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Update with main
Signed-off-by: Michael X. Grey <[email protected]>
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‎.github/workflows/generate-bindings.yml‎

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name: Generate bindings
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on:
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schedule:
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# Run the CI at 00:11 UTC every night
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# We pick an arbitrary time outside of most of the world's work hours
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# to minimize the likelihood of running alongside a heavy workload.
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- cron: '11 0 * * *'
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workflow_dispatch:
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env:
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CARGO_TERM_COLOR: always
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jobs:
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build:
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strategy:
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matrix:
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ros_distribution:
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- humble
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- jazzy
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- kilted
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- rolling
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include:
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# Humble Hawksbill (May 2022 - May 2027)
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- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
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ros_distribution: humble
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ros_version: 2
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# Jazzy Jalisco (May 2024 - May 2029)
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- docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
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ros_distribution: jazzy
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ros_version: 2
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# Kilted Kaiju (May 2025 - Dec 2026)
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- docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-ros-base-latest
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ros_distribution: kilted
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ros_version: 2
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# Rolling Ridley (June 2020 - Present)
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- docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
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ros_distribution: rolling
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ros_version: 2
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runs-on: ubuntu-latest
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permissions:
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contents: write
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pull-requests: write
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container:
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image: ${{ matrix.docker_image }}
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steps:
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- uses: actions/checkout@v5
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with:
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fetch-depth: 0
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- name: Setup ROS environment
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uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
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- name: Setup Rust
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uses: dtolnay/[email protected]
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with:
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components: clippy, rustfmt
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- name: Install cargo binstall
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run: curl -L --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/cargo-bins/cargo-binstall/main/install-from-binstall-release.sh | bash
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- name: Install bindgen
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run: cargo binstall -y bindgen-cli
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- name: Install GitHub CLI tool
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run: |
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(type -p wget >/dev/null || (sudo apt update && sudo apt install wget -y)) \
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&& sudo mkdir -p -m 755 /etc/apt/keyrings \
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&& out=$(mktemp) && wget -nv -O$out https://cli.github.com/packages/githubcli-archive-keyring.gpg \
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&& cat $out | sudo tee /etc/apt/keyrings/githubcli-archive-keyring.gpg > /dev/null \
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&& sudo chmod go+r /etc/apt/keyrings/githubcli-archive-keyring.gpg \
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&& sudo mkdir -p -m 755 /etc/apt/sources.list.d \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | sudo tee /etc/apt/sources.list.d/github-cli.list > /dev/null \
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&& sudo apt update \
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&& sudo apt install gh -y
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- name: Generate bindings
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run: |
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. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
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cd rclrs/src
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../generate_bindings.py rcl_wrapper.h ${{ matrix.ros_distribution }} .
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- name: Submit PR
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run: |
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cd $GITHUB_WORKSPACE
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git config --global --add safe.directory $GITHUB_WORKSPACE
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if git diff --exit-code; then
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exit 0
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fi
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git config --global user.email "[email protected]"
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git config --global user.name "GitHub Action"
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git remote set-url origin https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}
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git remote update origin
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CREATE_PR=0
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if ! git checkout update-bindings-${{ matrix.ros_distribution }}; then
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CREATE_PR=1
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git checkout -b update-bindings-${{ matrix.ros_distribution }}
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fi
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git add rclrs/src/rcl_bindings_generated_${{ matrix.ros_distribution }}.rs
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git commit -m "Regenerate bindings for ${{ matrix.ros_distribution }}"
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git push -u origin update-bindings-${{ matrix.ros_distribution }}
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if [ $CREATE_PR -eq 1 ]; then
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gh pr create --base main --head update-bindings-${{ matrix.ros_distribution }} --title "Regenerate bindings for ${{ matrix.ros_distribution }}" --body "This PR regenerates the bindings for ${{ matrix.ros_distribution }}."
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fi
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env:
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GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

