refactor: reorganize workspace with crates/ directory

.github/workflows/rmw-zenoh-rs.yml

@@ -101,7 +101,7 @@ jobs:
           fi
           nu scripts/test-ros-packages.nu \
             --ws-dir $GITHUB_WORKSPACE/ws \
-            --rmw-path $GITHUB_WORKSPACE/ros-z/rmw-zenoh-rs \
+            --rmw-path $GITHUB_WORKSPACE/ros-z/crates/rmw-zenoh-rs \
             --verbose \
             --include-filter "$TEST_FILTER" \
             --exclude-filter "test_count_matched|test_events"

Cargo.toml

@@ -7,28 +7,28 @@ homepage = "https://github.com/ZettaScaleLabs/ros-z"
 [workspace]
 resolver = "2"
 members = [
-  "ros-z",
-  "ros-z-cdr",
-  "ros-z-codegen",
-  "ros-z-derive",
-  "ros-z-py",
-  "rmw-zenoh-rs",
-  "ros-z-msgs",
-  "ros-z-tests",
-  "ros-z-console",
-  "ros-z/examples/protobuf_demo",
+  "crates/ros-z",
+  "crates/ros-z-cdr",
+  "crates/ros-z-codegen",
+  "crates/ros-z-derive",
+  "crates/ros-z-py",
+  "crates/rmw-zenoh-rs",
+  "crates/ros-z-msgs",
+  "crates/ros-z-tests",
+  "crates/ros-z-console",
+  "crates/ros-z/examples/protobuf_demo",
 ]
-default-members = ["ros-z", "ros-z-codegen"]
+default-members = ["crates/ros-z", "crates/ros-z-codegen"]
 # Note: protobuf_demo is an advanced example demonstrating protobuf serialization
 
 [workspace.dependencies]
 # Workspace members
-ros-z = { version = "*", path = "ros-z" }
-ros-z-codegen = { version = "*", path = "ros-z-codegen" }
-rmw-zenoh-rs = { version = "*", path = "rmw-zenoh-rs" }
+ros-z = { version = "*", path = "crates/ros-z" }
+ros-z-codegen = { version = "*", path = "crates/ros-z-codegen" }
+rmw-zenoh-rs = { version = "*", path = "crates/rmw-zenoh-rs" }
 
 # Serialization
-ros-z-cdr = { path = "ros-z-cdr" }
+ros-z-cdr = { path = "crates/ros-z-cdr" }
 serde = "1.0.219"
 serde_bytes = "0.11"
 serde_json = "1.0"

book/Cargo.toml

@@ -5,8 +5,8 @@ edition = "2024"
 publish = false
 
 [dependencies]
-ros-z = { path = "../ros-z" }
-ros-z-msgs = { path = "../ros-z-msgs" }
+ros-z = { path = "../crates/ros-z" }
+ros-z-msgs = { path = "../crates/ros-z-msgs" }
 tokio = { version = "1.47.1", features = ["full"] }
 clap = { version = "4.5.45", features = ["derive"] }
 zenoh = { version = "1.6.2", default-features = false, features = [

book/QUICK_REFERENCE.md

@@ -19,7 +19,7 @@ The `mdbook test` command tests **every Rust code block** in your markdown files
 # Your Chapter
 
 \`\`\`rust,no_run
-{{#include ../../../ros-z/examples/your_example.rs}}
+{{#include ../../../crates/ros-z/examples/your_example.rs}}
 \`\`\`
 ```
 
@@ -47,7 +47,7 @@ Control how code blocks are tested:
 
 ```markdown
 \`\`\`rust,no_run
-{{#include ../../../ros-z/examples/demo_nodes/talker.rs}}
+{{#include ../../../crates/ros-z/examples/demo_nodes/talker.rs}}
 \`\`\`
 ```
 
@@ -130,7 +130,7 @@ Runs automatically on every push and pull request.
 
    ```markdown
    \`\`\`rust,no_run
-   {{#include ../../../ros-z/examples/my_feature.rs}}
+   {{#include ../../../crates/ros-z/examples/my_feature.rs}}
    \`\`\`
    ```
 

book/README.md

@@ -95,7 +95,7 @@ ros-z/                     # Workspace root
 
 - ✅ Examples in `ros-z/examples/` have access to all dependencies
 - ✅ `cargo run --example name` works out of the box
-- ✅ `mdbook test` finds examples via `{{#include ../../../ros-z/examples/...}}`
+- ✅ `mdbook test` finds examples via `{{#include ../../../crates/ros-z/examples/...}}`
 - ✅ Standard structure - no special configuration needed
 
 See [WORKFLOW_VERIFICATION.md](WORKFLOW_VERIFICATION.md) for proof that this works.

book/TESTING.md

@@ -83,7 +83,7 @@ Use `no_run` when the code needs to compile but shouldn't execute (e.g., runs fo
 
