fix lint

.gitattributes

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

.github/workflows/nightly.yml

@@ -18,17 +18,17 @@ jobs:
         with:
           components: clippy
       - name: Linting
-        run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings
+        run: cargo clippy --all-targets --features derive,nalgebra,rayon,serde,ros2-interfaces-jazzy -- -D warnings
       - name: Tests
-        run: cargo test --features derive,nalgebra,rayon
+        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-  outdated:
-    name: Outdated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-      - uses: dtolnay/install@cargo-outdated
-      - run: cargo outdated --exit-code 1
+  # outdated:
+  #   name: Outdated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+  #     - uses: dtolnay/install@cargo-outdated
+  #     - run: cargo outdated --exit-code 1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/r2r_galactic.yml

@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_galactic --tag r2r_galactic
-      - run: docker run r2r_galactic cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_galactic cargo test --features r2r_msg,derive,nalgebra,rayon,serde

.github/workflows/r2r_humble.yml

@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_humble --tag r2r_humble
-      - run: docker run r2r_humble cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_humble cargo test --features r2r_msg,derive,nalgebra,rayon,serde

.github/workflows/r2r_iron.yml

@@ -18,4 +18,4 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_iron --tag r2r_iron
-      - run: docker run r2r_iron cargo test --features r2r_msg,derive,nalgebra,rayon
+      - run: docker run r2r_iron cargo test --features r2r_msg,derive,nalgebra,rayon,serde

.github/workflows/r2r_jazzy.yml

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

.github/workflows/rclrs_humble.yml

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

.github/workflows/rclrs_iron.yml

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

.github/workflows/rclrs_jazzy.yml

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

.github/workflows/rosrust_noetic.yml

@@ -105,4 +105,4 @@ jobs:
       - name: test
         run: |
           source /opt/ros/$ROS_DISTRO/setup.bash
-          cargo test --features rosrust_msg,derive,nalgebra,rayon
+          cargo test --features rosrust_msg,derive,nalgebra,rayon,serde

.github/workflows/tests.yml

@@ -21,8 +21,8 @@ jobs:
         with:
           components: clippy
       - name: Linting
-        run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings
+        run: cargo clippy --all-targets --features derive,nalgebra,rayon,serde -- -D warnings
       - name: Build examples with features
-        run: cargo build --examples --features derive,nalgebra,rayon
+        run: cargo build --examples --features derive,nalgebra,rayon,serde,ros2-interfaces-jazzy
       - name: Test library
-        run: cargo test --features derive,nalgebra,rayon
+        run: cargo test --features derive,nalgebra,rayon,serde

.gitignore

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

README.md

@@ -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_pointcloud2/0.5.1/) for a complete guide.
+Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.2/) for a complete guide.
 
 ## Quickstart
 
@@ -70,7 +70,7 @@ Features do not work properly with `rcrls` because the messages are linked exter
 
 ```toml
 [dependencies]
-ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.1_rclrs" }
+ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.2_rclrs" }
 ```
 
 Also, indicate the following dependencies to your linker inside the `package.xml` of your package.

derive-test/Cargo.toml

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

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

@@ -48,8 +48,8 @@ fn struct_field_rename_array(input: &DeriveInput) -> Vec<String> {
                             panic!("expected `name` attribute");
                         }
                     });
-                    if let Err(err) = res {
-                        panic!("Error parsing attribute: {}", err);
+                    if let Err(e) = res {
+                        panic!("Error parsing attribute: {e}");
                     }
                 }
             });
@@ -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 = "0.5.3"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -8,39 +8,42 @@ repository = "https://github.com/stelzo/ros_pointcloud2"
 license = "MIT OR Apache-2.0"
 keywords = ["ros", "pointcloud2", "pointcloud", "message"]
 categories = [
-    "science::robotics",
-    "encoding",
-    "data-structures",
-    "api-bindings",
+  "science::robotics",
+  "encoding",
+  "data-structures",
+  "api-bindings",
 ]
 readme = "../README.md"
 documentation = "https://docs.rs/ros_pointcloud2"
 homepage = "https://github.com/stelzo/ros_pointcloud2"
 exclude = [
-    "**/.github/**",
-    "**/tests/**",
-    "**/examples/**",
-    "**/benches/**",
-    "**/target/**",
-    "**/build/**",
-    "**/dist/**",
-    "**/docs/**",
-    "**/doc/**",
-    "**/ensure_no_std/**",
+  "**/.github/**",
+  "**/tests/**",
+  "**/examples/**",
+  "**/benches/**",
+  "**/target/**",
+  "**/build/**",
+  "**/dist/**",
+  "**/docs/**",
+  "**/doc/**",
+  "**/ensure_no_std/**",
 ]
-rust-version = "1.63"
+rust-version = "1.77"
 
 [dependencies]
-rosrust_msg = { version = "0.1", optional = true }
-rosrust = { version = "0.9.11", optional = true }
+rosrust_msg = { version = "0.1.8", optional = true }
+rosrust = { version = "0.9.12", optional = true }
 r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0.33", optional = true, default-features = false }
-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" }
+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"
 
