add roslibrust ros1 message support

.github/workflows/rosrust_noetic.yml → .github/workflows/roslibrust_noetic.yml

@@ -1,4 +1,4 @@
-name: rosrust_noetic
+name: roslibrust_noetic
 
 on:
   push:
@@ -23,7 +23,7 @@ jobs:
       PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
       ROS_DISTRO: noetic
     steps:
-      - name: rosrust
+      - name: roslibrust
         uses: actions/checkout@v1
       - name: Install latest rust
         run: |
@@ -50,7 +50,7 @@ jobs:
           sudo rosdep init
           rosdep update  # --include-eol-distros  # Support EOL distros.
       - name: Install ROS additional packages
-        # Does installing these mean rosrust_msg builds more messages, which is a better
+        # Does installing these mean roslibrust_msg builds more messages, which is a better
         # check?  Or does it just slow down the action?
         run: |
           sudo apt-get install -y ros-$ROS_DISTRO-actionlib
@@ -96,7 +96,7 @@ jobs:
       - name: build
         run: |
           source /opt/ros/$ROS_DISTRO/setup.bash
-          cargo build  # --verbose
+          ROS_PACKAGE_PATH=`rospack find geometry_msgs`:`rospack find tf2_msgs`:`rospack find sensor_msgs`:`rospack find std_msgs`:`rospack find actionlib_msgs` cargo build  # --verbose
       - name: Install ROS packages for tests
         run: |
           sudo apt-get install -y ros-$ROS_DISTRO-actionlib-tutorials
@@ -105,4 +105,4 @@ jobs:
       - name: test
         run: |
           source /opt/ros/$ROS_DISTRO/setup.bash
-          cargo test --features rosrust_msg,derive,nalgebra,rayon
+          ROS_PACKAGE_PATH=`rospack find geometry_msgs`:`rospack find tf2_msgs`:`rospack find sensor_msgs`:`rospack find std_msgs`:`rospack find actionlib_msgs` cargo test --features roslibrust_msg,derive,nalgebra,rayon

Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
 
-members = [ "derive-test","rpcl2", "rpcl2-derive"]
+members = ["derive-test", "ros_pointcloud2", "rpcl2-derive"]
 
 resolver = "2"

README.md

@@ -43,8 +43,8 @@ let processed_cloud = in_msg.try_into_iter().unwrap()
 
 There are currently 3 integrations for common ROS crates.
 
-- [rosrust_msg](https://github.com/adnanademovic/rosrust)
-  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml)
+- [roslibrust_msg](https://github.com/roslibrust/roslibrust)
+  - TBD roslibrust test to replace old rosrust one
 - [r2r_msg](https://github.com/sequenceplanner/r2r)
   - [![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)
@@ -55,13 +55,14 @@ There are currently 3 integrations for common ROS crates.
   - [![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:
+You can use `roslibrust` and `r2r` by enabling the respective feature:
 
 ```toml
 [dependencies]
 ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
 # or
-ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
+# ros_pointcloud2 = { version = "*", features = ["roslibrust_msg"]}
+ros_pointcloud2 = { version = "*", features = ["roslibrust_msg"]}
 ```
 
 ### rclrs (ros2_rust)

derive-test/Cargo.toml

@@ -15,5 +15,5 @@ categories = [
 ]
 
 [dependencies]
-ros_pointcloud2 = { path = "../rpcl2", features = ["std", "derive"] }
+ros_pointcloud2 = { path = "../ros_pointcloud2", features = ["std", "derive"] }
 rpcl2-derive = { path = "../rpcl2-derive" }

rpcl2/Cargo.toml → ros_pointcloud2/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.5.0"
+version = "0.6.0"
 edition = "2021"
 authors = ["Christopher Sieh <[email protected]>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -31,14 +31,23 @@ exclude = [
 rust-version = "1.63"
 
 [dependencies]
-rosrust_msg = { version = "0.1", optional = true }
-rosrust = { version = "0.9.11", optional = true }
 r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0.33", optional = true, default-features = false }
 rpcl2-derive = { version = "0.3", optional = true, path = "../rpcl2-derive" }
 memoffset = { version = "0.9", optional = true }
 
+[dependencies.roslibrust]
+git = "https://github.com/lucasw/roslibrust"
+branch = "get_rx_msg_def_v0_12"
+features = ["ros1"]
+optional = true
+
+[dependencies.roslibrust_util]
+git = "https://github.com/lucasw/tf_roslibrust"
+version = "0.2.0"
+optional = true
+
 [dev-dependencies]
 rand = "0.8"
 criterion = { version = "0.5", features = ["html_reports"] }
@@ -50,7 +59,7 @@ harness = false
 path = "benches/roundtrip.rs"
 
 [features]
-rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
+roslibrust_msg = ["dep:roslibrust", "dep:roslibrust_util"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
 derive = ["dep:rpcl2-derive", "dep:memoffset"]

rpcl2/src/iterator.rs → ros_pointcloud2/src/iterator.rs

@@ -15,15 +15,15 @@ use alloc::vec::Vec;
 /// When using within a ROS node, the PointCloud2 (created by the ROS crate) must be converted first.
 /// The cost of this operation is low, as it mostly moves ownership without iterating over the point data.
 ///
-/// ROS1 with rosrust:
-/// let msg: rosrust_msg::sensor_msgs::PointCloud2; // inside the callback
+/// ROS1 with roslibrust:
+/// let msg: roslibrust_msg::sensor_msgs::PointCloud2; // inside the callback
 /// let converted: ros_pointcloud2::PointCloud2Msg = msg.into();
 ///
 /// ROS2 with r2r:
 /// let msg: r2r::sensor_msgs::msg::PointCloud2 = internal_msg.into();
 /// let converted: ros_pointcloud2::PointCloud2Msg = msg.into();
 ///
-/// `ros_pointcloud2` supports r2r, rclrs and rosrust as conversion targets out of the box via feature flags.
+/// `ros_pointcloud2` supports r2r, rclrs and roslibrust as conversion targets out of the box via feature flags.
 ///
 pub struct PointCloudIterator<const N: usize, C>
 where

