fix: added generated bindings for ROS Humble and Jazzy

Signed-off-by: Esteve Fernandez <[email protected]>

Author: esteve

rclrs/build.rs

@@ -123,8 +123,9 @@ fn main() {
 
     let bindings = builder.generate().expect("Unable to generate bindings");
 
-    let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
+    let ros_distro = get_env_var_or_abort(ROS_DISTRO);
+    let out_path = PathBuf::from(env::var("CARGO_MANIFEST_DIR").unwrap()).join("src");
     bindings
-        .write_to_file(out_path.join("rcl_bindings_generated.rs"))
+        .write_to_file(out_path.join(format!("rcl_bindings_generated_{}.rs", ros_distro)))
         .expect("Couldn't write bindings!");
 }

rclrs/src/rcl_bindings.rs

@@ -13,141 +13,24 @@
 
 cfg_if::cfg_if! {
     if #[cfg(feature="use_ros_shim")] {
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_allocator_t;
+        include!(
+            concat!(
+                env!("CARGO_MANIFEST_DIR"),
+                "/src/rcl_bindings_generated_",
+                "rolling", // rolling will always be a valid ROS distro
+                ".rs",
+            )
+        );
 
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_arguments_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_client_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_clock_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_clock_type_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_context_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_guard_condition_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_names_and_types_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_node_options_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_node_params_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_node_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_params_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_publisher_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_ret_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_service_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_subscription_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_topic_endpoint_info_array_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_variant_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_wait_set_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcl_timer_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rcutils_string_array_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_message_info_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_names_and_types_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_qos_durability_policy_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_qos_history_policy_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_qos_liveliness_policy_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_qos_profile_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_qos_reliability_policy_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_request_id_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_time_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rmw_topic_endpoint_info_array_t;
-
-        #[repr(C)]
-        #[derive(Debug)]
-        pub struct rosidl_message_type_support_t;
-
-        pub const RMW_GID_STORAGE_SIZE: usize = 24;
-
-        extern "C" {
-            pub fn rcl_context_is_valid(context: *const rcl_context_t) -> bool;
-        }
     } else {
-        include!(concat!(env!("OUT_DIR"), "/rcl_bindings_generated.rs"));
+        include!(
+            concat!(
+                env!("CARGO_MANIFEST_DIR"),
+                "/src/rcl_bindings_generated_",
+                env!("ROS_DISTRO"),
+                ".rs",
+            )
+        );
 
         pub const RMW_GID_STORAGE_SIZE: usize = rmw_gid_storage_size_constant;
     }