Fix merge conflicts

Signed-off-by: Michael X. Grey <[email protected]>

Author: mxgrey

.github/workflows/rust-minimal.yml

@@ -20,17 +20,12 @@ jobs:
       matrix:
         ros_distribution:
           - humble
-          - iron
           - rolling
         include:
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
             ros_distribution: humble
             ros_version: 2
-          # Iron Irwini (May 2023 - November 2024)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
-            ros_distribution: iron
-            ros_version: 2
           # Rolling Ridley  (June 2020 - Present)
           - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
             ros_distribution: rolling
@@ -45,7 +40,11 @@ jobs:
     - name: Search packages in this repository
       id: list_packages
       run: |
-        echo ::set-output name=package_list::$(colcon list --names-only)
+        {
+          echo 'package_list<<EOF'
+          colcon list --names-only
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
 
     - name: Setup ROS environment
       uses: ros-tooling/[email protected]
@@ -72,10 +71,6 @@ jobs:
         cd -
         done
 
-    - name: Install cargo-ament-build
-      run: |
-        cargo install --debug cargo-ament-build
-
     - name: Build and test
       id: build
       uses: ros-tooling/[email protected]
@@ -93,9 +88,9 @@ jobs:
         echo "Running clippy in $path"
         # Run clippy for all features except generate_docs (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --all-targets -F default,dyn_msg -- -D warnings
+          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
         else
-          cargo clippy --all-targets --all-features -- -D warnings
+          cargo clippy --no-deps --all-targets --all-features -- -D warnings
         fi
         cd -
         done

.github/workflows/rust-stable.yml

@@ -20,17 +20,12 @@ jobs:
       matrix:
         ros_distribution:
           - humble
-          - iron
           - rolling
         include:
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
             ros_distribution: humble
             ros_version: 2
-          # Iron Irwini (May 2023 - November 2024)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
-            ros_distribution: iron
-            ros_version: 2
           # Rolling Ridley  (June 2020 - Present)
           - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
             ros_distribution: rolling
@@ -45,7 +40,11 @@ jobs:
     - name: Search packages in this repository
       id: list_packages
       run: |
-        echo ::set-output name=package_list::$(colcon list --names-only)
+        {
+          echo 'package_list<<EOF'
+          colcon list --names-only
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
 
     - name: Setup ROS environment
       uses: ros-tooling/[email protected]
@@ -72,10 +71,6 @@ jobs:
         cd -
         done
 
-    - name: Install cargo-ament-build
-      run: |
-        cargo install --debug cargo-ament-build
-
     - name: Build and test
       id: build
       uses: ros-tooling/[email protected]
@@ -93,9 +88,9 @@ jobs:
         echo "Running clippy in $path"
         # Run clippy for all features except generate_docs (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --all-targets -F default,dyn_msg -- -D warnings
+          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
         else
-          cargo clippy --all-targets --all-features -- -D warnings
+          cargo clippy --no-deps --all-targets --all-features -- -D warnings
         fi
         cd -
         done

Dockerfile

@@ -1,5 +1,5 @@
 ARG ROS_DISTRO=humble
-FROM ros:$ROS_DISTRO as base
+FROM ros:$ROS_DISTRO AS base
 ARG DEBIAN_FRONTEND=noninteractive
 
 # Install dependencies
@@ -11,15 +11,14 @@ RUN apt-get update && apt-get install -y \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Rust and the cargo-ament-build plugin
-RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.74.0 -y
+# Install Rust
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.75.0 -y
 ENV PATH=/root/.cargo/bin:$PATH
-RUN cargo install cargo-ament-build
-
-RUN pip install --upgrade pytest 
 
 # Install the colcon-cargo and colcon-ros-cargo plugins
-RUN pip install git+https://github.com/colcon/colcon-cargo.git git+https://github.com/colcon/colcon-ros-cargo.git
+RUN if [ "$ROS_DISTRO" = "humble" ] ;  \
+    then pip install --upgrade pytest && pip install colcon-ros-cargo ;  \
+    else pip install --break-system-packages pytest colcon-ros-cargo ; fi
 
 RUN mkdir -p /workspace && echo "Did you forget to mount the repository into the Docker container?" > /workspace/HELLO.txt
 WORKDIR /workspace

README.md

@@ -1,16 +1,21 @@
 ROS 2 for Rust
 ==============
 
-| Target | Status |
-|----------|--------|
-| **Ubuntu 20.04** | [![Build Status](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust.yml/badge.svg?branch=main)](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust.yml?branch=main) |
+[![Minimal Version Status](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-minimal.yml/badge.svg?branch=main)](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-minimal.yml)
+[![Stable CI Status](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-stable.yml/badge.svg?branch=main)](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-stable.yml)
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 Introduction
 ------------
 
 This is a set of projects (the `rclrs` client library, code generator, examples and more) that
 enables developers to write ROS 2 applications in Rust.
 
