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Merge branch 'main' into dynamic_messages
Signed-off-by: Luca Della Vedova <[email protected]>
2 parents 2936a40 + d62583d commit 9263652

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‎.dockerignore

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# will have compiled files and executables
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/target/
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# Remove Cargo.lock from gitignore if creating an executable, leave it for libraries
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# More information here https://doc.rust-lang.org/cargo/guide/cargo-toml-vs-cargo-lock.html
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Cargo.lock
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# These are backup files generated by rustfmt
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**/*.rs.bk
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‎.github/workflows/rust.yml renamed to ‎.github/workflows/rust-minimal.yml

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name: Rust
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name: Rust Minimal
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on:
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push:
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branches: [ main ]
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pull_request:
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branches: [ main ]
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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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env:
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CARGO_TERM_COLOR: always
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strategy:
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matrix:
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ros_distribution:
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- foxy
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- galactic
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- humble
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- rolling
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include:
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# Foxy Fitzroy (June 2020 - May 2023)
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- docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
24-
ros_distribution: foxy
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ros_version: 2
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# Galactic Geochelone (May 2021 - November 2022)
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- docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
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ros_distribution: galactic
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ros_version: 2
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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
@@ -36,23 +31,29 @@ jobs:
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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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continue-on-error: ${{ matrix.ros_distribution == 'rolling' }}
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container:
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image: ${{ matrix.docker_image }}
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steps:
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- uses: actions/checkout@v2
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- uses: actions/checkout@v4
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- name: Search packages in this repository
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id: list_packages
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run: |
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echo ::set-output name=package_list::$(colcon list --names-only)
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{
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echo 'package_list<<EOF'
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colcon list --names-only
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echo EOF
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} >> "$GITHUB_OUTPUT"
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- name: Setup ROS environment
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uses: ros-tooling/setup-ros@v0.3
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uses: ros-tooling/setup-ros@v0.7
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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/rust-toolchain@1.63.0
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uses: dtolnay/rust-toolchain@1.75
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with:
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components: clippy, rustfmt
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run: |
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for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
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cd $path
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cargo fmt -- --check
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rustup toolchain install nightly
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cargo +nightly fmt -- --check
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cd -
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done
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- name: Install cargo-ament-build
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run: |
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cargo install --debug cargo-ament-build
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- name: Build and test
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id: build
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uses: ros-tooling/action-ros-ci@v0.2
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uses: ros-tooling/action-ros-ci@v0.3
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with:
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package-name: ${{ steps.list_packages.outputs.package_list }}
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target-ros2-distro: ${{ matrix.ros_distribution }}
@@ -88,26 +86,38 @@ jobs:
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for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
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cd $path
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echo "Running clippy in $path"
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cargo clippy --all-targets --all-features -- -D warnings
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# Run clippy for all features except generate_docs (needed for docs.rs)
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if [ "$(basename $path)" = "rclrs" ]; then
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cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
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else
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cargo clippy --no-deps --all-targets --all-features -- -D warnings
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fi
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cd -
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done
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- name: Run cargo test on Rust packages
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run: |
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cd ${{ steps.build.outputs.ros-workspace-directory-name }}
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. install/setup.sh
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for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" { print $2 }'); do
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for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
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cd $path
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echo "Running cargo test in $path"
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cargo test --all-features
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# Run cargo test for all features except generate_docs (needed for docs.rs)
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if [ "$(basename $path)" = "rclrs" ]; then
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cargo test -F default,dyn_msg
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elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
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cargo test -F default
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else
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cargo test --all-features
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fi
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cd -
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done
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- name: Rustdoc check
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run: |
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cd ${{ steps.build.outputs.ros-workspace-directory-name }}
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. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
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for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" { print $2 }'); do
120+
for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
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cd $path
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echo "Running rustdoc check in $path"
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cargo rustdoc -- -D warnings

