ros2-rust · Guelakais · Apr 17, 2024 · Apr 18, 2024 · Apr 18, 2024 · Apr 18, 2024
diff --git a/.dockerignore b/.dockerignore
diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
diff --git a/.gitignore b/.gitignore
diff --git a/.rustfmt.toml b/.rustfmt.toml
diff --git a/Dockerfile b/Dockerfile
diff --git a/LICENSE b/LICENSE
diff --git a/NOTICE b/NOTICE
diff --git a/README.md b/README.md
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
diff --git a/docs/building.md b/docs/building.md
diff --git a/docs/writing-your-first-rclrs-node.md b/docs/writing-your-first-rclrs-node.md
diff --git a/examples/message_demo/Cargo.toml b/examples/message_demo/Cargo.toml
diff --git a/examples/message_demo/package.xml b/examples/message_demo/package.xml
diff --git a/examples/message_demo/src/message_demo.rs b/examples/message_demo/src/message_demo.rs
diff --git a/examples/minimal_client_service/Cargo.toml b/examples/minimal_client_service/Cargo.toml
diff --git a/examples/minimal_client_service/package.xml b/examples/minimal_client_service/package.xml
diff --git a/examples/minimal_client_service/src/minimal_client.rs b/examples/minimal_client_service/src/minimal_client.rs
diff --git a/examples/minimal_client_service/src/minimal_client_async.rs b/examples/minimal_client_service/src/minimal_client_async.rs
diff --git a/examples/minimal_client_service/src/minimal_service.rs b/examples/minimal_client_service/src/minimal_service.rs
diff --git a/examples/minimal_pub_sub/Cargo.toml b/examples/minimal_pub_sub/Cargo.toml
diff --git a/examples/minimal_pub_sub/launch/minimal_pub_sub.launch.xml b/examples/minimal_pub_sub/launch/minimal_pub_sub.launch.xml
diff --git a/examples/minimal_pub_sub/package.xml b/examples/minimal_pub_sub/package.xml
diff --git a/examples/minimal_pub_sub/src/minimal_publisher.rs b/examples/minimal_pub_sub/src/minimal_publisher.rs
diff --git a/examples/minimal_pub_sub/src/minimal_subscriber.rs b/examples/minimal_pub_sub/src/minimal_subscriber.rs
diff --git a/examples/minimal_pub_sub/src/minimal_two_nodes.rs b/examples/minimal_pub_sub/src/minimal_two_nodes.rs
diff --git a/examples/minimal_pub_sub/src/zero_copy_publisher.rs b/examples/minimal_pub_sub/src/zero_copy_publisher.rs
diff --git a/examples/minimal_pub_sub/src/zero_copy_subscriber.rs b/examples/minimal_pub_sub/src/zero_copy_subscriber.rs
diff --git a/examples/rclrs_example_msgs/CMakeLists.txt b/examples/rclrs_example_msgs/CMakeLists.txt
diff --git a/examples/rclrs_example_msgs/msg/MyMessage.idl b/examples/rclrs_example_msgs/msg/MyMessage.idl
diff --git a/examples/rclrs_example_msgs/msg/NestedType.msg b/examples/rclrs_example_msgs/msg/NestedType.msg
diff --git a/examples/rclrs_example_msgs/msg/VariousTypes.msg b/examples/rclrs_example_msgs/msg/VariousTypes.msg
diff --git a/examples/rclrs_example_msgs/package.xml b/examples/rclrs_example_msgs/package.xml
diff --git a/rclrs/CHANGELOG.rst b/rclrs/CHANGELOG.rst
diff --git a/rclrs/Cargo.toml b/rclrs/Cargo.toml
@@ -22,6 +22,7 @@ cfg-if = "1.0.0"
 
 # Needed for clients
 futures = "0.3"
+builtin_interfaces="*"
 
 # Needed for dynamic messages
 libloading = { version = "0.8", optional = true }
@@ -34,7 +35,7 @@ rosidl_runtime_rs = "0.4"
 tempfile = "3.3.0"
 # Needed for publisher and subscriber tests
 test_msgs = {version = "*"}
-
+builtin_interfaces="*"
 [build-dependencies]
 # Needed for FFI
 bindgen = "0.66.1"

