CHANGELOG.md

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

0.8.0 - 2026-06-22

Added

• re-export rosidl_runtime_rs from rclrs (#649)
• [breaking] Re-Export Generated Messages in rclrs (#556)
• add server_is_available to ActionClientState (#622)
• [breaking] add parameter callbacks (#611)
• add logging_rosout.h to the list of headers to generate bindings for (#594)

Fixed

• handle rolling introspection member layout (#641)
• correct pointer dereference in resize_unchecked function (#630)
• gate deprecated liveliness variant by distro (ros2/rmw#414) (#624)
• replace try_next with try_recv (#609)
• initialize rosout publisher on distros newer than Humble (#593)

Other

• update ros-env dependency to 0.2 (#648)
• (bindings) regenerate bindings for rolling (#633)
• (bindings) regenerate bindings for humble (#639)
• (bindings) regenerate bindings for rolling (#621)
• Add service introspection (#560)
• (bindings) regenerate bindings for humble (#596)
• (bindings) regenerate bindings for kilted (#597)
• (bindings) regenerate bindings for rolling (#598)
• (bindings) regenerate bindings for jazzy (#599)

0.7.0 - 2026-01-18

Added

• dynamic message publishers and subscribers (#492)

Fixed

• add explicit lifetimes to fix mismatched_lifetime_syntaxes warnings (#564)
• blocklist duplicate typesupport extern declarations (#565)

Other

• Regenerate bindings for rolling (#580)
• Regenerate bindings for kilted (#579)
• Regenerate bindings for humble (#577)
• Regenerate bindings for jazzy (#578)
• [breaking] bump rosidl_runtime_rs version (#571)
• [breaking] require rustc 1.85 (#566)
• Add support for best available QoS (#555)
• Regenerate bindings for kilted (#542)
• Regenerate bindings for rolling (#543)
• Regenerate bindings for jazzy (#529)
• Regenerate bindings for humble (#534)

0.6.0 - 2025-10-27

Added

• [breaking] async actions (#503)
• timers API (#480)

Other

• re-add generate_bindings.py script
• Minimal changes for new Action trait (#539)
• Re-export traits from rosidl_runtime_rs (#537)
• Fix use of serde (#538)
• Put use rustflags next to its usage to prevent a build warning. (#526)

0.5.1 - 2025-08-23

Other

• Fix executor timeout (#519)

0.5.0 - 2025-08-15

Added

• vendorize messages so that cargo update works (#509)

Other

• Moved examples to its own repo (#504)
• Wake up wait set when adding a new waitable (#505)
• rename generate_docs feature to use_ros_shim (#501)
• Async Workers (#446)
• Shared state pattern (spin-off of #427) (#430)
• Options pattern (spin-off of #427) (#429)
• Fix RAII for subscription, client, and service (#463)
• Execution structure (spin-off of #427) (#428)
• Remove Iron support (#443)
• Add Publisher::get_subscription_count (#457)
• Bumb bindgen dependency to 0.70 (#452)
• Update for clippy 1.83 (#441)
• Add Publisher::can_loan_msgs (#434)
• Add rosout logging to rclrs (#422)
• Update vendored interface packages (#423)
• Use latest stable Rust CI + Fix Test Errors (#420)
• Add std::error::Error impls to Error enums of parameter module (#413)
• Wrap slice::from_raw_parts to be compatible with rcl (#419)
• Compile on targets where c_char ≠ i8 (#403)
• Add parameter services (#342)
• Fixup of #388 (#389)
• Fix link formatting
• Get rid of doc links to private structs
• Update documentation on ENTITY_LIFECYCLE_MUTEX
• Improve the documentation for the domain ID situation of test_graph_empty
• Rename to avoid confusion with Handle pattern
• Update documentation and safety info on rcl entity lifecycles
• Remove the need for lazy_static
• Satisfy clippy
• Use usize instead of u8 for domain id
• Ensure that test_graph_empty works even if the system has ROS_DOMAIN_ID set to 99
• Run clippy
• Run rustfmt
• Apply lifecycle lock to all middleware entities
• Ensure that mutex guards are not being dropped prematurely
• Introduce InitOptions to allow manually setting domain ID
• Keep context alive for guard conditions
• Manage all rcl bindings with Handle structs
• Reworking the lifecycle management of rcl bindings
• Import the builtin_interfaces directly from the internal vendor module.
• Added test_msgs as a test dependency
• Move the tests in the rclrs_tests crate into rclrs.
• Move rcl structs to end of Node declaration
• Allow ros2_rust to be built within a distro workspace
• Add default implementation and builder pattern for QoS (#361)
• Adding a simple helper function for converting rclrs::Time to a ros message (#359)
• Remove leading underscore from private fields (#354)

0.4.1 - 2023-11-28

• Added minor changes to enable documentation generation on docs.rs for the ros2-rust projects.

0.4.0 - 2023-11-07

• Service clients now support service_is_ready to check if a service server is present ahead of calling (#399)
• Added preliminary support for parameters
• Added support for Iron Irwini
• Added Serde big array support
• Added basic functionality for loading introspection type support libraries
• Added extended string types
• Added time source and clock API to nodes
• Removed support for Galactic
• Removed support for Foxy

0.3.1 - 2022-10-17

• Fixed segfault when re-using WaitSet
• Fixed Node::get_{publishers,subscriptions}_info_by_topic()

0.3.0 - 2022-10-03

• Loaned messages (zero-copy) (#212)
• Graph queries (#234)
• Guard conditions (#249)

[0.2.0] (2022-07-21)

• First release
• colcon-cargo and colcon-ros-cargo can now build any pure Cargo and ament-aware Cargo projects
• rclrs and rclrs_examples are now ament_cargo projects, no more CMake involved
• rosidl_generator_rs has been updated to support all ROS message types
• rclrs now supports clients and services
• Better API documentation
• Foxy, Galactic, Humble and Rolling are now supported ROS distros
• Preliminary support for Windows
• Build based on colcon-ros-cargo
• Message generation packages rosidl_generator_rs and rosidl_runtime_rs
• Publisher, Subscription, Client and Service
• Tunable QoS settings