 ```markdown
 \`\`\`rust,no_run
-{{#include ../../../ros-z/examples/demo_nodes/talker.rs}}
+{{#include ../../../crates/ros-z/examples/demo_nodes/talker.rs}}
 \`\`\`
 ```
 
@@ -137,10 +137,10 @@ mdbook test book -L ./target/debug/deps
 
 ```bash
 # From the book chapter:
-{{#include ../../../ros-z/examples/your_file.rs}}
+{{#include ../../../crates/ros-z/examples/your_file.rs}}
 
 # The path should resolve to:
-book/src/chapters/../../../ros-z/examples/your_file.rs
+book/src/chapters/../../../crates/ros-z/examples/your_file.rs
 # Which is: ros-z/examples/your_file.rs
 ```
 
@@ -150,7 +150,7 @@ book/src/chapters/../../../ros-z/examples/your_file.rs
 
 ```markdown
 \`\`\`rust,no_run
-{{#include ../../../ros-z/examples/demo_nodes/talker.rs}}
+{{#include ../../../crates/ros-z/examples/demo_nodes/talker.rs}}
 \`\`\`
 ```
 

book/src/chapters/backends.md

@@ -191,7 +191,7 @@ graph LR
 The `z_pubsub` example demonstrates backend selection for pub/sub communication. The example supports both `RmwZenoh` and `Ros2Dds` backends via command-line arguments:
 
 ```rust,ignore
-{{#include ../../../ros-z/examples/z_pubsub.rs}}
+{{#include ../../../crates/ros-z/examples/z_pubsub.rs}}
 ```
 
 Key features of this example:

book/src/chapters/protobuf.md

@@ -162,7 +162,7 @@ pub.publish(&msg)?;
 The `protobuf_demo` example demonstrates both approaches:
 
 ```rust,ignore
-{{#include ../../../ros-z/examples/protobuf_demo/src/demo.rs}}
+{{#include ../../../crates/ros-z/examples/protobuf_demo/src/demo.rs}}
 ```
 
 ### Running the Demo

book/src/chapters/pubsub.md

@@ -33,7 +33,7 @@ graph TD
 This example demonstrates publishing "Hello World" messages to a topic. The publisher sends messages periodically, showcasing the fundamental publishing pattern.
 
 ```rust,ignore
-{{#include ../../../ros-z/examples/demo_nodes/talker.rs:1:61}}
+{{#include ../../../crates/ros-z/examples/demo_nodes/talker.rs:1:61}}
 ```
 
 **Key points:**
@@ -61,7 +61,7 @@ cargo run --example demo_nodes_talker -- --max-count 10
 This example demonstrates subscribing to messages from a topic. The subscriber receives and displays messages, showing both timeout-based and async reception patterns.
 
 ```rust,ignore
-{{#include ../../../ros-z/examples/demo_nodes/listener.rs:1:81}}
+{{#include ../../../crates/ros-z/examples/demo_nodes/listener.rs:1:81}}
 ```
 
 **Key points:**

book/src/chapters/python.md

@@ -37,7 +37,7 @@ python -m venv .venv
 source .venv/bin/activate
 
 # Install message types
-pip install -e ../ros-z-msgs/python/
+pip install -e ../crates/ros-z-msgs/python/
 
 # Build and install ros-z-py
 maturin develop
@@ -54,13 +54,13 @@ Here's a complete publisher and subscriber example from [`ros-z-py/examples/topi
 ### Publisher (Talker)
 
 ```python
-{{#include ../../../ros-z-py/examples/topic_demo.py:run_talker}}
+{{#include ../../../crates/ros-z-py/examples/topic_demo.py:run_talker}}
 ```
 
 ### Subscriber (Listener)
 
 ```python
-{{#include ../../../ros-z-py/examples/topic_demo.py:run_listener}}
+{{#include ../../../crates/ros-z-py/examples/topic_demo.py:run_listener}}
 ```
 
 ## Key Components
@@ -83,13 +83,13 @@ Examples from [`ros-z-py/examples/service_demo.py`](https://github.com/ZettaScal
 ### Service Server
 
 ```python
-{{#include ../../../ros-z-py/examples/service_demo.py:run_server}}
+{{#include ../../../crates/ros-z-py/examples/service_demo.py:run_server}}
 ```
 
 ### Service Client
 
 ```python
-{{#include ../../../ros-z-py/examples/service_demo.py:run_client}}
+{{#include ../../../crates/ros-z-py/examples/service_demo.py:run_client}}
 ```
 
 ```admonish tip
@@ -187,7 +187,7 @@ Rebuild and install the package:
 ```bash
 cd ros-z-py
 source .venv/bin/activate
-pip install -e ../ros-z-msgs/python/
+pip install -e ../crates/ros-z-msgs/python/
 maturin develop
 ```
 ````

book/src/chapters/quick_start.md

@@ -26,7 +26,7 @@ An async runtime is required for ros-z. This example uses Tokio, the most popula
 Here's a complete publisher and subscriber in one application:
 
 ```rust,ignore
-{{#include ../../../ros-z/examples/z_pubsub.rs}}
+{{#include ../../../crates/ros-z/examples/z_pubsub.rs}}
 ```
 
 ## Key Components

book/src/chapters/services.md

@@ -37,7 +37,7 @@ graph TD
 This example demonstrates a service server that adds two integers. The server waits for requests, processes them, and sends responses back to clients.
 
