fix: remove explicit impl ZMessage conflicting with blanket impl

After introducing the ZMessage blanket impl, all manual
'impl ZMessage for T {}' in examples, tests, and codegen templates
became orphan conflicts. Remove them.

Also add .with_serdes::<SerdeCdrSerdes>() at serde-only pub/sub call
sites (z_custom_message example, pubsub tests) where NativeCdrSerdes
cannot satisfy the ZSerdes<T> bound.

Author: YuanYuYuan

crates/rmw-zenoh-rs/src/msg.rs

@@ -1,6 +1,6 @@
 use crate::type_support::MessageTypeSupport;
 use ros_z::entity::{TypeHash, TypeInfo};
-use ros_z::msg::{ZDeserializer, ZMessage, ZSerdes, ZSerializer, ZService};
+use ros_z::msg::{ZDeserializer, ZSerdes, ZSerializer, ZService};
 use ros_z::ros_msg::WithTypeInfo;
 use ros_z::{MessageTypeInfo, ServiceTypeInfo};
 
@@ -132,8 +132,6 @@ impl ZSerdes<RosMessage> for RosSerdes {
     }
 }
 
-impl ZMessage for RosMessage {}
-
 impl MessageTypeInfo for RosMessage {
     // Static methods return placeholder values since RosMessage is a generic wrapper
     // The actual type info varies per instance

crates/ros-z-codegen/src/protobuf_generator.rs

@@ -209,8 +209,6 @@ impl ProtobufMessageGenerator {
         combined_output.push_str("#[allow(unused_imports)]\n");
         combined_output.push_str("use ros_z::ros_msg::WithTypeInfo;\n");
         combined_output.push_str("#[allow(unused_imports)]\n");
-        combined_output.push_str("use ros_z::msg::ZMessage;\n");
-        combined_output.push_str("#[allow(unused_imports)]\n");
         combined_output.push_str("use ros_z::msg::ProtobufSerdes;\n\n");
 
         // Compile all proto files at once to avoid duplicates
@@ -311,8 +309,6 @@ impl ProtobufMessageGenerator {
 
 impl ::ros_z::WithTypeInfo for {proto_type} {{}}
 
-impl ::ros_z::msg::ZMessage for {proto_type} {{}}
-
 "#
             ));
         }

crates/ros-z/examples/dynamic_message/interop.rs

@@ -7,7 +7,7 @@
 
 use ros_z::{
     dynamic::{DynamicMessage, FieldType, MessageSchema},
-    msg::{NativeCdrSerdes, ZMessage, ZSerdes},
+    msg::{NativeCdrSerdes, ZSerdes},
 };
 use ros_z_msgs::{
     geometry_msgs::{Point, Twist, Vector3},

crates/ros-z/examples/protobuf_demo/src/types.rs

@@ -2,7 +2,7 @@
 use ros_z::{
     MessageTypeInfo, ServiceTypeInfo, WithTypeInfo,
     entity::TypeHash,
-    msg::{ProtobufSerdes, ZMessage, ZService},
+    msg::{ProtobufSerdes, ZService},
 };
 
 // Include protobuf messages generated from sensor_data.proto
@@ -26,8 +26,6 @@ impl MessageTypeInfo for SensorData {
 
 impl WithTypeInfo for SensorData {}
 
-impl ZMessage for SensorData {}
-
 // SensorData uses serde/CDR for backward compatibility with the original pub/sub demo
 
 // ========== CalculateRequest Trait Implementations ==========
@@ -44,8 +42,6 @@ impl MessageTypeInfo for CalculateRequest {
 
 impl WithTypeInfo for CalculateRequest {}
 
-impl ZMessage for CalculateRequest {}
-
 // ========== CalculateResponse Trait Implementations ==========
 
 impl MessageTypeInfo for CalculateResponse {
@@ -60,8 +56,6 @@ impl MessageTypeInfo for CalculateResponse {
 
 impl WithTypeInfo for CalculateResponse {}
 
-impl ZMessage for CalculateResponse {}
-
 // ========== Calculate Service Definition ==========
 
 pub struct Calculate;

crates/ros-z/examples/z_custom_message.rs

@@ -2,8 +2,10 @@ use std::time::Duration;
 
 use clap::Parser;
 use ros_z::{
-    Builder, MessageTypeInfo, Result, ServiceTypeInfo, context::ZContextBuilder, entity::TypeHash,
-    msg::ZService,
+    Builder, MessageTypeInfo, Result, ServiceTypeInfo,
+    context::ZContextBuilder,
+    entity::TypeHash,
+    msg::{SerdeCdrSerdes, ZService},
 };
 use serde::{Deserialize, Serialize};
 
@@ -29,8 +31,6 @@ impl MessageTypeInfo for RobotStatus {
 
 impl ros_z::WithTypeInfo for RobotStatus {}
 
-impl ros_z::msg::ZMessage for RobotStatus {}
-
 // Custom service request
 #[derive(Debug, Clone, Serialize, Deserialize, Default)]
 pub struct NavigateToRequest {
@@ -51,8 +51,6 @@ impl MessageTypeInfo for NavigateToRequest {
 
 impl ros_z::WithTypeInfo for NavigateToRequest {}
 
-impl ros_z::msg::ZMessage for NavigateToRequest {}
-
 // Custom service response
 #[derive(Debug, Clone, Serialize, Deserialize, Default)]
 pub struct NavigateToResponse {
@@ -73,8 +71,6 @@ impl MessageTypeInfo for NavigateToResponse {
 
 impl ros_z::WithTypeInfo for NavigateToResponse {}
 
-impl ros_z::msg::ZMessage for NavigateToResponse {}
-
 // Service type definition
 pub struct NavigateTo;
 
