+    branches-ignore:
+      - rclrs
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  ubuntu:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          target: thumbv7em-none-eabihf
+      - name: no_std build
+        run: cargo build --target thumbv7em-none-eabihf --manifest-path rpcl2/ensure_no_std/Cargo.toml

.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

@@ -0,0 +1,21 @@
+name: r2r_jazzy
+
+on:
+  push:
+    branches-ignore:
+      - rclrs
+  pull_request:
+    branches-ignore:
+      - rclrs
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_jazzy:
+    runs-on: ubuntu-latest
+    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,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

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

@@ -16,15 +16,13 @@ jobs:
   ubuntu:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
-      - name: Install latest Rust
+      - uses: dtolnay/rust-toolchain@stable
-        run: |
+        with:
-          curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
+          components: clippy
-          rustc --version
-          cargo --version
       - 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
+      - name: Build examples with features
-        run: cargo test --features derive,nalgebra,rayon
+        run: cargo build --examples --features derive,nalgebra,rayon,serde,ros2-interfaces-jazzy
-      - name: no_std Tests
+      - name: Test library
-        run: cargo test --no-default-features --features nalgebra
+        run: cargo test --features derive,nalgebra,rayon,serde

.gitignore

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

CHANGELOG.md

@@ -1,5 +1,22 @@
 # Changelog
 
+## v0.5.0 -> v0.5.1
+
+- Fixes a bug, where the conversion of larger to smaller types results in a false buffer interpretation.
+
+## v0.5.0-rc.3 -> v0.5.0
+
+- `PointConvertible` trait is now `unsafe` since the offset is used for raw memory access, where safety can not be guaranteed by the compiler.
+- Fixes clippy on nightly.
+- Fixes a bug when attempting to write larger types than available in the message. This now results in a `ExhaustedSource` error.
+- Adds `repr(C)` to docs where custom conversions are explained to encourage best practices for raw type descriptions.
+
+## v0.5.0-rc.2 -> v0.5.0-rc.3
+
+- Bump r2r to 0.9.
+- Fixed building in `no_std` environments.
+- Removed `expect` calls.
+
 ## v0.5.0-rc.1 -> v0.5.0-rc.2
 
 - `PointConvertible` now includes the information for `TypeLayout` and `Fields`, which reduces boilerplate code for custom points. The respective derive macro is updated to work with the updated trait.

README.md

@@ -7,7 +7,7 @@
 
 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_pointcloud2/0.5.0-rc.2/) 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
 
@@ -49,9 +49,11 @@ There are currently 3 integrations for common ROS crates.
   - [![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)
   - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_jazzy.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_jazzy.yml)
 - [rclrs_msg](https://github.com/ros2-rust/ros2_rust)
   - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_humble.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_humble.yml)
   - [![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:
 
@@ -68,7 +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 = "v0.5.0-rc.2_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.
@@ -84,26 +86,21 @@ Please open an issue or PR if you need other integrations.
 ## Performance
 
 This library offers a speed up when compared to PointCloudLibrary (PCL) conversions but the specific factor depends heavily on the use case and system.
-The `_vec` conversions are on average ~6x faster than PCL while the single core iteration `_iter` functions are around ~2x faster.
+See [this repository](https://github.com/stelzo/ros_pcl_conv_bench) for a detailed benchmark.
-Parallelization with `_par_iter` gives a ~9x speed up compared to an OpenMP accelerated PCL pipeline.
-
-The results are measured on an Intel i7-14700 with benchmarks from [this repository](https://github.com/stelzo/ros_pcl_conv_bench).
 
 For minimizing the conversion overhead in general, always use the functions that best fit your use case.
 
-## `no_std` Environments
+### License
 
-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. Only `nalgebra` can be added as an additional feature in this case.
+<sup>
+Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
+2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
+</sup>
 
-## License
+<br>
 
-Licensed under either of
+<sub>
-
+Unless you explicitly state otherwise, any contribution intentionally submitted
-- Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or http://www.apache.org/licenses/LICENSE-2.0)
+for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
-- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
+be dual licensed as above, without any additional terms or conditions.
-
+</sub>
-at your option.
-
-### Contribution
-
-Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

derive-test/Cargo.toml

@@ -8,10 +8,10 @@ repository = "https://github.com/stelzo/ros_pointcloud2"
 license = "MIT OR Apache-2.0"
 keywords = ["ros", "pointcloud2", "pointcloud", "message"]
 categories = [
-    "science::robotics",
+  "science::robotics",
-    "encoding",
+  "encoding",
-    "data-structures",
+  "data-structures",
-    "api-bindings",
+  "api-bindings",
 ]
 
 [dependencies]

rpcl2-derive/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "rpcl2-derive"
 description = "Derive macros for ros_pointcloud2 crate."
-version = "0.2.0"
+version = "0.4.0"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 homepage = "https://github.com/stelzo/ros_pointcloud2"

rpcl2-derive/src/lib.rs

@@ -48,8 +48,8 @@ fn struct_field_rename_array(input: &DeriveInput) -> Vec<String> {
                             panic!("expected `name` attribute");
                         }
                     });
-                    if let Err(err) = res {
+                    if let Err(e) = res {
-                        panic!("Error parsing attribute: {}", err);
+                        panic!("Error parsing attribute: {e}");
                     }
                 }
             });
@@ -109,7 +109,7 @@ pub fn ros_point_derive(input: TokenStream) -> TokenStream {
     let layout = layout_of_type(&name, &input.data);
 