+Installation
+------------
+
+Follow the [instructions in the documentation directory](docs/building.md).
+
 Features and limitations
 ------------------------
 
@@ -37,7 +42,6 @@ Here are the steps for building the `ros2_rust` examples in a vanilla Ubuntu Foc
 # Assuming you installed the minimal version of ROS 2, you need these additional packages:
 sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
 # Install these plugins for cargo and colcon:
-cargo install --debug cargo-ament-build  # --debug is faster to install
 pip install git+https://github.com/colcon/colcon-cargo.git
 pip install git+https://github.com/colcon/colcon-ros-cargo.git
 

docs/building.md

@@ -43,7 +43,6 @@ The exact steps may differ between platforms, but as an example, here is how you
 # Assuming you installed the minimal version of ROS 2, you need these additional packages:
 sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
 # Install these plugins for cargo and colcon:
-cargo install cargo-ament-build
 pip install git+https://github.com/colcon/colcon-cargo.git
 pip install git+https://github.com/colcon/colcon-ros-cargo.git
 ```
@@ -54,8 +53,8 @@ Build the Docker image with
 
 ```shell
 # Make sure to run this in the workspace directory
-# ROS_DISTRO can be humble|iron|rolling
-docker build -f src/ros2_rust/Dockerfile --build-arg "ROS_DISTRO=humble" -t ros2_rust_dev
+# ROS_DISTRO can be humble|rolling
+docker build -f src/ros2_rust/Dockerfile --build-arg "ROS_DISTRO=humble" -t ros2_rust_dev .
 ```
 
 and then run it with

docs/writing_a_simple_publisher_and_subscriber.md

@@ -92,7 +92,6 @@ To construct a node, replace the code in your `main.rs` file with the following:
 ```rust
 /// Creates a SimplePublisherNode, initializes a node and publisher, and provides
 /// methods to publish a simple "Hello World" message on a loop in separate threads.
-
 use rclrs::{create_node, Context, Node, Publisher, RclrsError, QOS_PROFILE_DEFAULT};
 use std::{env, sync::Arc, thread, time::Duration};
 use std_msgs::msg::String as StringMsg;
@@ -103,12 +102,12 @@ struct SimplePublisherNode {
     publisher: Arc<Publisher<StringMsg>>,
 }
 impl SimplePublisherNode {
-    fn new(context: &context) -> result<self, RclrsError> {
+    fn new(context: &Context) -> Result<Self, RclrsError> {
         let node = create_node(context, "simple_publisher").unwrap();
         let publisher = node
-            .create_publisher("publish_hello", qos_profile_default)
+            .create_publisher("publish_hello", QOS_PROFILE_DEFAULT)
             .unwrap();
-        ok(self { node, publisher })
+        Ok(Self { node, publisher })
     }
     fn publish_data(&self, increment: i32) -> Result<i32, RclrsError> {
         let msg: StringMsg = StringMsg {

examples/message_demo/src/message_demo.rs

@@ -1,8 +1,10 @@
-use std::{convert::TryInto, env, sync::Arc};
+use std::convert::TryInto;
 
 use anyhow::{Error, Result};
 use rosidl_runtime_rs::{seq, BoundedSequence, Message, Sequence};
 
+use rclrs::*;
+
 fn check_default_values() {
     let msg = rclrs_example_msgs::msg::rmw::VariousTypes::default();
     assert!(msg.bool_member);
@@ -15,7 +17,7 @@ fn check_default_values() {
     assert_eq!(msg.float_seq_unbounded, seq![6.0]);
     assert_eq!(msg.string_member.to_string(), "Χαίρετε 你好");
     assert_eq!(msg.wstring_member.to_string(), "αντίο σου 再见");
-    assert_eq!(msg.bounded_string_member.to_string(), "äöü");
+    assert_eq!(msg.bounded_string_member.to_string(), "aou");
     assert_eq!(msg.bounded_wstring_member.to_string(), "äöü");
     assert_eq!(
         msg.string_array.clone().map(|s| s.to_string()),
@@ -138,8 +140,8 @@ fn demonstrate_sequences() {
 fn demonstrate_pubsub() -> Result<(), Error> {
     println!("================== Interoperability demo ==================");
     // Demonstrate interoperability between idiomatic and RMW-native message types
-    let context = rclrs::Context::new(env::args())?;
-    let node = rclrs::create_node(&context, "message_demo")?;
+    let mut executor = Context::default_from_env()?.create_basic_executor();
+    let node = executor.create_node("message_demo")?;
 
     let idiomatic_publisher =
         node.create_publisher::<rclrs_example_msgs::msg::VariousTypes>("topic")?;
@@ -160,10 +162,10 @@ fn demonstrate_pubsub() -> Result<(), Error> {
         )?;
     println!("Sending idiomatic message.");
     idiomatic_publisher.publish(rclrs_example_msgs::msg::VariousTypes::default())?;
-    rclrs::spin_once(Arc::clone(&node), None)?;
+    executor.spin(SpinOptions::spin_once()).first_error()?;
     println!("Sending RMW-native message.");
     direct_publisher.publish(rclrs_example_msgs::msg::rmw::VariousTypes::default())?;
-    rclrs::spin_once(Arc::clone(&node), None)?;
+    executor.spin(SpinOptions::spin_once()).first_error()?;
 