rpcl2/src/lib.rs → ros_pointcloud2/src/lib.rs

@@ -54,7 +54,7 @@
 //!
 //! # Features
 //! - r2r_msg — Integration for the ROS2 library [r2r](https://github.com/sequenceplanner/r2r).
-//! - rosrust_msg — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) library for ROS1 message types.
+//! - roslibrust_msg — Integration with the [roslibrust](https://github.com/roslibrust/roslibrust) 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.

rpcl2/src/ros.rs → ros_pointcloud2/src/ros.rs

@@ -25,19 +25,28 @@
 
 use alloc::string::String;
 
+#[cfg(feature = "roslibrust_msg")]
+use roslibrust::codegen::integral_types::Time as RosTime;
+
+#[cfg(feature = "roslibrust_msg")]
+use roslibrust_util::sensor_msgs;
+
+#[cfg(feature = "roslibrust_msg")]
+use roslibrust_util::std_msgs;
+
 /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.
 #[derive(Clone, Debug, Default)]
 pub struct TimeMsg {
     pub sec: i32,
     pub nanosec: u32,
 }
 
-#[cfg(feature = "rosrust_msg")]
-impl From<rosrust::Time> for TimeMsg {
-    fn from(time: rosrust::Time) -> Self {
+#[cfg(feature = "roslibrust_msg")]
+impl From<RosTime> for TimeMsg {
+    fn from(time: RosTime) -> Self {
         Self {
-            sec: time.sec as i32,
-            nanosec: time.nsec,
+            sec: time.secs as i32,
+            nanosec: time.nsecs as u32,
         }
     }
 }
@@ -151,15 +160,15 @@ impl From<crate::PointCloud2Msg> for r2r::sensor_msgs::msg::PointCloud2 {
     }
 }
 
-#[cfg(feature = "rosrust_msg")]
-impl From<rosrust_msg::sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
-    fn from(msg: rosrust_msg::sensor_msgs::PointCloud2) -> Self {
+#[cfg(feature = "roslibrust_msg")]
+impl From<sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
+    fn from(msg: sensor_msgs::PointCloud2) -> Self {
         Self {
             header: HeaderMsg {
                 seq: msg.header.seq,
                 stamp: TimeMsg {
-                    sec: msg.header.stamp.sec as i32,
-                    nanosec: msg.header.stamp.nsec,
+                    sec: msg.header.stamp.secs as i32,
+                    nanosec: msg.header.stamp.nsecs as u32,
                 },
                 frame_id: msg.header.frame_id,
             },
@@ -194,15 +203,15 @@ impl From<rosrust_msg::sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
     }
 }
 
-#[cfg(feature = "rosrust_msg")]
-impl From<crate::PointCloud2Msg> for rosrust_msg::sensor_msgs::PointCloud2 {
+#[cfg(feature = "roslibrust_msg")]
+impl From<crate::PointCloud2Msg> for sensor_msgs::PointCloud2 {
     fn from(msg: crate::PointCloud2Msg) -> Self {
-        rosrust_msg::sensor_msgs::PointCloud2 {
-            header: rosrust_msg::std_msgs::Header {
+        sensor_msgs::PointCloud2 {
+            header: std_msgs::Header {
                 seq: msg.header.seq,
-                stamp: rosrust::Time {
-                    sec: msg.header.stamp.sec as u32,
-                    nsec: msg.header.stamp.nanosec,
+                stamp: RosTime {
+                    secs: msg.header.stamp.sec,
+                    nsecs: msg.header.stamp.nanosec as i32,
                 },
                 frame_id: msg.header.frame_id,
             },
@@ -211,7 +220,7 @@ impl From<crate::PointCloud2Msg> for rosrust_msg::sensor_msgs::PointCloud2 {
             fields: msg
                 .fields
                 .into_iter()
-                .map(|field| rosrust_msg::sensor_msgs::PointField {
+                .map(|field| sensor_msgs::PointField {
                     name: field.name,
                     offset: field.offset,
                     datatype: field.datatype,

rpcl2/tests/rosrust_msg_test.rs → ros_pointcloud2/tests/rosrust_msg_test.rs

@@ -1,6 +1,6 @@
-#[cfg(feature = "rosrust_msg")]
+#[cfg(feature = "roslibrust_msg")]
 #[test]
-fn convertxyz_rosrust_msg() {
+fn convertxyz_roslibrust_msg() {
     use ros_pointcloud2::{points::PointXYZ, PointCloud2Msg};
 
     let cloud = vec![
@@ -22,8 +22,8 @@ fn convertxyz_rosrust_msg() {
     ];
     let copy = cloud.clone();
     let internal_cloud = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let rosrust_msg_cloud: rosrust_msg::sensor_msgs::PointCloud2 = internal_cloud.into();
-    let convert_back_internal: PointCloud2Msg = rosrust_msg_cloud.into();
+    let roslibrust_msg_cloud: roslibrust_util::sensor_msgs::PointCloud2 = internal_cloud.into();
+    let convert_back_internal: PointCloud2Msg = roslibrust_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);