     let expanded = quote! {
-        impl #impl_generics ::ros_pointcloud2::PointConvertible<#field_len_token> for #name #ty_generics #where_clause {
+        unsafe impl #impl_generics ::ros_pointcloud2::PointConvertible<#field_len_token> for #name #ty_generics #where_clause {
             fn layout() -> ::ros_pointcloud2::LayoutDescription {
                 let mut last_field_end = 0;
                 let mut fields = Vec::new();
@@ -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 = "0.5.0-rc.2"
+version = "0.5.3"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -8,39 +8,44 @@ repository = "https://github.com/stelzo/ros_pointcloud2"
 license = "MIT OR Apache-2.0"
 keywords = ["ros", "pointcloud2", "pointcloud", "message"]
 categories = [
-    "science::robotics",
+  "science::robotics",
-    "encoding",
+  "encoding",
-    "data-structures",
+  "data-structures",
-    "api-bindings",
+  "api-bindings",
 ]
 readme = "../README.md"
 documentation = "https://docs.rs/ros_pointcloud2"
 homepage = "https://github.com/stelzo/ros_pointcloud2"
 exclude = [
-    "**/.github/**",
+  "**/.github/**",
-    "**/tests/**",
+  "**/tests/**",
-    "**/examples/**",
+  "**/examples/**",
-    "**/benches/**",
+  "**/benches/**",
-    "**/target/**",
+  "**/target/**",
-    "**/build/**",
+  "**/build/**",
-    "**/dist/**",
+  "**/dist/**",
-    "**/docs/**",
+  "**/docs/**",
-    "**/doc/**",
+  "**/doc/**",
+  "**/ensure_no_std/**",
 ]
-rust-version = "1.63"
+rust-version = "1.77"
 
 [dependencies]
-rosrust_msg = { version = "0.1", optional = true }
+rosrust_msg = { version = "0.1.8", optional = true }
-rosrust = { version = "0.9.11", optional = true }
+rosrust = { version = "0.9.12", optional = true }
-r2r = { version = "0.8.4", optional = true }
+r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
-nalgebra = { version = "0.32.5", optional = true, default-features = false }
+nalgebra = { version = "0.33", optional = true, default-features = false }
-rpcl2-derive = { version = "0.2.0", optional = true, path = "../rpcl2-derive" }
+rpcl2-derive = { version = "0.4", optional = true, path = "../rpcl2-derive" }
-memoffset = { version = "0.9", optional = true }
+serde = { version = "1.0", features = ["derive"], optional = true }
+ros2-interfaces-jazzy = { version = "0.0.4", features = [
+  "sensor_msgs",
+], optional = true }
 
 [dev-dependencies]
-rand = "0.8"
+rand = "0.9"
 criterion = { version = "0.5", features = ["html_reports"] }
+pretty_assertions = "1.0"
 
 [[bench]]
 name = "roundtrip"
@@ -48,16 +53,18 @@ harness = false
 path = "benches/roundtrip.rs"
 
 [features]
+serde = ["dep:serde", "nalgebra/serde-serialize-no-std"]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
+ros2-interfaces-jazzy = ["dep:ros2-interfaces-jazzy"]
 rayon = ["dep:rayon"]
-derive = ["dep:rpcl2-derive", "dep:memoffset"]
+derive = ["dep:rpcl2-derive"]
 nalgebra = ["dep:nalgebra"]
 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/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),
+            x: rng.random_range(min..max),
-            y: rng.gen_range(min..max),
+            y: rng.random_range(min..max),
-            z: rng.gen_range(min..max),
+            z: rng.random_range(min..max),
             ..Default::default()
         };
         pointcloud.push(point);

rpcl2/ensure_no_std/.gitignore

@@ -0,0 +1,2 @@
+/target
+Cargo.lock

rpcl2/ensure_no_std/Cargo.toml

@@ -0,0 +1,15 @@
+[workspace]
+
+[package]
+name = "ensure_no_std"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+ros_pointcloud2 = { path = "..", default-features = false, features = ["nalgebra", "derive"] }
+
+[profile.dev]
+panic = "abort"
+
+[profile.release]
+panic = "abort"

rpcl2/ensure_no_std/src/main.rs

@@ -0,0 +1,14 @@
+#![no_std]
+#![no_main]
+
+use core::panic::PanicInfo;
+
+#[panic_handler]
+fn panic(_info: &PanicInfo) -> ! {
+    loop {}
+}
+
+#[no_mangle]
+pub extern "C" fn _start() -> ! {
+    loop {}
+}

rpcl2/examples/custom_enum_field_filter.rs

@@ -20,7 +20,7 @@ enum Label {
 // Define a custom point with an enum.
 // This is normally not supported by PointCloud2 but we will explain the library how to handle it.
 #[derive(Debug, PartialEq, Clone, Default)]
-#[repr(C)]
+#[repr(C, align(4))]
 struct CustomPoint {
     x: f32,
     y: f32,
@@ -91,7 +91,7 @@ impl From<RPCL2Point<5>> for CustomPoint {
 }
 
 // C representation of the struct hardcoded without using the derive feature.
-impl PointConvertible<5> for CustomPoint {
+unsafe impl PointConvertible<5> for CustomPoint {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),
@@ -134,30 +134,27 @@ impl From<Label> for PointDataBuffer {
 }
 
 fn main() {
-    #[cfg(not(feature = "derive"))]
+    let cloud = vec![
-    {
+        CustomPoint::new(1.0, 2.0, 3.0, 4.0, Label::Deer),
-        let cloud = vec![
+        CustomPoint::new(4.0, 5.0, 6.0, 7.0, Label::Car),
-            CustomPoint::new(1.0, 2.0, 3.0, 4.0, Label::Deer),
+        CustomPoint::new(7.0, 8.0, 9.0, 10.0, Label::Human),
-            CustomPoint::new(4.0, 5.0, 6.0, 7.0, Label::Car),
+    ];
-            CustomPoint::new(7.0, 8.0, 9.0, 10.0, Label::Human),
-        ];
 
-        println!("Original cloud: {:?}", cloud);
+    println!("Original cloud: {cloud:?}");
 
-        let msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
+    let msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
 
-        println!("filtering by label == Deer");
+    println!("filtering by label == Deer");
-        let out = msg
+    let out = msg
-            .try_into_iter()
+        .try_into_iter()
-            .unwrap()
+        .unwrap()
-            .filter(|point: &CustomPoint| point.my_custom_label == Label::Deer)
+        .filter(|point: &CustomPoint| point.my_custom_label == Label::Deer)
-            .collect::<Vec<_>>();
+        .collect::<Vec<_>>();
 
