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fix: added generated bindings for ROS Humble, Jazzy, Kilted and Rolling (#512)
* fix: added generated bindings for ROS Humble and Jazzy Signed-off-by: Esteve Fernandez <[email protected]> * build: add script for generating bindings. Removed generation of bindings in build.rs. Added GitHub workflow to update the generated bindings every night Signed-off-by: Esteve Fernandez <[email protected]> * build: target Rust 1.75 for bindgen. Updated bindings Signed-off-by: Esteve Fernandez <[email protected]> * build: added generated bindings for Kilted and Rolling Signed-off-by: Esteve Fernandez <[email protected]> * fix: assume yes when installing cargo-binstall Signed-off-by: Esteve Fernandez <[email protected]> * fix: configure token so that CI job can push branches Signed-off-by: Esteve Fernandez <[email protected]> * fix: fix call to Python script Signed-off-by: Esteve Fernandez <[email protected]> --------- Signed-off-by: Esteve Fernandez <[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 02:22 UTC every Tuesday
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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: '22 2 * * 2'
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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@v4
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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
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- name: Generate bindings
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run: |
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cd rclrs/src
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../generate_bindings.py rcl_wrapper.h ${{ matrix.ros_distribution }} .
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- name: Submit PR
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run: |
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if git diff --exit-code; then
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exit 0
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fi
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git config --global user.email "[email protected]"
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git config --global user.name "GitHub Action"
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git remote set-url origin https://x-access-token:${{ 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 }}

‎rclrs/build.rs

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println!("cargo:rustc-check-cfg=cfg(ros_distro, values(\"humble\", \"jazzy\", \"rolling\"))");
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println!("cargo:rustc-cfg=ros_distro=\"{ros_distro}\"");
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let mut builder = bindgen::Builder::default()
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.header(BINDGEN_WRAPPER)
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.derive_copy(false)
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.allowlist_type("rcl_.*")
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.allowlist_type("rmw_.*")
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.allowlist_type("rcutils_.*")
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.allowlist_type("rosidl_.*")
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.allowlist_function("rcl_.*")
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.allowlist_function("rmw_.*")
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.allowlist_function("rcutils_.*")
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.allowlist_function("rosidl_.*")
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.allowlist_var("rcl_.*")
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.allowlist_var("rmw_.*")
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.allowlist_var("rcutils_.*")
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.allowlist_var("rosidl_.*")
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.layout_tests(false)
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.default_enum_style(bindgen::EnumVariation::Rust {
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non_exhaustive: false,
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})
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.parse_callbacks(Box::new(bindgen::CargoCallbacks::new()));
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// Invalidate the built crate whenever this script or the wrapper changes
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println!("cargo:rerun-if-changed=build.rs");
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println!("cargo:rerun-if-changed={BINDGEN_WRAPPER}");
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// #############
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// # ALGORITHM #
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// #############
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//
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// For each prefix in ${AMENT_PREFIX_PATH}:
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// Search through ament index at ${prefix}/share/ament_index/resource_index/packages/ to find packages to include
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// The include root will be located at either:
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// - ${prefix}/include/ (old style)
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// - ${prefix}/include/${package_name} (new style)
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// - ${prefix}/include/CycloneDDS (special case, match for this)
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// End of loop
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// Compiled libraries are always at ${prefix}/lib
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//
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// See REP 122 for more details: https://www.ros.org/reps/rep-0122.html#filesystem-layout
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let ament_prefix_paths = get_env_var_or_abort(AMENT_PREFIX_PATH);
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for ament_prefix_path in ament_prefix_paths.split(':').map(Path::new) {
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// Locate the ament index
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let ament_index = ament_prefix_path.join("share/ament_index/resource_index/packages");
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if !ament_index.is_dir() {
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continue;
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}
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// Old-style include directory
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let include_dir = ament_prefix_path.join("include");
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// Including the old-style packages
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builder = builder.clang_arg(format!("-isystem{}", include_dir.display()));
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// Search for and include new-style-converted package paths
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for dir_entry in read_dir(&ament_index).unwrap().filter_map(|p| p.ok()) {
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let package = dir_entry.file_name();
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let package_include_dir = include_dir.join(&package);
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if package_include_dir.is_dir() {
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let new_style_include_dir = package_include_dir.join(&package);
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// CycloneDDS is a special case - it needs to be included as if it were a new-style path, but
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// doesn't actually have a secondary folder within it called "CycloneDDS"
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// TODO(jhdcs): if this changes in future, remove this check
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if package == "CycloneDDS" || new_style_include_dir.is_dir() {
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builder =
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builder.clang_arg(format!("-isystem{}", package_include_dir.display()));
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}
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}
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}
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// Link the native libraries
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let library_path = ament_prefix_path.join("lib");
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println!("cargo:rustc-link-search=native={}", library_path.display());
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println!("cargo:rustc-link-lib=dylib=rcutils");
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println!("cargo:rustc-link-lib=dylib=rmw");
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println!("cargo:rustc-link-lib=dylib=rmw_implementation");
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let bindings = builder.generate().expect("Unable to generate bindings");
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let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
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bindings
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.write_to_file(out_path.join("rcl_bindings_generated.rs"))
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.expect("Couldn't write bindings!");
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}