‎.github/workflows/rust-stable.yml

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name: Rust Stable
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on:
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push:
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branches: [ main ]
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pull_request:
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branches: [ main ]
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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
11+
# to minimize the likelihood of running alongside a heavy workload.
12+
- cron: '22 2 * * 2'
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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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- 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
29+
# Rolling Ridley (June 2020 - Present)
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- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
31+
ros_distribution: rolling
32+
ros_version: 2
33+
runs-on: ubuntu-latest
34+
continue-on-error: ${{ matrix.ros_distribution == 'rolling' }}
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container:
36+
image: ${{ matrix.docker_image }}
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steps:
38+
- uses: actions/checkout@v4
39+
40+
- name: Search packages in this repository
41+
id: list_packages
42+
run: |
43+
{
44+
echo 'package_list<<EOF'
45+
colcon list --names-only
46+
echo EOF
47+
} >> "$GITHUB_OUTPUT"
48+
49+
- name: Setup ROS environment
50+
uses: ros-tooling/[email protected]
51+
with:
52+
required-ros-distributions: ${{ matrix.ros_distribution }}
53+
use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
54+
55+
- name: Setup Rust
56+
uses: dtolnay/rust-toolchain@stable
57+
with:
58+
components: clippy, rustfmt
59+
60+
- name: Install colcon-cargo and colcon-ros-cargo
61+
run: |
62+
sudo pip3 install git+https://github.com/colcon/colcon-cargo.git
63+
sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git
64+
65+
- name: Check formatting of Rust packages
66+
run: |
67+
for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
68+
cd $path
69+
rustup toolchain install nightly
70+
cargo +nightly fmt -- --check
71+
cd -
72+
done
73+
74+
- name: Build and test
75+
id: build
76+
uses: ros-tooling/[email protected]
77+
with:
78+
package-name: ${{ steps.list_packages.outputs.package_list }}
79+
target-ros2-distro: ${{ matrix.ros_distribution }}
80+
vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos
81+
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- name: Run clippy on Rust packages
83+
run: |
84+
cd ${{ steps.build.outputs.ros-workspace-directory-name }}
85+
. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
86+
for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
87+
cd $path
88+
echo "Running clippy in $path"
89+
# Run clippy for all features except generate_docs (needed for docs.rs)
90+
if [ "$(basename $path)" = "rclrs" ]; then
91+
cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
92+
else
93+
cargo clippy --no-deps --all-targets --all-features -- -D warnings
94+
fi
95+
cd -
96+
done
97+
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- name: Run cargo test on Rust packages
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run: |
100+
cd ${{ steps.build.outputs.ros-workspace-directory-name }}
101+
. install/setup.sh
102+
for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
103+
cd $path
104+
echo "Running cargo test in $path"
105+
# Run cargo test for all features except generate_docs (needed for docs.rs)
106+
if [ "$(basename $path)" = "rclrs" ]; then
107+
cargo test -F default,dyn_msg
108+
elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
109+
cargo test -F default
110+
else
111+
cargo test --all-features
112+
fi
113+
cd -
114+
done
115+
116+
- name: Rustdoc check
117+
run: |
118+
cd ${{ steps.build.outputs.ros-workspace-directory-name }}
119+
. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
120+
for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
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cd $path
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echo "Running rustdoc check in $path"
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cargo rustdoc -- -D warnings
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cd -
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done