-        println!("Filtered cloud: {:?}", out);
+    println!("Filtered cloud: {out:?}");
 
-        assert_eq!(
+    assert_eq!(
-            vec![CustomPoint::new(1.0, 2.0, 3.0, 4.0, Label::Deer),],
+        vec![CustomPoint::new(1.0, 2.0, 3.0, 4.0, Label::Deer),],
-            out
+        out
-        );
+    );
-    }
 }

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),
+            x: rng.random_range(min..max),
-            y: rng.gen_range(min..max),
+            y: rng.random_range(min..max),
-            z: rng.gen_range(min..max),
+            z: rng.random_range(min..max),
         };
         pointcloud.push(point);
     }
@@ -105,31 +105,31 @@ fn main() {
     let how_often = 1_000;
 
     let dur = measure_func_avg(how_often, how_many, roundtrip);
-    println!("roundtrip: {:?}", dur);
+    println!("roundtrip: {dur:?}");
 
     #[cfg(feature = "rayon")]
     let dur = measure_func_avg(how_often, how_many, roundtrip_par);
-    println!("roundtrip_par: {:?}", dur);
+    println!("roundtrip_par: {dur:?}");
 
     println!("200k");
     let how_many = 200_000;
     let how_often = 100;
 
     let dur = measure_func_avg(how_often, how_many, roundtrip_filter);
-    println!("roundtrip_filter: {:?}", dur);
+    println!("roundtrip_filter: {dur:?}");
 
     #[cfg(feature = "rayon")]
     let dur = measure_func_avg(how_often, how_many, roundtrip_filter_par);
-    println!("roundtrip_filter_par: {:?}", dur);
+    println!("roundtrip_filter_par: {dur:?}");
 
     println!("10m");
     let how_many = 10_000_000;
     let how_often = 10;
 
     let dur = measure_func_avg(how_often, how_many, roundtrip_filter);
-    println!("roundtrip_filter: {:?}", dur);
+    println!("roundtrip_filter: {dur:?}");
 
     #[cfg(feature = "rayon")]
     let dur = measure_func_avg(how_often, how_many, roundtrip_filter_par);
-    println!("roundtrip_filter_par: {:?}", dur);
+    println!("roundtrip_filter_par: {dur:?}");
 }

rpcl2/examples/simple_distance_filter.rs

@@ -12,7 +12,7 @@ fn main() {
         PointXYZ::new(3.0, 3.0, 3.0),
     ];
 
-    println!("Original cloud: {:?}", cloud);
+    println!("Original cloud: {cloud:?}");
 
     let msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
 
@@ -25,7 +25,7 @@ fn main() {
         })
         .collect::<Vec<_>>();
 
-    println!("Filtered cloud: {:?}", out);
+    println!("Filtered cloud: {out:?}");
 
     assert_eq!(vec![PointXYZ::new(1.0, 1.0, 1.0),], out);
 }

rpcl2/src/iterator.rs

@@ -260,8 +260,6 @@ where
     /// The theoretical time complexity is O(n) where n is the number of fields defined in the message for a single point which is typically small.
     /// It therefore has a constant time complexity O(1) for practical purposes.
     fn try_from(cloud: PointCloud2Msg) -> Result<Self, Self::Error> {
-        let mut pdata_with_offsets = vec![(String::default(), FieldDatatype::default(), 0); N];
-
         let fields_only = crate::ordered_field_names::<N, C>();
 
         let not_found_fieldnames = fields_only
@@ -281,13 +279,14 @@ where
             return Err(MsgConversionError::FieldsNotFound(names_not_found));
         }
 
-        for (field, with_offset) in cloud.fields.iter().zip(pdata_with_offsets.iter_mut()) {
+        let mut pdata_with_offsets = Vec::with_capacity(N);
+        for field in cloud.fields.iter() {
             if fields_only.contains(&field.name) {
-                *with_offset = (
+                pdata_with_offsets.push((
                     field.name.clone(),
                     field.datatype.try_into()?,
                     field.offset as usize,
-                );
+                ));
             }
         }
 
@@ -319,9 +318,16 @@ where
             return Err(MsgConversionError::DataLengthMismatch);
         }
 
-        let last_offset = offsets.last().expect("Dimensionality is 0.");
+        let last_offset = match offsets.last() {
+            Some(offset) => *offset,
+            None => return Err(MsgConversionError::DataLengthMismatch),
+        };
+
+        let last_pdata = match pdata.last() {
+            Some(pdata) => pdata,
+            None => return Err(MsgConversionError::DataLengthMismatch),
+        };
 
-        let last_pdata = pdata.last().expect("Dimensionality is 0.");
         let size_with_last_pdata = last_offset + last_pdata.1.size();
         if size_with_last_pdata > point_step_size {
             return Err(MsgConversionError::DataLengthMismatch);

