Merge remote-tracking branch 'origin/main' into execution_structure

Author: mxgrey

README.md

@@ -11,6 +11,11 @@ Introduction
 This is a set of projects (the `rclrs` client library, code generator, examples and more) that
 enables developers to write ROS 2 applications in Rust.
 
+Installation
+------------
+
+Follow the [instructions in the documentation directory](docs/building.md).
+
 Features and limitations
 ------------------------
 

docs/writing_a_simple_publisher_and_subscriber.md

@@ -92,7 +92,6 @@ To construct a node, replace the code in your `main.rs` file with the following:
 ```rust
 /// Creates a SimplePublisherNode, initializes a node and publisher, and provides
 /// methods to publish a simple "Hello World" message on a loop in separate threads.
-
 use rclrs::{create_node, Context, Node, Publisher, RclrsError, QOS_PROFILE_DEFAULT};
 use std::{env, sync::Arc, thread, time::Duration};
 use std_msgs::msg::String as StringMsg;
@@ -103,12 +102,12 @@ struct SimplePublisherNode {
     publisher: Arc<Publisher<StringMsg>>,
 }
 impl SimplePublisherNode {
-    fn new(context: &context) -> result<self, RclrsError> {
+    fn new(context: &Context) -> Result<Self, RclrsError> {
         let node = create_node(context, "simple_publisher").unwrap();
         let publisher = node
-            .create_publisher("publish_hello", qos_profile_default)
+            .create_publisher("publish_hello", QOS_PROFILE_DEFAULT)
             .unwrap();
-        ok(self { node, publisher })
+        Ok(Self { node, publisher })
     }
     fn publish_data(&self, increment: i32) -> Result<i32, RclrsError> {
         let msg: StringMsg = StringMsg {

examples/message_demo/src/message_demo.rs

@@ -17,7 +17,7 @@ fn check_default_values() {
     assert_eq!(msg.float_seq_unbounded, seq![6.0]);
     assert_eq!(msg.string_member.to_string(), "Χαίρετε 你好");
     assert_eq!(msg.wstring_member.to_string(), "αντίο σου 再见");
-    assert_eq!(msg.bounded_string_member.to_string(), "äöü");
+    assert_eq!(msg.bounded_string_member.to_string(), "aou");
     assert_eq!(msg.bounded_wstring_member.to_string(), "äöü");
     assert_eq!(
         msg.string_array.clone().map(|s| s.to_string()),

examples/rclrs_example_msgs/msg/VariousTypes.msg

@@ -13,7 +13,7 @@ float32[] float_seq_unbounded [6.0]
 # String types
 string string_member "Χαίρετε 你好"
 wstring wstring_member "αντίο σου 再见"
-string<=3 bounded_string_member "äöü"
+string<=3 bounded_string_member "aou"
 wstring<=3 bounded_wstring_member "äöü"
 
 # Array/sequence of string type

rclrs/Cargo.toml

@@ -43,7 +43,7 @@ tokio = { version = "*", features = ["rt", "time", "macros"] }
 
 [build-dependencies]
 # Needed for FFI
-bindgen = "0.66.1"
+bindgen = "0.70"
 # Needed for uploading documentation to docs.rs
 cfg-if = "1.0.0"
 

rclrs/build.rs

@@ -57,7 +57,7 @@ fn main() {
         .default_enum_style(bindgen::EnumVariation::Rust {
             non_exhaustive: false,
         })
-        .parse_callbacks(Box::new(bindgen::CargoCallbacks));
+        .parse_callbacks(Box::new(bindgen::CargoCallbacks::new()));
 
     // Invalidate the built crate whenever this script or the wrapper changes
     println!("cargo:rerun-if-changed=build.rs");