‎rclrs/generate_bindings.py

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#!/usr/bin/env python3
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import ament_index_python
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import os
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import subprocess
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import sys
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def main():
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if len(sys.argv) != 4:
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print("Usage: generate_bindings.py <header_file> <ros_distribution> <output_directory>")
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sys.exit(1)
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header_file = sys.argv[1]
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ros_distribution = sys.argv[2]
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output_directory = sys.argv[3]
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bindgen_command = []
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bindgen_command.append('bindgen')
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bindgen_command.append(header_file)
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bindgen_command.append('-o')
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bindgen_command.append(f'{output_directory}/rcl_bindings_generated_{ros_distribution}.rs')
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bindgen_command.append('--rust-edition')
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bindgen_command.append('2021')
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bindgen_command.append('--rust-target')
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bindgen_command.append('1.75')
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bindgen_command.append('--no-derive-copy')
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bindgen_command.append('--allowlist-type')
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bindgen_command.append('rcl_.*')
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bindgen_command.append('--allowlist-type')
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bindgen_command.append('rmw_.*')
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bindgen_command.append('--allowlist-type')
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bindgen_command.append('rcutils_.*')
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bindgen_command.append('--allowlist-type')
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bindgen_command.append('rosidl_.*')
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bindgen_command.append('--allowlist-function')
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bindgen_command.append('rcl_.*')
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bindgen_command.append('--allowlist-function')
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bindgen_command.append('rmw_.*')
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bindgen_command.append('--allowlist-function')
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bindgen_command.append('rcutils_.*')
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bindgen_command.append('--allowlist-function')
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bindgen_command.append('rosidl_.*')
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bindgen_command.append('--allowlist-var')
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bindgen_command.append('rcl_.*')
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bindgen_command.append('--allowlist-var')
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bindgen_command.append('rmw_.*')
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bindgen_command.append('--allowlist-var')
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bindgen_command.append('rcutils_.*')
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bindgen_command.append('--allowlist-var')
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bindgen_command.append('rosidl_.*')
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bindgen_command.append('--no-layout-tests')
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bindgen_command.append('--default-enum-style')
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bindgen_command.append('rust')
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bindgen_command.append('--')
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for package, prefix in ament_index_python.get_packages_with_prefixes().items():
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package_include_dir = os.path.join(prefix, 'include', package)
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if os.path.isdir(package_include_dir):
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bindgen_command.append('-isystem')
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bindgen_command.append(package_include_dir)
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subprocess.run(bindgen_command)
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if __name__ == "__main__":
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main()

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