rpcl2/src/lib.rs

@@ -17,11 +17,11 @@
 //! - [`try_into_par_iter`](PointCloud2Msg::try_into_par_iter) requires `rayon` feature
 //! - [`try_from_par_iter`](PointCloud2Msg::try_from_par_iter) requires `rayon` feature
 //!
-//! For ROS interoperability, there are integrations avialable with feature flags. If you miss a message type, please open an issue or a PR.
+//! For ROS interoperability, there are integrations available with feature flags. If you miss a message type, please open an issue or a PR.
 //! See the [`ros`] module for more information on how to integrate more libraries.
 //!
 //! Common point types like [`PointXYZ`](points::PointXYZ) or [`PointXYZI`](points::PointXYZI) are provided. See the full list [`here`](points). You can easily add any additional custom type.
-//! See [custom_enum_field_filter.rs](https://github.com/stelzo/ros_pointcloud2/blob/main/examples/custom_enum_field_filter.rs) for an example.
+//! See [custom_enum_field_filter.rs](https://github.com/stelzo/ros_pointcloud2/blob/main/rpcl2/examples/custom_enum_field_filter.rs) for an example.
 //!
 //! # Minimal Example
 //! ```
@@ -57,9 +57,9 @@
 //! - rosrust_msg — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) 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. [`PointCloud2Msg::try_from_par_iter`] additionally needs the 'derive' feature.
+//! - rayon — Parallel iterator support for `_par_iter` functions.
 //! - nalgebra — Predefined points offer a nalgebra typed getter for coordinates (e.g. [`xyz`](points::PointXYZ::xyz)).
-//! - std *(enabled by default)* — Use the standard library. `no_std` only works standalone or with the 'nalgebra' feature.
+//! - std *(enabled by default)* — Omit this feature to use this library in no_std environments. ROS integrations and 'rayon' will not work with no_std.
 //!
 //! # Custom Points
 //! Implement [`PointConvertible`] for your point with the `derive` feature or manually.
@@ -67,6 +67,7 @@
 //! ## Derive (recommended)
 //! ```ignore
 //! #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible)]
+//! #[repr(C, align(4))]
 //! pub struct MyPointXYZI {
 //!     pub x: f32,
 //!     pub y: f32,
@@ -81,6 +82,7 @@
 //! use ros_pointcloud2::prelude::*;
 //!
 //! #[derive(Clone, Debug, PartialEq, Copy, Default)]
+//! #[repr(C, align(4))]
 //! pub struct MyPointXYZI {
 //!     pub x: f32,
 //!     pub y: f32,
@@ -106,7 +108,7 @@
 //!     }
 //! }
 //!
-//! impl PointConvertible<4> for MyPointXYZI {
+//! unsafe impl PointConvertible<4> for MyPointXYZI {
 //!     fn layout() -> LayoutDescription {
 //!         LayoutDescription::new(&[
 //!             LayoutField::new("x", "f32", 4),
@@ -125,10 +127,11 @@
 //! ```
 #![crate_type = "lib"]
 #![cfg_attr(docsrs, feature(doc_cfg))]
-#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.2")]
+#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.1")]
 #![warn(clippy::print_stderr)]
 #![warn(clippy::print_stdout)]
 #![warn(clippy::unwrap_used)]
+#![warn(clippy::expect_used)]
 #![warn(clippy::cargo)]
 #![warn(clippy::std_instead_of_core)]
 #![warn(clippy::alloc_instead_of_core)]
@@ -136,6 +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;
@@ -145,12 +149,11 @@ pub mod iterator;
 
 use crate::ros::{HeaderMsg, PointFieldMsg};
 
-#[cfg(feature = "derive")]
-#[doc(hidden)]
-pub use memoffset;
-
 use core::str::FromStr;
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 #[macro_use]
 extern crate alloc;
 use alloc::string::String;
@@ -168,6 +171,7 @@ pub enum MsgConversionError {
     FieldsNotFound(Vec<String>),
     UnsupportedFieldCount,
     NumberConversion,
+    ExhaustedSource,
 }
 
 impl From<core::num::TryFromIntError> for MsgConversionError {
@@ -211,10 +215,17 @@ impl core::fmt::Display for MsgConversionError {
             MsgConversionError::NumberConversion => {
                 write!(f, "The number is too large to be converted into a PointCloud2 supported datatype.")
             }
+            MsgConversionError::ExhaustedSource => {
+                write!(
+                    f,
+                    "The conversion requests more data from the source type than is available."
+                )
+            }
         }
     }
 }
 
+#[allow(clippy::std_instead_of_core)] // will be stable soon (https://github.com/rust-lang/rust/issues/103765)
 #[cfg(feature = "std")]
 impl std::error::Error for MsgConversionError {
     fn source(&self) -> Option<&(dyn std::error::Error + 'static)> {
@@ -274,6 +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,
@@ -287,6 +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]
@@ -295,12 +308,14 @@ 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,
     Sparse,
 }
 
+#[derive(Clone, Debug, PartialEq)]
 enum ByteSimilarity {
     Equal,
     Overlapping,
@@ -450,6 +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,
@@ -474,7 +490,7 @@ fn ordered_field_names<const N: usize, C: PointConvertible<N>>() -> Vec<String>
                 name,
                 ty: _,
                 size: _,
-            } => name.to_string(),
+            } => name.as_ref().into(),
             _ => unreachable!("Fields must be filtered before."),
         })
         .collect()
@@ -486,26 +502,27 @@ impl PointCloud2Msg {
     where
         C: PointConvertible<N>,
     {
-        let point: RPCL2Point<N> = C::default().into();
-        debug_assert!(point.fields.len() == N);
-
         let field_names = ordered_field_names::<N, C>();
-        debug_assert!(field_names.len() == N);
+        let target_layout = KnownLayoutInfo::try_from(C::layout())?;
 
-        let layout = KnownLayoutInfo::try_from(C::layout())?;
+        debug_assert!(field_names.len() <= target_layout.fields.len());
-        debug_assert!(field_names.len() <= layout.fields.len());
+        debug_assert!(self.fields.len() >= target_layout.fields.len());
 
         let mut offset: u32 = 0;
         let mut field_counter = 0;
-        for f in layout.fields.iter() {
+        for f in target_layout.fields.iter() {
             match f {
                 PointField::Field {
                     datatype,
                     size,
                     count,
                 } => {
-                    let msg_f = &self.fields[field_counter];
+                    if field_counter >= self.fields.len() || field_counter >= field_names.len() {
-                    let f_translated = &field_names[field_counter];
+                        return Err(MsgConversionError::ExhaustedSource);
+                    }
+
+                    let msg_f = unsafe { self.fields.get_unchecked(field_counter) };
+                    let f_translated = unsafe { field_names.get_unchecked(field_counter) };
                     field_counter += 1;
 
                     if msg_f.name != *f_translated
@@ -531,7 +548,7 @@ impl PointCloud2Msg {
         })
     }
 