@@ -140,7 +136,10 @@ async fn run_status_publisher(robot_id: String) -> Result<()> {
 
     let ctx = ZContextBuilder::default().build()?;
     let node = ctx.create_node("robot_status_publisher").build()?;
-    let zpub = node.create_pub::<RobotStatus>("/robot_status").build()?;
+    let zpub = node
+        .create_pub::<RobotStatus>("/robot_status")
+        .with_serdes::<SerdeCdrSerdes>()
+        .build()?;
 
     let mut position_x = 0.0;
     let mut position_y = 0.0;
@@ -191,7 +190,10 @@ async fn run_status_subscriber() -> Result<()> {
 
     let ctx = ZContextBuilder::default().build()?;
     let node = ctx.create_node("robot_status_subscriber").build()?;
-    let zsub = node.create_sub::<RobotStatus>("/robot_status").build()?;
+    let zsub = node
+        .create_sub::<RobotStatus>("/robot_status")
+        .with_serdes::<SerdeCdrSerdes>()
+        .build()?;
 
     loop {
         let status = zsub.async_recv().await?;

crates/ros-z/src/dynamic/tests/interop_tests.rs

@@ -8,7 +8,7 @@ use std::sync::Arc;
 
 use crate::dynamic::message::DynamicMessage;
 use crate::dynamic::schema::{FieldType, MessageSchema};
-use crate::msg::{NativeCdrSerdes, ZMessage, ZSerdes};
+use crate::msg::{NativeCdrSerdes, ZSerdes};
 
 use ros_z_msgs::geometry_msgs::{Point, Twist, Vector3};
 use ros_z_msgs::std_msgs::String as StdString;

crates/ros-z/tests/pubsub.rs

@@ -1,6 +1,9 @@
 use std::{thread, time::Duration};
 
-use ros_z::{Builder, TypeHash, ZBuf, context::ZContextBuilder, ros_msg::MessageTypeInfo};
+use ros_z::{
+    Builder, TypeHash, ZBuf, context::ZContextBuilder, msg::SerdeCdrSerdes,
+    ros_msg::MessageTypeInfo,
+};
 use ros_z_msgs::std_msgs::ByteMultiArray;
 use serde::{Deserialize, Serialize};
 use serde_json::json;
@@ -24,8 +27,6 @@ impl MessageTypeInfo for TestMessage {
 
 impl ros_z::ros_msg::WithTypeInfo for TestMessage {}
 
-impl ros_z::msg::ZMessage for TestMessage {}
-
 #[tokio::test(flavor = "multi_thread", worker_threads = 1)]
 async fn test_basic_pubsub() {
     let ctx = ZContextBuilder::default()
@@ -38,11 +39,13 @@ async fn test_basic_pubsub() {
 
     let publisher = node
         .create_pub::<TestMessage>("/test_topic")
+        .with_serdes::<SerdeCdrSerdes>()
         .build()
         .unwrap();
 
     let subscriber = node
         .create_sub::<TestMessage>("/test_topic")
+        .with_serdes::<SerdeCdrSerdes>()
         .build()
         .unwrap();
 
@@ -72,11 +75,13 @@ async fn test_multiple_messages() {
 
     let publisher = node
         .create_pub::<TestMessage>("/multi_topic")
+        .with_serdes::<SerdeCdrSerdes>()
         .build()
         .unwrap();
 
     let subscriber = node
         .create_sub::<TestMessage>("/multi_topic")
+        .with_serdes::<SerdeCdrSerdes>()
         .build()
         .unwrap();
 
@@ -110,11 +115,13 @@ async fn test_large_payload() {
 
     let publisher = node
         .create_pub::<TestMessage>("/large_topic")
+        .with_serdes::<SerdeCdrSerdes>()
         .build()
         .unwrap();
 
     let subscriber = node
         .create_sub::<TestMessage>("/large_topic")
+        .with_serdes::<SerdeCdrSerdes>()
         .build()
         .unwrap();
 

crates/ros-z/tests/service.rs

@@ -26,8 +26,6 @@ impl MessageTypeInfo for AddTwoIntsRequest {
 
 impl ros_z::WithTypeInfo for AddTwoIntsRequest {}
 
-impl ros_z::msg::ZMessage for AddTwoIntsRequest {}
-
 // Simple test service response
 #[derive(Debug, Clone, Serialize, Deserialize, Default, PartialEq)]
 struct AddTwoIntsResponse {
@@ -46,8 +44,6 @@ impl MessageTypeInfo for AddTwoIntsResponse {
 
 impl ros_z::WithTypeInfo for AddTwoIntsResponse {}
 
-impl ros_z::msg::ZMessage for AddTwoIntsResponse {}
-
 // Service type definition
 struct AddTwoInts;