     Ok(())
 }

examples/minimal_client_service/src/minimal_client.rs

@@ -1,11 +1,10 @@
-use std::env;
-
 use anyhow::{Error, Result};
+use rclrs::*;
 
 fn main() -> Result<(), Error> {
-    let context = rclrs::Context::new(env::args())?;
+    let mut executor = Context::default_from_env()?.create_basic_executor();
 
-    let node = rclrs::create_node(&context, "minimal_client")?;
+    let node = executor.create_node("minimal_client")?;
 
     let client = node.create_client::<example_interfaces::srv::AddTwoInts>("add_two_ints")?;
 
@@ -30,5 +29,8 @@ fn main() -> Result<(), Error> {
     std::thread::sleep(std::time::Duration::from_millis(500));
 
     println!("Waiting for response");
-    rclrs::spin(node).map_err(|err| err.into())
+    executor
+        .spin(SpinOptions::default())
+        .first_error()
+        .map_err(|err| err.into())
 }

examples/minimal_client_service/src/minimal_client_async.rs

@@ -1,12 +1,11 @@
-use std::env;
-
 use anyhow::{Error, Result};
+use rclrs::*;
 
 #[tokio::main]
 async fn main() -> Result<(), Error> {
-    let context = rclrs::Context::new(env::args())?;
+    let mut executor = Context::default_from_env()?.create_basic_executor();
 
-    let node = rclrs::create_node(&context, "minimal_client")?;
+    let node = executor.create_node("minimal_client")?;
 
     let client = node.create_client::<example_interfaces::srv::AddTwoInts>("add_two_ints")?;
 
@@ -22,7 +21,7 @@ async fn main() -> Result<(), Error> {
 
     println!("Waiting for response");
 
-    let rclrs_spin = tokio::task::spawn_blocking(move || rclrs::spin(node));
+    let rclrs_spin = tokio::task::spawn_blocking(move || executor.spin(SpinOptions::default()));
 
     let response = future.await?;
     println!(

examples/minimal_client_service/src/minimal_service.rs

@@ -1,6 +1,5 @@
-use std::env;
-
 use anyhow::{Error, Result};
+use rclrs::*;
 
 fn handle_service(
     _request_header: &rclrs::rmw_request_id_t,
@@ -13,13 +12,16 @@ fn handle_service(
 }
 
 fn main() -> Result<(), Error> {
-    let context = rclrs::Context::new(env::args())?;
+    let mut executor = Context::default_from_env()?.create_basic_executor();
 
-    let node = rclrs::create_node(&context, "minimal_service")?;
+    let node = executor.create_node("minimal_service")?;
 
     let _server = node
         .create_service::<example_interfaces::srv::AddTwoInts, _>("add_two_ints", handle_service)?;
 
     println!("Starting server");
-    rclrs::spin(node).map_err(|err| err.into())
+    executor
+        .spin(SpinOptions::default())
+        .first_error()
+        .map_err(|err| err.into())
 }

examples/minimal_pub_sub/src/minimal_publisher.rs

@@ -1,11 +1,11 @@
-use std::env;
-
 use anyhow::{Error, Result};
+use rclrs::*;
 
 fn main() -> Result<(), Error> {
-    let context = rclrs::Context::new(env::args())?;
+    let context = Context::default_from_env()?;
+    let executor = context.create_basic_executor();
 
-    let node = rclrs::create_node(&context, "minimal_publisher")?;
+    let node = executor.create_node("minimal_publisher")?;
 
     let publisher = node.create_publisher::<std_msgs::msg::String>("topic")?;
 

examples/minimal_pub_sub/src/minimal_subscriber.rs

@@ -1,11 +1,11 @@
-use std::env;
-
 use anyhow::{Error, Result};
+use rclrs::*;
 
 fn main() -> Result<(), Error> {
-    let context = rclrs::Context::new(env::args())?;
+    let context = Context::default_from_env()?;
+    let mut executor = context.create_basic_executor();
 
-    let node = rclrs::create_node(&context, "minimal_subscriber")?;
+    let node = executor.create_node("minimal_subscriber")?;
 
     let mut num_messages: usize = 0;
 
@@ -18,5 +18,8 @@ fn main() -> Result<(), Error> {
         },
     )?;
 
-    rclrs::spin(node).map_err(|err| err.into())
+    executor
+        .spin(SpinOptions::default())
+        .first_error()
+        .map_err(|err| err.into())
 }