-    /// Create a [`PointCloud2Msg`] from any iterable type.
+    /// Create a [`PointCloud2Msg`] from any iterable type that implements [`PointConvertible`].
     ///
     /// # Example
     /// ```
@@ -685,7 +702,7 @@ impl PointCloud2Msg {
 
                 let bytes_total = vec.len() * point_step as usize;
                 cloud.data.resize(bytes_total, u8::default());
-                let raw_data: *mut C = cloud.data.as_ptr() as *mut C;
+                let raw_data: *mut C = cloud.data.as_mut_ptr() as *mut C;
                 unsafe {
                     core::ptr::copy_nonoverlapping(
                         vec.as_ptr().cast::<u8>(),
@@ -895,7 +912,7 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
 ///     }
 /// }
 ///
-/// impl PointConvertible<4> for MyPointXYZL {
+/// unsafe impl PointConvertible<4> for MyPointXYZL {
 ///     fn layout() -> LayoutDescription {
 ///         LayoutDescription::new(&[
 ///             LayoutField::new("x", "f32", 4),
@@ -907,19 +924,22 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
 ///     }
 /// }
 /// ```
-pub trait PointConvertible<const N: usize>:
+/// # Safety
+/// The layout is used for raw memory interpretation, where safety can not be guaranteed by the compiler.
+/// Take care when implementing the layout, especially in combination with `#[repr]` or use the `derive` feature when possible to prevent common errors.
+pub unsafe trait PointConvertible<const N: usize>:
     From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Default + Sized
 {
     fn layout() -> LayoutDescription;
 }
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 enum PointField {
     Padding(u32),
     Field { size: u32, datatype: u8, count: u32 },
 }
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 struct KnownLayoutInfo {
     fields: Vec<PointField>,
 }
@@ -1004,11 +1024,10 @@ impl PointData {
     #[inline]
     fn from_buffer(data: &[u8], offset: usize, datatype: FieldDatatype, endian: Endian) -> Self {
         debug_assert!(data.len() >= offset + datatype.size());
-        let bytes = [u8::default(); core::mem::size_of::<f64>()];
+        let mut bytes = [u8::default(); core::mem::size_of::<f64>()];
         unsafe {
             let data_ptr = data.as_ptr().add(offset);
-            let bytes_ptr = bytes.as_ptr() as *mut u8;
+            core::ptr::copy_nonoverlapping(data_ptr, bytes.as_mut_ptr(), datatype.size());
-            core::ptr::copy_nonoverlapping(data_ptr, bytes_ptr, datatype.size());
         }
 
         Self {
@@ -1446,3 +1465,216 @@ impl FromBytes for u8 {
         Self::from_le_bytes([bytes[0]])
     }
 }
+
+mod test {
+    #![allow(clippy::unwrap_used)]
+
+    use crate::prelude::*;
+
+    #[derive(Debug, Default, Clone, PartialEq)]
+    #[repr(C)]
+    struct PointA {
+        x: f32,
+        y: f32,
+        z: f32,
+        intensity: f32,
+        t: u32,
+        reflectivity: u16,
+        ring: u16,
+        ambient: u16,
+        range: u32,
+    }
+
+    impl From<RPCL2Point<9>> for PointA {
+        fn from(point: RPCL2Point<9>) -> Self {
+            Self::new(point[0].get(), point[1].get(), point[2].get())
+        }
+    }
+
+    impl From<PointA> for RPCL2Point<9> {
+        fn from(point: PointA) -> Self {
+            [
+                point.x.into(),
+                point.y.into(),
+                point.z.into(),
+                point.intensity.into(),
+                point.t.into(),
+                point.reflectivity.into(),
+                point.ring.into(),
+                point.ambient.into(),
+                point.range.into(),
+            ]
+            .into()
+        }
+    }
+
+    unsafe impl PointConvertible<9> for PointA {
+        fn layout() -> LayoutDescription {
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+                LayoutField::new("intensity", "f32", 4),
+                LayoutField::new("t", "u32", 4),
+                LayoutField::new("reflectivity", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("ring", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("ambient", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("range", "u32", 4),
+            ])
+        }
+    }
+
+    impl PointA {
+        fn new(x: f32, y: f32, z: f32) -> Self {
+            Self {
+                x,
+                y,
+                z,
+                intensity: 0.0,
+                t: 0,
+                reflectivity: 0,
+                ring: 0,
+                ambient: 0,
+                range: 0,
+            }
+        }
+    }
+
+    #[derive(Debug, Clone, Default, PartialEq)]
+    #[repr(C)]
+    struct PointB {
+        pub x: f32,
+        pub y: f32,
+        pub z: f32,
+        pub t: u32,
+    }
+
+    impl PointB {
+        fn new(x: f32, y: f32, z: f32) -> Self {
+            Self { x, y, z, t: 0 }
+        }
+    }
+
+    impl From<RPCL2Point<4>> for PointB {
+        fn from(point: RPCL2Point<4>) -> Self {
+            Self::new(point[0].get(), point[1].get(), point[2].get())
+        }
+    }
+
+    impl From<PointB> for RPCL2Point<4> {
+        fn from(point: PointB) -> Self {
+            [
+                point.x.into(),
+                point.y.into(),
+                point.z.into(),
+                point.t.into(),
+            ]
+            .into()
+        }
+    }
+
+    unsafe impl PointConvertible<4> for PointB {
+        fn layout() -> LayoutDescription {
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+                LayoutField::new("t", "u32", 4),
+            ])
+        }
+    }
+
+    #[derive(Debug, Clone, Default, PartialEq)]
+    #[repr(C)]
+    struct PointD {
+        x: f32,
+        y: f32,
+        z: f32,
+        t: u32,
+        ring: u16,
+        range: u32,
+        signal: u16,
+        reflectivity: u16,
+        near_ir: u16,
+    }
+
+    impl From<RPCL2Point<9>> for PointD {
+        fn from(point: RPCL2Point<9>) -> Self {
+            Self::new(point[0].get(), point[1].get(), point[2].get())
+        }
+    }
+
+    impl From<PointD> for RPCL2Point<9> {
+        fn from(point: PointD) -> Self {
+            [
+                point.x.into(),
+                point.y.into(),
+                point.z.into(),
+                point.t.into(),
+                point.ring.into(),
+                point.range.into(),
+                point.signal.into(),
+                point.reflectivity.into(),
+                point.near_ir.into(),
+            ]
+            .into()
+        }
+    }
+
+    unsafe impl PointConvertible<9> for PointD {
+        fn layout() -> LayoutDescription {
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+                LayoutField::new("t", "u32", 4),
+                LayoutField::new("ring", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("range", "u32", 4),
+                LayoutField::new("signal", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("reflectivity", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("near_ir", "u16", 2),
+                LayoutField::padding(2),
+            ])
+        }
+    }
+
+    impl PointD {
+        fn new(x: f32, y: f32, z: f32) -> Self {
+            Self {
+                x,
+                y,
+                z,
+                t: 0,
+                ring: 0,
+                range: 0,
+                signal: 0,
+                reflectivity: 0,
+                near_ir: 0,
+            }
+        }
+    }
+
+    #[test]
+    fn subtype_iterator_fallback() {
+        let cloud_a = PointCloud2Msg::try_from_iter(vec![
+            PointA::new(1.0, 2.0, 3.0),
+            PointA::new(4.0, 5.0, 6.0),
+            PointA::new(7.0, 8.0, 9.0),
+        ])
+        .unwrap();
+
+        let cloud_c: PointB = cloud_a.clone().try_into_iter().unwrap().next().unwrap();
+        assert_eq!(cloud_c, PointB::new(1.0, 2.0, 3.0));
+
+        let cloud_b: Vec<PointB> = cloud_a.try_into_vec().unwrap();
+        assert_eq!(cloud_b[0], PointB::new(1.0, 2.0, 3.0));
+        assert_eq!(cloud_b[1], PointB::new(4.0, 5.0, 6.0));
+        assert_eq!(cloud_b[2], PointB::new(7.0, 8.0, 9.0));
+    }
+}

