Merge pull request #215 from RosLibRust/re-org-move-ros1-to-own-crate

Major re-org to crate / repository structure

Author: Carter12s

.github/workflows/noetic.yml

@@ -39,4 +39,4 @@ jobs:
       - name: Start rosbridge
         run: source /opt/ros/noetic/setup.bash; roslaunch rosbridge_server rosbridge_websocket.launch & disown; rosrun rosapi rosapi_node & sleep 1
       - name: Integration Tests
-        run: source /opt/ros/noetic/setup.bash; source /root/.cargo/env; RUST_LOG=debug cargo test --features ros1_test,ros1,running_bridge,rosapi -- --test-threads 1
+        run: source /opt/ros/noetic/setup.bash; source /root/.cargo/env; RUST_LOG=debug cargo test --features ros1_test,ros1,running_bridge,rosapi,rosbridge,zenoh -- --test-threads 1

CHANGELOG.md

@@ -25,6 +25,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - roslibrust_mock now provides a basic mock implementation of roslibrust's generic traits for use in building automated testing of nodes.
 - roslibrust_zenoh now proivides a Zenoh client that is compatible with the zenoh-ros1-plugin / zenoh-ros1-bridge
+- roslibrust_ros1 now provides a ROS1 native client as a standalone crate
+- roslibrust_rosbridge now provides a rosbridge client as a standalone crate
+- roslibrust_rosapi now provides a generic interface for the rosapi node compatible with both rosbridge and ros1 backends
 
 ### Fixed
 
@@ -36,6 +39,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+- A major reorganization of the internals of roslibrust was done to improve our ability to support multiple backends.
+  As part of the organization the rosbridge backend has been moved under the the `rosbridge` module, so
+  `roslibrust::ClientHandle` now becomes `roslibrust::rosbridge::ClientHandle`.
 - Internal integral type Time changed from u32 to i32 representation to better align with ROS1
 - Conversions between ROS Time and Duration to std::time::Time and std::time::Duration switched to TryFrom as they can be fallible.
 

Cargo.lock

@@ -1,14 +1,25 @@
 [workspace]
-
 members = [
     "example_package",
     "example_package_macro",
-    "roslibrust",
-    "roslibrust_codegen",
     "roslibrust_codegen_macro",
+    "roslibrust_codegen",
+    "roslibrust_common",
     "roslibrust_genmsg",
-    "roslibrust_test",
     "roslibrust_mock",
+    "roslibrust_ros1",
+    "roslibrust_rosbridge",
+    "roslibrust_test",
     "roslibrust_zenoh",
+    "roslibrust",
+    "roslibrust_rosapi",
 ]
 resolver = "2"
+
+[workspace.dependencies]
+log = "0.4"
+tokio = {version = "1", features = ["full"] }
+serde = { version = "1.0", features = ["derive"] }
+# Someday we may move this crate into this workspace
+# For now this is how we keep from repeating the verison everywhere
+roslibrust_serde_rosmsg = "0.4"

Cargo.toml

@@ -6,6 +6,8 @@ edition = "2021"
 [dependencies]
 # The code generated by roslibrust_codegen has dependendencies
 # We need to depend on the crate at build time so that the generate code has access to these dependencies
+roslibrust_common = { path = "../roslibrust_common" }
+# THIS SHOULDN'T BE NEEDED, BUT IS FOR NOW GOTTA FIX LEAKING DEPENDENCIES
 roslibrust_codegen = { path = "../roslibrust_codegen" }
 
 [build-dependencies]

example_package/Cargo.toml

@@ -6,6 +6,9 @@ edition = "2021"
 [dependencies]
 # The code generated by roslibrust_codegen has dependendencies
 # We need to depend on the crate at build time so that the generate code has access to these dependencies
-roslibrust_codegen = { path = "../roslibrust_codegen" }
+# TODO figure out how to rexport these types through the macro
+roslibrust_common = { path = "../roslibrust_common" }
 # This crate contains the actual macro we will invoke
 roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro" }
+# THIS SHOULDN'T BE NEEDED, BUT IS FOR NOW GOTTA FIX LEAKING DEPENDENCIES
+roslibrust_codegen = { path = "../roslibrust_codegen" }