@@ -50,16 +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),
-            y: rng.gen_range(min..max),
-            z: rng.gen_range(min..max),
+            x: rng.random_range(min..max),
+            y: rng.random_range(min..max),
+            z: rng.random_range(min..max),
             ..Default::default()
         };
         pointcloud.push(point);

rpcl2/examples/custom_enum_field_filter.rs

@@ -140,7 +140,7 @@ fn main() {
         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();
 
@@ -151,7 +151,7 @@ fn main() {
         .filter(|point: &CustomPoint| point.my_custom_label == Label::Deer)
         .collect::<Vec<_>>();
 
-    println!("Filtered cloud: {:?}", out);
+    println!("Filtered cloud: {out:?}");
 
     assert_eq!(
         vec![CustomPoint::new(1.0, 2.0, 3.0, 4.0, Label::Deer),],

rpcl2/examples/rayon_bench.rs

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

@@ -139,6 +139,7 @@
 #![cfg_attr(not(feature = "std"), no_std)]
 // Setup an allocator with #[global_allocator]
 // see: https://doc.rust-lang.org/std/alloc/trait.GlobalAlloc.html
+#![allow(unexpected_cfgs)]
 
 pub mod points;
 pub mod prelude;
@@ -148,12 +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;
@@ -285,6 +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,
@@ -298,6 +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]
@@ -306,6 +308,7 @@ pub enum Endian {
 
 /// Density flag for the message. Writing sparse point clouds is not supported.
 #[derive(Default, Clone, Debug, PartialEq, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum Denseness {
     #[default]
     Dense,
@@ -462,6 +465,7 @@ impl PointCloud2MsgBuilder {
 
 /// Dimensions of the point cloud as width and height.
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct CloudDimensions {
     pub width: u32,
     pub height: u32,

rpcl2/src/points.rs

@@ -1,6 +1,9 @@
 //! Predefined point types commonly used in ROS.
 use crate::{LayoutDescription, LayoutField, PointConvertible, RPCL2Point};
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 /// Packed RGB color encoding as used in ROS tools.
 #[derive(Clone, Copy)]
 #[repr(C, align(4))]
@@ -9,6 +12,29 @@ pub union RGB {
     unpacked: [u8; 4], // Padding
 }
 
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl<'de> Deserialize<'de> for RGB {
+    fn deserialize<D>(deserializer: D) -> Result<RGB, D::Error>
+    where
+        D: serde::Deserializer<'de>,
+    {
+        let packed = f32::deserialize(deserializer)?;
+        Ok(RGB::new_from_packed_f32(packed))
+    }
+}
+
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl Serialize for RGB {
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: serde::Serializer,
+    {
+        f32::from(*self).serialize(serializer)
+    }
+}
+
 unsafe impl Send for RGB {}
 unsafe impl Sync for RGB {}
 
@@ -106,6 +132,7 @@ impl From<f32> for RGB {
 /// 3D point with x, y, z coordinates, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZ {
     pub x: f32,
     pub y: f32,
@@ -113,6 +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 {
@@ -124,12 +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 {
@@ -138,9 +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()
     }
 }
 
@@ -173,6 +275,7 @@ unsafe impl PointConvertible<3> for PointXYZ {
 /// 3D point with x, y, z coordinates and an intensity value, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZI {
     pub x: f32,
     pub y: f32,
@@ -187,10 +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 {}
@@ -233,6 +349,7 @@ unsafe impl PointConvertible<4> for PointXYZI {
 /// 3D point with x, y, z coordinates and a label, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZL {
     pub x: f32,
     pub y: f32,
@@ -247,10 +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 {}
@@ -293,6 +423,7 @@ unsafe impl PointConvertible<4> for PointXYZL {
 /// 3D point with x, y, z coordinates and an RGB color value, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGB {
     pub x: f32,
     pub y: f32,
@@ -324,10 +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 {}
@@ -371,6 +515,7 @@ unsafe impl PointConvertible<4> for PointXYZRGB {
 /// The alpha channel is commonly used as padding but this crate uses every channel and no padding.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBA {
     pub x: f32,
     pub y: f32,
@@ -403,10 +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 {}
@@ -453,6 +611,7 @@ unsafe impl PointConvertible<5> for PointXYZRGBA {
 /// 3D point with x, y, z coordinates, an RGB color value and a normal vector, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBNormal {
     pub x: f32,
     pub y: f32,
@@ -502,10 +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 {}
@@ -558,6 +730,7 @@ unsafe impl PointConvertible<7> for PointXYZRGBNormal {
 /// 3D point with x, y, z coordinates, an intensity value and a normal vector, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZINormal {
     pub x: f32,
     pub y: f32,
@@ -592,10 +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 {}
@@ -648,6 +834,7 @@ unsafe impl PointConvertible<7> for PointXYZINormal {
 /// 3D point with x, y, z coordinates and a label, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBL {
     pub x: f32,
     pub y: f32,
@@ -689,10 +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 {
@@ -736,6 +936,7 @@ unsafe impl PointConvertible<5> for PointXYZRGBL {
 /// 3D point with x, y, z coordinates and a normal vector, commonly used in ROS with PCL.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
 #[repr(C, align(16))]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZNormal {
     pub x: f32,
     pub y: f32,
@@ -760,10 +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 {}

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/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);
+}