rpcl2/src/points.rs

@@ -1,7 +1,10 @@
 //! Predefined point types commonly used in ROS.
 use crate::{LayoutDescription, LayoutField, PointConvertible, RPCL2Point};
 
-/// A packed RGB color encoding as used in ROS tools.
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+/// Packed RGB color encoding as used in ROS tools.
 #[derive(Clone, Copy)]
 #[repr(C, align(4))]
 pub union RGB {
@@ -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 {}
 
@@ -103,10 +129,10 @@ impl From<f32> for RGB {
     }
 }
 
-/// Predefined point type commonly used in ROS with PCL.
+/// 3D point with x, y, z coordinates, commonly used in ROS with PCL.
-/// This is a 3D point with x, y, z coordinates.
 #[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,
@@ -114,6 +140,7 @@ 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 {
@@ -125,12 +152,73 @@ 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 {
@@ -139,9 +227,22 @@ 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()
     }
 }
 
@@ -160,7 +261,7 @@ impl From<PointXYZ> for RPCL2Point<3> {
     }
 }
 
-impl PointConvertible<3> for PointXYZ {
+unsafe impl PointConvertible<3> for PointXYZ {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),
@@ -171,10 +272,10 @@ impl PointConvertible<3> for PointXYZ {
     }
 }
 
-/// Predefined point type commonly used in ROS with PCL.
+/// 3D point with x, y, z coordinates and an intensity value, commonly used in ROS with PCL.
-/// This is a 3D point with x, y, z coordinates and an intensity value.
 #[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,
@@ -189,10 +290,23 @@ 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 {}
@@ -221,7 +335,7 @@ impl From<PointXYZI> for RPCL2Point<4> {
     }
 }
 
-impl PointConvertible<4> for PointXYZI {
+unsafe impl PointConvertible<4> for PointXYZI {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),
@@ -232,10 +346,10 @@ impl PointConvertible<4> for PointXYZI {
     }
 }
 
-/// Predefined point type commonly used in ROS with PCL.
+/// 3D point with x, y, z coordinates and a label, commonly used in ROS with PCL.
-/// This is a 3D point with x, y, z coordinates and a label.
 #[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,
@@ -250,10 +364,23 @@ 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 {}
@@ -282,7 +409,7 @@ impl From<PointXYZL> for RPCL2Point<4> {
     }
 }
 
-impl PointConvertible<4> for PointXYZL {
+unsafe impl PointConvertible<4> for PointXYZL {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),
@@ -293,10 +420,10 @@ impl PointConvertible<4> for PointXYZL {
     }
 }
 
-/// Predefined point type commonly used in ROS with PCL.
+/// 3D point with x, y, z coordinates and an RGB color value, commonly used in ROS with PCL.
-/// This is a 3D point with x, y, z coordinates and an RGB color value.
 #[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,
@@ -328,10 +455,23 @@ 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 {}
@@ -360,7 +500,7 @@ impl From<PointXYZRGB> for RPCL2Point<4> {
     }
 }
 
-impl PointConvertible<4> for PointXYZRGB {
+unsafe impl PointConvertible<4> for PointXYZRGB {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),
@@ -371,11 +511,11 @@ impl PointConvertible<4> for PointXYZRGB {
     }
 }
 
-/// Predefined point type commonly used in ROS with PCL.
+/// 3D point with x, y, z coordinates and an RGBA color value, commonly used in ROS with PCL.
-/// This is a 3D point with x, y, z coordinates and an RGBA color value.
 /// 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,
@@ -408,10 +548,23 @@ 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 {}
@@ -442,7 +595,7 @@ impl From<PointXYZRGBA> for RPCL2Point<5> {
     }
 }
 
-impl PointConvertible<5> for PointXYZRGBA {
+unsafe impl PointConvertible<5> for PointXYZRGBA {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),
@@ -455,10 +608,10 @@ impl PointConvertible<5> for PointXYZRGBA {
     }
 }
 