‎.github/workflows/rust-win.yml

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name: Rust ROS 2 Windows build
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on:
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push:
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branches: [ main ]
6+
pull_request:
7+
branches: [ main ]
8+
schedule:
9+
# Run the CI at 02:22 UTC every Tuesday
10+
# We pick an arbitrary time outside of most of the world's work hours
11+
# to minimize the likelihood of running alongside a heavy workload.
12+
- cron: '22 2 * * 2'
13+
14+
env:
15+
CARGO_TERM_COLOR: always
16+
17+
jobs:
18+
build:
19+
runs-on: windows-latest
20+
steps:
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- uses: actions/checkout@v4
22+
23+
- uses: ilammy/[email protected]
24+
25+
- name: Make new directories and copy ros2_rust repo
26+
run: |
27+
mkdir C:\workspace\src
28+
mkdir C:\pixi_ws
29+
xcopy /E /I /Y D:\a\ros2_rust\ros2_rust C:\workspace\src\ros2_rust
30+
31+
- name: Get pixi toml file
32+
run: irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile C:\pixi_ws\pixi.toml
33+
34+
- name: Setup Pixi environment woth ROS2 toml file
35+
uses: prefix-dev/[email protected]
36+
with:
37+
manifest-path: C:/pixi_ws/pixi.toml
38+
39+
- name: Get prebuild ROS files and unzip
40+
run: |
41+
irm https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip -Outfile ros2-package-windows-AMD64.zip
42+
Expand-Archive -Path ros2-package-windows-AMD64.zip -DestinationPath C:/pixi_ws/
43+
44+
- name: Install ros2_rust prerequisites
45+
# prerequisites and fixes for windows build ros2_rust:
46+
# * Libclang has to be added (from the ros2_rust instructions) and the dll has to be renamed
47+
# * colcon-ros-cargo and colcon-cargo have to be added as PyPI packages
48+
run: |
49+
pixi add libclang --manifest-path C:\pixi_ws\pixi.toml
50+
$src = "C:\pixi_ws\.pixi\envs\default\Library\bin\libclang-13.dll"
51+
$dst = "C:\pixi_ws\.pixi\envs\default\Library\bin\libclang.dll"
52+
if (Test-Path $src) { Rename-Item -Path $src -NewName "libclang.dll" }
53+
pixi add --pypi "colcon-ros-cargo@git+https://github.com/colcon/colcon-ros-cargo.git" --manifest-path C:\pixi_ws\pixi.toml
54+
pixi add --pypi "colcon-cargo@git+https://github.com/colcon/colcon-cargo.git" --manifest-path C:\pixi_ws\pixi.toml
55+
56+
- name: Build the rust package
57+
env:
58+
LIBCLANG_PATH: C:\pixi_ws\.pixi\envs\default\Library\bin # See https://github.com/ros2-rust/ros2_rust?tab=readme-ov-file#sounds-great-how-can-i-try-this-out
59+
BINDGEN_EXTRA_CLANG_ARGS: -D_Check_return_= # to handle the clang error with the windows specific bindgen error
60+
run: |
61+
call C:\pixi_ws\ros2-windows\setup.bat
62+
pixi run --manifest-path C:\pixi_ws\pixi.toml vcs import C:/workspace/src --input C:/workspace/src/ros2_rust/ros2_rust_rolling.repos
63+
pixi run --manifest-path C:\pixi_ws\pixi.toml colcon build
64+
working-directory: C:/workspace
65+
shell: cmd
66+
67+
- name: Run cargo test on Rust packages
68+
run: |
69+
call C:\pixi_ws\ros2-windows\setup.bat
70+
cd C:\workspace
71+
for /f "tokens=1,2,3" %%A in ('pixi run --manifest-path C:\pixi_ws\pixi.toml colcon list') do (
72+
if "%%C"=="(ament_cargo)" (
73+
if /I not "%%A"=="examples_rclrs_minimal_pub_sub" if /I not "%%A"=="examples_rclrs_minimal_client_service" if /I not "%%A"=="rust_pubsub" (
74+
cd %%B
75+
echo Running cargo test in %%B
76+
if /I "%%~nxB"=="rclrs" (
77+
cargo test -F default,dyn_msg
78+
) else if /I "%%~nxB"=="rosidl_runtime_rs" (
79+
cargo test -F default
80+
) else (
81+
cargo test --all-features
82+
)
83+
cd ..
84+
)
85+
)
86+
)
87+
shell: cmd
88+
working-directory: C:\workspace

‎.gitignore

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# will have compiled files and executables
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/target/
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218-
# Remove Cargo.lock from gitignore if creating an executable, leave it for libraries
219-
# More information here https://doc.rust-lang.org/cargo/guide/cargo-toml-vs-cargo-lock.html
220-
Cargo.lock
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# These are backup files generated by rustfmt
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**/*.rs.bk
224220

‎.rustfmt.toml

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# This requires the nightly release of Rust, so when formating the repo, use
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# $ cargo +nightly fmt
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imports_granularity = "Crate"

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