‎.github/workflows/release-plz.yml‎

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name: Release-plz
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on:
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push:
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branches:
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- main
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env:
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RUSTFLAGS: "--cfg ros_distro=\"humble\""
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jobs:
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release-plz-release:
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name: Release-plz release
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runs-on: ubuntu-latest
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if: ${{ github.repository_owner == 'ros2-rust' }}
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permissions:
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contents: write
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steps:
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# Generating a GitHub token, so that PRs and tags created by
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# the release-plz-action can trigger actions workflows.
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- name: Generate GitHub token
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uses: actions/create-github-app-token@v2
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id: generate-token
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with:
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# GitHub App ID secret name
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app-id: ${{ secrets.APP_ID }}
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# GitHub App private key secret name
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private-key: ${{ secrets.APP_PRIVATE_KEY }}
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- name: Checkout repository
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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token: ${{ steps.generate-token.outputs.token }}
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- name: Install Rust toolchain
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uses: dtolnay/rust-toolchain@stable
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- name: Run release-plz
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uses: release-plz/[email protected]
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with:
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command: release
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env:
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GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
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CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
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release-plz-pr:
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name: Release-plz PR
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runs-on: ubuntu-latest
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if: ${{ github.repository_owner == 'ros2-rust' }}
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permissions:
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pull-requests: write
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contents: write
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concurrency:
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group: release-plz-${{ github.ref }}
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cancel-in-progress: false
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steps:
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# Generating a GitHub token, so that PRs and tags created by
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# the release-plz-action can trigger actions workflows.
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- name: Generate GitHub token
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uses: actions/create-github-app-token@v2
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id: generate-token
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with:
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# GitHub App ID secret name
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app-id: ${{ secrets.APP_ID }}
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# GitHub App private key secret name
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private-key: ${{ secrets.APP_PRIVATE_KEY }}
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- name: Checkout repository
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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token: ${{ steps.generate-token.outputs.token }}
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- name: Install Rust toolchain
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uses: dtolnay/rust-toolchain@stable
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- name: Run release-plz
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uses: release-plz/[email protected]
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with:
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command: release-pr
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env:
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GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
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CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}

‎Cargo.toml‎

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[workspace]
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members = [
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"rclrs",
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]
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resolver = "2"

‎Dockerfile‎

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RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.75.0 -y
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ENV PATH=/root/.cargo/bin:$PATH
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# Install the colcon-cargo and colcon-ros-cargo plugins
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RUN if [ "$ROS_DISTRO" = "humble" ] ; \
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then pip install --upgrade pytest && pip install colcon-ros-cargo ; \
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else pip install --break-system-packages pytest colcon-ros-cargo ; fi
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COPY src/ros2_rust/docker/install_colcon_plugins.sh /
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RUN ./install_colcon_plugins.sh
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COPY src/ros2_rust/docker/rosidl_rust_setup.sh /
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RUN ./rosidl_rust_setup.sh
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RUN mkdir -p /workspace && echo "Did you forget to mount the repository into the Docker container?" > /workspace/HELLO.txt
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WORKDIR /workspace
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COPY src/ros2_rust/docker/rosidl_rust_entrypoint.sh /
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ENTRYPOINT ["/rosidl_rust_entrypoint.sh"]
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CMD ["/bin/bash"]

‎docker/install_colcon_plugins.sh‎

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#!/bin/bash
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if [ "$ROS_DISTRO" = "humble" ]; then
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pip install --upgrade pytest
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pip install \
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git+https://github.com/colcon/colcon-cargo.git \
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git+https://github.com/colcon/colcon-ros-cargo.git
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else
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pip install --break-system-packages pytest \
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git+https://github.com/colcon/colcon-cargo.git \
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git+https://github.com/colcon/colcon-ros-cargo.git
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fi

‎docker/rosidl_rust_entrypoint.sh‎

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#!/bin/bash
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set -e
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# setup ros2 environment
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source "/opt/ros/$ROS_DISTRO/setup.bash" --
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# If we're a distro that needs the overlay built, then source it
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if [ -f "/tmp/rosidl_rust_overlay/install/setup.bash" ]; then
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source /tmp/rosidl_rust_overlay/install/setup.bash --
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fi
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exec "$@"

‎docker/rosidl_rust_setup.sh‎

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#!/bin/bash
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# Depending on the ROS_DISTRO, make sure we've got rosidl_generator_rs
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# sourced and available in working directory workspace
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if [ "$ROS_DISTRO" = "rolling" ]; then
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apt-get update && apt-get install -y ros-$ROS_DISTRO-rosidl-generator-rs
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else
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# Temporarily add `rosidl_rust` to an overlay, build, and source it.
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mkdir -p /tmp/rosidl_rust_overlay/src
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git clone https://github.com/ros2-rust/rosidl_rust /tmp/rosidl_rust_overlay/src
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cd /tmp/rosidl_rust_overlay
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. /opt/ros/$ROS_DISTRO/setup.sh
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colcon build
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fi

‎examples/logging_demo/Cargo.toml‎

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‎examples/logging_demo/package.xml‎

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‎examples/logging_demo/src/main.rs‎

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