fix: remove the roslibrust local path (#17)

* ci: merge the examples

* refactor(ros-z-msgs): remove the path of local roslibrust

* fixup! refactor(ros-z-msgs): remove the path of local roslibrust

Author: YuanYuYuan

.github/workflows/ci.yml

@@ -53,7 +53,7 @@ jobs:
 
       - name: Build examples without ROS dependencies
         run: |
-          nix develop '.#noRos-ci' -c cargo build --example z_custom_message
+          nix develop '.#noRos-ci' -c cargo build --examples
 
       - name: Run tests
         run: |
@@ -133,9 +133,7 @@ jobs:
       - name: Build ROS message examples
         run: |
           nix develop '.#${{ matrix.distro }}-ci' -c cargo build -p ros-z-msgs
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example twist_pub
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example battery_state_sub
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example laser_scan
+          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --examples
           nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example z_srvcli --features external_msgs
 
       - name: Build protobuf demo

README.md

@@ -108,13 +108,12 @@ nix develop .#noRos-ci
 
 **Note on `ros-z-msgs`:** This package can build without ROS installed! When
 ROS is not available, it automatically falls back to using bundled message
-definitions from the roslibrust repository. The build system searches for ROS
-packages in this order:
+definitions from the roslibrust git dependency. The build system searches for
+ROS packages in this order:
 
 1. System ROS installation (via `AMENT_PREFIX_PATH` or `CMAKE_PREFIX_PATH`)
 2. Common ROS installation paths (`/opt/ros/{rolling,jazzy,iron,humble}`)
-3. Local roslibrust checkout (`../../roslibrust/assets/`)
-4. Roslibrust git dependency (`~/.cargo/git/checkouts/roslibrust-*/assets/`)
+3. Roslibrust git dependency (`~/.cargo/git/checkouts/roslibrust-*/assets/`)
 
 This allows `ros-z-msgs` to generate message types even in environments without
 ROS 2 installed. The default `common_interfaces` feature includes `std_msgs`,

flake.nix

@@ -282,24 +282,6 @@
           }) distros
         ));
 
-        # Package outputs
-        packages =
-          let
-            basePackage = mkRustPackage {
-              pname = "ros-z";
-              buildAndTestSubdir = "ros-z";
-              description = "Native Rust ROS 2 implementation using Zenoh - Core";
-            };
-
-            # Generate packages for all distros
-            allDistroPackages = builtins.foldl' (acc: distro: acc // (mkRosPackages distro)) { } distros;
-          in
-          {
-            ros-z = basePackage;
-            default = basePackage;
-          }
-          // allDistroPackages;
-
         formatter = pkgs.nixfmt-rfc-style;
       }
     );

ros-z-msgs/build.rs

@@ -215,22 +215,10 @@ fn discover_bundled_packages(bundled_packages: &[&str]) -> Result<Vec<PathBuf>>
     Ok(ros_packages)
 }
 
-/// Find roslibrust assets directory
-/// This works with both git dependencies and local paths
+/// Find roslibrust assets directory from git dependency
 /// Returns the base assets directory (not ros2_common_interfaces subdirectory)
 fn find_roslibrust_assets() -> PathBuf {
-    // First, try the local path (for development)
-    let local_path = PathBuf::from(env!("CARGO_MANIFEST_DIR")).join("../../roslibrust/assets");
-
-    if local_path.exists() {
-        println!(
-            "cargo:warning=Using local roslibrust assets at {}",
-            local_path.display()
-        );
-        return local_path;
-    }
-
-    // For git dependencies, search in cargo's git checkout directory
+    // Search in cargo's git checkout directory
     // The path will be something like: ~/.cargo/git/checkouts/roslibrust-{hash}/{commit}/assets
     if let Ok(home) = env::var("CARGO_HOME").or_else(|_| env::var("HOME")) {
         let cargo_git = PathBuf::from(home).join(".cargo/git/checkouts");
@@ -262,7 +250,10 @@ fn find_roslibrust_assets() -> PathBuf {
         }
     }
 
-    // Fallback: return the local path anyway, it will fail gracefully if it doesn't exist
-    println!("cargo:warning=Could not find roslibrust assets, packages may not be available");
-    local_path
+    // Fallback: panic with helpful error message
+    panic!(
+        "Could not find roslibrust assets directory!\n\
+         Make sure roslibrust is specified as a git dependency in Cargo.toml.\n\
+         The build system searches: ~/.cargo/git/checkouts/roslibrust-*/*/assets/"
+    );
 }