-/// Predefined point type commonly used in ROS with PCL.
+/// 3D point with x, y, z coordinates, an RGB color value and a normal vector, commonly used in ROS with PCL.
-/// This is a 3D point with x, y, z coordinates, an RGB color value and a normal vector.
 #[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,
@@ -508,10 +661,23 @@ 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 {}
@@ -546,7 +712,7 @@ impl From<PointXYZRGBNormal> for RPCL2Point<7> {
     }
 }
 
-impl PointConvertible<7> for PointXYZRGBNormal {
+unsafe impl PointConvertible<7> for PointXYZRGBNormal {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),
@@ -561,10 +727,10 @@ impl PointConvertible<7> for PointXYZRGBNormal {
     }
 }
 
-/// Predefined point type commonly used in ROS with PCL.
+/// 3D point with x, y, z coordinates, an intensity value and a normal vector, commonly used in ROS with PCL.
-/// This is a 3D point with x, y, z coordinates, an intensity value and a normal vector.
 #[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,
@@ -599,10 +765,23 @@ 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 {}
@@ -637,7 +816,7 @@ impl From<PointXYZINormal> for RPCL2Point<7> {
     }
 }
 
-impl PointConvertible<7> for PointXYZINormal {
+unsafe impl PointConvertible<7> for PointXYZINormal {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),
@@ -652,10 +831,10 @@ impl PointConvertible<7> for PointXYZINormal {
     }
 }
 
-/// Predefined point type commonly used in ROS with PCL.
+/// 3D point with x, y, z coordinates and a label, commonly used in ROS with PCL.
-/// This is a 3D point with x, y, z coordinates and a label.
 #[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,
@@ -697,10 +876,23 @@ 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 {
@@ -728,7 +920,7 @@ impl From<PointXYZRGBL> for RPCL2Point<5> {
     }
 }
 
-impl PointConvertible<5> for PointXYZRGBL {
+unsafe impl PointConvertible<5> for PointXYZRGBL {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),
@@ -741,10 +933,10 @@ impl PointConvertible<5> for PointXYZRGBL {
     }
 }
 
-/// Predefined point type commonly used in ROS with PCL.
+/// 3D point with x, y, z coordinates and a normal vector, commonly used in ROS with PCL.
-/// This is a 3D point with x, y, z coordinates and a normal vector.
 #[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,
@@ -769,10 +961,23 @@ 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 {}
@@ -805,7 +1010,7 @@ impl From<PointXYZNormal> for RPCL2Point<6> {
     }
 }
 
-impl PointConvertible<6> for PointXYZNormal {
+unsafe impl PointConvertible<6> for PointXYZNormal {
     fn layout() -> LayoutDescription {
         LayoutDescription::new(&[
             LayoutField::new("x", "f32", 4),

rpcl2/src/ros.rs

@@ -25,13 +25,27 @@
 
 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,
 }
 
+#[cfg(feature = "ros2-interfaces-jazzy")]
+impl From<ros2_interfaces_jazzy::builtin_interfaces::msg::Time> for TimeMsg {
+    fn from(time: ros2_interfaces_jazzy::builtin_interfaces::msg::Time) -> Self {
+        Self {
+            sec: time.sec,
+            nanosec: time.nanosec,
+        }
+    }
+}
+
 #[cfg(feature = "rosrust_msg")]
 impl From<rosrust::Time> for TimeMsg {
     fn from(time: rosrust::Time) -> Self {
@@ -44,14 +58,27 @@ 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,
     pub frame_id: String,
 }
 
+#[cfg(feature = "ros2-interfaces-jazzy")]
+impl From<ros2_interfaces_jazzy::std_msgs::msg::Header> for HeaderMsg {
+    fn from(header: ros2_interfaces_jazzy::std_msgs::msg::Header) -> Self {
+        Self {
+            seq: 0,
+            stamp: header.stamp.into(),
+            frame_id: header.frame_id,
+        }
+    }
+}
+
 /// 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,
@@ -70,6 +97,89 @@ impl Default for PointFieldMsg {
     }
 }
 
+#[cfg(feature = "ros2-interfaces-jazzy")]
+impl From<ros2_interfaces_jazzy::sensor_msgs::msg::PointCloud2> for crate::PointCloud2Msg {
+    fn from(msg: ros2_interfaces_jazzy::sensor_msgs::msg::PointCloud2) -> Self {
+        Self {
+            header: HeaderMsg {
+                seq: 0,
+                stamp: TimeMsg {
+                    sec: msg.header.stamp.sec,
+                    nanosec: msg.header.stamp.nanosec,
+                },
+                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 = "ros2-interfaces-jazzy")]
+impl From<crate::PointCloud2Msg> for ros2_interfaces_jazzy::sensor_msgs::msg::PointCloud2 {
+    fn from(msg: crate::PointCloud2Msg) -> Self {
+        ros2_interfaces_jazzy::sensor_msgs::msg::PointCloud2 {
+            header: ros2_interfaces_jazzy::std_msgs::msg::Header {
+                stamp: ros2_interfaces_jazzy::builtin_interfaces::msg::Time {
+                    sec: msg.header.stamp.sec,
+                    nanosec: 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| ros2_interfaces_jazzy::sensor_msgs::msg::PointField {
+                        name: field.name,
+                        offset: field.offset,
+                        datatype: field.datatype,
+                        count: field.count,
+                    },
+                )
+                .collect(),
+            is_bigendian: match msg.endian {
+                crate::Endian::Big => true,
+                crate::Endian::Little => false,
+            },
+            point_step: msg.point_step,
+            row_step: msg.row_step,
+            data: msg.data,
+            is_dense: match msg.dense {
+                crate::Denseness::Dense => true,
+                crate::Denseness::Sparse => false,
+            },
+        }
+    }
+}
+
 #[cfg(feature = "r2r_msg")]
 impl From<r2r::sensor_msgs::msg::PointCloud2> for crate::PointCloud2Msg {
     fn from(msg: r2r::sensor_msgs::msg::PointCloud2) -> Self {