diff --git a/rclrs/README.md b/rclrs/README.md
diff --git a/rclrs/build.rs b/rclrs/build.rs
diff --git a/rclrs/package.xml b/rclrs/package.xml
diff --git a/rclrs/src/arguments.rs b/rclrs/src/arguments.rs
diff --git a/rclrs/src/client.rs b/rclrs/src/client.rs
diff --git a/rclrs/src/clock.rs b/rclrs/src/clock.rs
diff --git a/rclrs/src/context.rs b/rclrs/src/context.rs
diff --git a/rclrs/src/dynamic_message.rs b/rclrs/src/dynamic_message.rs
diff --git a/rclrs/src/dynamic_message/error.rs b/rclrs/src/dynamic_message/error.rs
diff --git a/rclrs/src/error.rs b/rclrs/src/error.rs
diff --git a/rclrs/src/executor.rs b/rclrs/src/executor.rs
diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
diff --git a/rclrs/src/node.rs b/rclrs/src/node.rs
diff --git a/rclrs/src/node/builder.rs b/rclrs/src/node/builder.rs
diff --git a/rclrs/src/node/graph.rs b/rclrs/src/node/graph.rs
diff --git a/rclrs/src/parameter.rs b/rclrs/src/parameter.rs
diff --git a/rclrs/src/parameter/override_map.rs b/rclrs/src/parameter/override_map.rs
diff --git a/rclrs/src/parameter/service.rs b/rclrs/src/parameter/service.rs
diff --git a/rclrs/src/parameter/value.rs b/rclrs/src/parameter/value.rs
diff --git a/rclrs/src/publisher.rs b/rclrs/src/publisher.rs
diff --git a/rclrs/src/publisher/loaned_message.rs b/rclrs/src/publisher/loaned_message.rs
diff --git a/rclrs/src/qos.rs b/rclrs/src/qos.rs
diff --git a/rclrs/src/rcl_bindings.rs b/rclrs/src/rcl_bindings.rs
diff --git a/rclrs/src/rcl_wrapper.h b/rclrs/src/rcl_wrapper.h
diff --git a/rclrs/src/service.rs b/rclrs/src/service.rs
diff --git a/rclrs/src/subscription.rs b/rclrs/src/subscription.rs
diff --git a/rclrs/src/subscription/callback.rs b/rclrs/src/subscription/callback.rs
diff --git a/rclrs/src/subscription/message_info.rs b/rclrs/src/subscription/message_info.rs
diff --git a/rclrs/src/subscription/readonly_loaned_message.rs b/rclrs/src/subscription/readonly_loaned_message.rs
diff --git a/rclrs/src/test_helpers/graph_helpers.rs b/rclrs/src/test_helpers/graph_helpers.rs
diff --git a/rclrs/src/test_helpers/mod.rs b/rclrs/src/test_helpers/mod.rs
diff --git a/rclrs/src/time.rs b/rclrs/src/time.rs
@@ -1,11 +1,11 @@
-use crate::{rcl_bindings::*, vendor::builtin_interfaces};
+use crate::rcl_bindings::*;
+use builtin_interfaces::msg::Time as timeMsg;
 use std::{
     num::TryFromIntError,
     ops::{Add, Sub},
     sync::{Mutex, Weak},
     time::Duration,
 };
-
 /// Struct that represents time.
 #[derive(Clone, Debug)]
 pub struct Time {
@@ -26,15 +26,11 @@ impl Time {
             .ptr_eq(&rhs.clock)
             .then(|| f(self.nsec, rhs.nsec))
     }
-
-    /// Convenience function for converting time to ROS message
-    pub fn to_ros_msg(&self) -> Result<builtin_interfaces::msg::Time, TryFromIntError> {
-        let nanosec = self.nsec % 1_000_000_000;
-        let sec = self.nsec / 1_000_000_000;
-
-        Ok(builtin_interfaces::msg::Time {
-            nanosec: nanosec.try_into()?,
-            sec: sec.try_into()?,
+    /// Convenient method to create builtin_interfaces::msg::Time objects from rclrs::Time
+    pub fn to_ros_msg(&self) -> Result<timeMsg, TryFromIntError> {
+        Ok(timeMsg {
+            nanosec: (self.nsec % 10_i64.pow(9)) as u32,
+            sec: (self.nsec / 10_i64.pow(9)) as i32,
         })
     }
 }

diff --git a/rclrs/src/time_source.rs b/rclrs/src/time_source.rs
diff --git a/rclrs/src/vendor/builtin_interfaces/mod.rs b/rclrs/src/vendor/builtin_interfaces/mod.rs
diff --git a/rclrs/src/vendor/builtin_interfaces/msg.rs b/rclrs/src/vendor/builtin_interfaces/msg.rs
diff --git a/rclrs/src/vendor/mod.rs b/rclrs/src/vendor/mod.rs
@@ -2,6 +2,5 @@
 #![allow(dead_code)]
 #![allow(clippy::derive_partial_eq_without_eq)]
 
-pub mod builtin_interfaces;
 pub mod rcl_interfaces;
 pub mod rosgraph_msgs;
diff --git a/rclrs/src/vendor/rcl_interfaces/mod.rs b/rclrs/src/vendor/rcl_interfaces/mod.rs