 ```rust,ignore
-{{#include ../../../ros-z/examples/demo_nodes/add_two_ints_server.rs:1:47}}
+{{#include ../../../crates/ros-z/examples/demo_nodes/add_two_ints_server.rs:1:47}}
 ```
 
 **Key points:**
@@ -65,7 +65,7 @@ cargo run --example demo_nodes_add_two_ints_server -- --endpoint tcp/localhost:7
 This example demonstrates a service client that sends addition requests to the server and displays the results.
 
 ```rust,ignore
-{{#include ../../../ros-z/examples/demo_nodes/add_two_ints_client.rs:1:45}}
+{{#include ../../../crates/ros-z/examples/demo_nodes/add_two_ints_client.rs:1:45}}
 ```
 
 **Key points:**

crates/ros-z-msgs/python/ros_z_msgs_py/types/action_msgs.py

@@ -0,0 +1,54 @@
+"""Auto-generated ROS 2 message types for action_msgs."""
+
+import msgspec
+from typing import ClassVar
+
+
+class GoalStatus(msgspec.Struct, frozen=True, kw_only=True):
+    goal_info: "action_msgs.GoalInfo | None" = None
+    status: int = 0
+
+    __msgtype__: ClassVar[str] = "action_msgs/msg/GoalStatus"
+    __hash__: ClassVar[str] = (
+        "RIHS01_6e21370c4382c09860cbdc5089cda1fe5b802bdbd56d60fe6cfd79c12a2ec048"
+    )
+
+
+class GoalInfo(msgspec.Struct, frozen=True, kw_only=True):
+    goal_id: "unique_identifier_msgs.UUID | None" = None
+    stamp: "builtin_interfaces.Time | None" = msgspec.field(
+        default_factory=lambda: {"sec": 0, "nanosec": 0}
+    )
+
+    __msgtype__: ClassVar[str] = "action_msgs/msg/GoalInfo"
+    __hash__: ClassVar[str] = (
+        "RIHS01_6398fe763154554353930716b225947f93b672f0fb2e49fdd01bb7a7e37933e9"
+    )
+
+
+class GoalStatusArray(msgspec.Struct, frozen=True, kw_only=True):
+    status_list: list["action_msgs.GoalStatus"] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = "action_msgs/msg/GoalStatusArray"
+    __hash__: ClassVar[str] = (
+        "RIHS01_49d3f45fe30c84e4dd2eadb8e5125cc71dcc4e31b3f0363afd4f794fde652e27"
+    )
+
+
+class CancelGoalRequest(msgspec.Struct, frozen=True, kw_only=True):
+    goal_info: "action_msgs.GoalInfo | None" = None
+
+    __msgtype__: ClassVar[str] = "action_msgs/msg/CancelGoalRequest"
+    __hash__: ClassVar[str] = (
+        "RIHS01_0894e514b8d27fc42bb40ca22eb8c44da1c0f30a2973590151bb20958c4d312e"
+    )
+
+
+class CancelGoalResponse(msgspec.Struct, frozen=True, kw_only=True):
+    return_code: int = 0
+    goals_canceling: list["action_msgs.GoalInfo"] = msgspec.field(default_factory=list)
+
+    __msgtype__: ClassVar[str] = "action_msgs/msg/CancelGoalResponse"
+    __hash__: ClassVar[str] = (
+        "RIHS01_0894e514b8d27fc42bb40ca22eb8c44da1c0f30a2973590151bb20958c4d312e"
+    )

crates/ros-z-msgs/python/ros_z_msgs_py/types/builtin_interfaces.py

@@ -0,0 +1,24 @@
+"""Auto-generated ROS 2 message types for builtin_interfaces."""
+
+import msgspec
+from typing import ClassVar
+
+
+class Time(msgspec.Struct, frozen=True, kw_only=True):
+    sec: int = 0
+    nanosec: int = 0
+
+    __msgtype__: ClassVar[str] = "builtin_interfaces/msg/Time"
+    __hash__: ClassVar[str] = (
+        "RIHS01_b106235e25a4c5ed35098aa0a61a3ee9c9b18d197f398b0e4206cea9acf9c197"
+    )
+
+
+class Duration(msgspec.Struct, frozen=True, kw_only=True):
+    sec: int = 0
+    nanosec: int = 0
+
+    __msgtype__: ClassVar[str] = "builtin_interfaces/msg/Duration"
+    __hash__: ClassVar[str] = (
+        "RIHS01_e8d009f659816f758b75334ee1a9ca5b5c0b859843261f14c7f937349599d93b"
+    )