rpcl2/tests/Dockerfile_r2r_jazzy

@@ -0,0 +1,22 @@
+# syntax=docker/dockerfile:1
+FROM ros:jazzy
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get ros test messages
+RUN apt-get install -y ros-jazzy-test-msgs ros-jazzy-example-interfaces
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+
+COPY . /r2r
+RUN chmod +x /r2r/rpcl2/tests/r2r_test.bash
+ENTRYPOINT [ "/r2r/rpcl2/tests/r2r_test.bash" ]

rpcl2/tests/Dockerfile_rclrs_jazzy

@@ -0,0 +1,34 @@
+# syntax=docker/dockerfile:1
+FROM ros:jazzy
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev \
+    git \
+    python3-pip \
+    python3-vcstool
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+RUN . $HOME/.cargo/env && cargo install --debug cargo-ament-build
+RUN pip install git+https://github.com/colcon/colcon-cargo.git
+RUN pip install git+https://github.com/colcon/colcon-ros-cargo.git
+
+WORKDIR /ros2_rust_build
+RUN git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
+RUN vcs import src < src/ros2_rust/ros2_rust_jazzy.repos
+
+WORKDIR /ros2_rust_build/src/ros_pointcloud2_tests
+COPY . .
+
+WORKDIR /ros2_rust_build
+RUN . $HOME/.cargo/env && . /opt/ros/jazzy/setup.sh && colcon build
+
+RUN chmod +x /ros2_rust_build/src/ros_pointcloud2_tests/rpcl2/tests/rclrs_test.bash
+ENTRYPOINT [ "/ros2_rust_build/src/ros_pointcloud2_tests/rpcl2/tests/rclrs_test.bash" ]

rpcl2/tests/e2e_test.rs

@@ -1,3 +1,4 @@
+use pretty_assertions::assert_eq;
 use ros_pointcloud2::prelude::*;
 
 #[cfg(feature = "derive")]
@@ -55,6 +56,19 @@ fn write_cloud() {
     let msg = PointCloud2Msg::try_from_iter(cloud);
     assert!(msg.is_ok());
 }
+/*
+#[test]
+fn collect_vec() {
+    let cloud = vec![
+        PointXYZ::new(0.0, 1.0, 5.0),
+        PointXYZ::new(1.0, 1.5, 5.0),
+        PointXYZ::new(1.3, 1.6, 5.7),
+        PointXYZ::new(f32::MAX, f32::MIN, f32::MAX),
+    ]
+    .into_iter();
+
+    let msg: Result<PointCloud2Msg, MsgConversionError> = cloud.collect();
+}*/
 
 #[test]
 fn write_cloud_from_vec() {
@@ -130,7 +144,7 @@ fn conv_cloud_par_par_iter() {
 #[cfg(feature = "derive")]
 fn custom_xyz_f32() {
     #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPoint {
         x: f32,
         y: f32,
@@ -153,7 +167,7 @@ fn custom_xyz_f32() {
         }
     }
 
-    impl PointConvertible<3> for CustomPoint {
+    unsafe impl PointConvertible<3> for CustomPoint {
         fn layout() -> LayoutDescription {
             LayoutDescription::new(&[
                 LayoutField::new("x", "f32", 4),
@@ -215,7 +229,7 @@ fn custom_xyzi_f32() {
     ];
 
     #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPointXYZI {
         x: f32,
         y: f32,
@@ -246,7 +260,7 @@ fn custom_xyzi_f32() {
         }
     }
 
-    impl PointConvertible<4> for CustomPointXYZI {
+    unsafe impl PointConvertible<4> for CustomPointXYZI {
         fn layout() -> LayoutDescription {
             LayoutDescription::new(&[
                 LayoutField::new("x", "f32", 4),
@@ -265,7 +279,7 @@ fn custom_xyzi_f32() {
 #[cfg(feature = "derive")]
 fn custom_rgba_f32() {
     #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPoint {
         x: f32,
         y: f32,
@@ -305,7 +319,7 @@ fn custom_rgba_f32() {
         }
     }
 
-    impl PointConvertible<7> for CustomPoint {
+    unsafe impl PointConvertible<7> for CustomPoint {
         fn layout() -> LayoutDescription {
             LayoutDescription::new(&[
                 LayoutField::new("x", "f32", 4),
@@ -556,7 +570,7 @@ fn write_xyzi_read_xyz_vec() {
 #[test]
 fn write_less_than_available() {
     #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPoint {
         x: f32,
         y: f32,
@@ -581,7 +595,7 @@ fn write_less_than_available() {
         }
     }
 
-    impl PointConvertible<3> for CustomPoint {
+    unsafe impl PointConvertible<3> for CustomPoint {
         fn layout() -> LayoutDescription {
             LayoutDescription::new(&[
                 LayoutField::new("x", "f32", 4),

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
 
 "$@"

rpcl2/tests/ros2-interfaces-jazzy_test.rs

@@ -0,0 +1,32 @@
+#[cfg(feature = "ros2-interfaces-jazzy")]
+#[test]
+fn convertxyz_ros2_interfaces_jazzy_msg() {
+    use ros_pointcloud2::{points::PointXYZ, PointCloud2Msg};
+
+    use ros2_interfaces_jazzy::sensor_msgs::msg::PointCloud2;
+
+    let cloud = vec![
+        PointXYZ {
+            x: 1.0,
+            y: 2.0,
+            z: 3.0,
+        },
+        PointXYZ {
+            x: 4.0,
+            y: 5.0,
+            z: 6.0,
+        },
+        PointXYZ {
+            x: 7.0,
+            y: 8.0,
+            z: 9.0,
+        },
+    ];
+    let copy = cloud.clone();
+    let internal_cloud = PointCloud2Msg::try_from_iter(cloud).unwrap();
+    let ros2_msg_cloud: PointCloud2 = internal_cloud.into();
+    let convert_back_internal: PointCloud2Msg = ros2_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);
+}