trying out RosLibRust/roslibrust#174 message definition solution

lucasw · Jul 7, 2024 · c5a4b1d · c5a4b1d
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diff --git a/ros1_rlr/Cargo.toml b/ros1_rlr/Cargo.toml
@@ -8,14 +8,28 @@ publish = false
 
 [dependencies]
 anyhow = "1.0.86"
-# roslibrust = { version="0.9.0", features = ["ros1"] }
-# roslibrust_codegen = "0.9.0"
-# roslibrust_codegen_macro = "0.9.0"
-roslibrust = { git = "https://github.com/Carter12s/roslibrust.git", rev = "883057f8d159b0298c243744d65971e746ec5dbc", features = ["ros1"] }
-roslibrust_codegen = { git = "https://github.com/Carter12s/roslibrust.git", rev = "883057f8d159b0298c243744d65971e746ec5dbc" }
-roslibrust_codegen_macro = { git = "https://github.com/Carter12s/roslibrust.git", rev = "883057f8d159b0298c243744d65971e746ec5dbc" }
 serde = { version = "1.0", features = ["derive"] }
 serde-big-array = "0.5.1"
 smart-default = "0.7.1"
 tokio = "1.38.0"
 
+[dependencies.roslibrust]
+git = "https://github.com/Carter12s/roslibrust.git"
+# tag v0.10.1 on github is confirmed to work
+# version="0.9.0"
+# rev = "883057f8d159b0298c243744d65971e746ec5dbc"
+# branch = "master"
+branch = "fix-gendeps-in-message-definition"
+features = ["ros1"]
+
+[dependencies.roslibrust_codegen]
+git = "https://github.com/Carter12s/roslibrust.git"
+# rev = "883057f8d159b0298c243744d65971e746ec5dbc"
+# branch = "master"
+branch = "fix-gendeps-in-message-definition"
+
+[dependencies.roslibrust_codegen_macro]
+git = "https://github.com/Carter12s/roslibrust.git"
+# rev = "883057f8d159b0298c243744d65971e746ec5dbc"
+# branch = "master"
+branch = "fix-gendeps-in-message-definition"
diff --git a/ros1_rlr/README.md b/ros1_rlr/README.md
@@ -4,4 +4,13 @@ ros1 roslibrust native node example/s with several publishers and subscribers ea
 https://github.com/Carter12s/roslibrust
 https://docs.rs/roslibrust/latest/roslibrust/
 
+Supplying minimal ROS_PACKAGE_PATH works best (and probably reduces compile times):
+
+```
+ROS_PACKAGE_PATH=`rospack find std_msgs`:`rospack find geometry_msgs` cargo run
+```
+
+Could have a method to figure out dependencies from package.xml and put only those on the path.
+
+
 TODO - compare similar nodes with rosrust equivalents, see how much cpu is used and what message latencies are like.