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Merged
merged 5 commits into from
Aug 15, 2025
Merged

feat: vendorize messages so that cargo update works #509

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03352d0
feat: vendorize messages so that cargo update works
esteve Aug 13, 2025
c8aa3c4
fix: added extra vendorized messages
esteve Aug 13, 2025
8f564d6
fix: use vendorized messages in doctests
esteve Aug 14, 2025
d572918
fix: remove leftover line
esteve Aug 14, 2025
f0749d8
fix: cleanups
esteve Aug 14, 2025
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4 changes: 0 additions & 4 deletions rclrs/Cargo.toml
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Expand Up @@ -39,10 +39,6 @@ serde-big-array = { version = "0.5.1", optional = true }
[dev-dependencies]
# Needed for e.g. writing yaml files in tests
tempfile = "3.3.0"
# Needed for publisher and subscriber tests
test_msgs = {version = "*"}
# Used in doctests
example_interfaces = { version = "*" }
# Needed for parameter service tests
tokio = { version = "1", features = ["rt", "time", "macros"] }

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32 changes: 16 additions & 16 deletions rclrs/src/client.rs
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Expand Up @@ -159,17 +159,17 @@ where
/// signatures and which returns a `()` (a.k.a. nothing).
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::test_msgs;
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I'm a bit confused about the leading crate:: here since I thought doctests give a compilation error when you do use crate::. But I guess if the tests are passing then 🤷

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I don't think we even need crate::. Locally, doctests seem to be passing with out it

/// # let node = Context::default()
/// # .create_basic_executor()
/// # .create_node("test_node")?;
/// use test_msgs::srv::{Empty, Empty_Request, Empty_Response};
///
/// async fn print_hello(_response: Empty_Response) {
/// async fn print_hello(_response: test_msgs::srv::Empty_Response) {
/// print!("Hello!");
/// }
///
/// let client = node.create_client::<Empty>("my_service")?;
/// let request = Empty_Request::default();
/// let client = node.create_client::<test_msgs::srv::Empty>("my_service")?;
/// let request = test_msgs::srv::Empty_Request::default();
/// let promise = client.call_then_async(&request, print_hello)?;
/// # Ok::<(), RclrsError>(())
/// ```
Expand All @@ -187,21 +187,21 @@ where
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::test_msgs;
/// # use std::future::Future;
/// # let node = Context::default()
/// # .create_basic_executor()
/// # .create_node("test_node")?;
/// use test_msgs::srv::{Empty, Empty_Request, Empty_Response};
///
/// fn print_greeting(_response: Empty_Response) -> impl Future<Output=()> {
/// fn print_greeting(_response: test_msgs::srv::Empty_Response) -> impl Future<Output=()> {
/// let greeting = "Hello!";
/// async move {
/// print!("Hello!");
/// }
/// }
///
/// let client = node.create_client::<Empty>("my_service")?;
/// let request = Empty_Request::default();
/// let client = node.create_client::<test_msgs::srv::Empty>("my_service")?;
/// let request = test_msgs::srv::Empty_Request::default();
/// let promise = client.call_then_async(
/// &request,
/// print_greeting)?;
Expand All @@ -216,17 +216,17 @@ where
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::test_msgs;
/// # let node = Context::default()
/// # .create_basic_executor()
/// # .create_node("test_node")?;
/// use test_msgs::srv::{Empty, Empty_Request, Empty_Response};
///
/// let greeting = "Hello!";
/// let client = node.create_client::<Empty>("my_service")?;
/// let request = Empty_Request::default();
/// let client = node.create_client::<test_msgs::srv::Empty>("my_service")?;
/// let request = test_msgs::srv::Empty_Request::default();
/// let promise = client.call_then_async(
/// &request,
/// move |response: Empty_Response| {
/// move |response: test_msgs::srv::Empty_Response| {
/// async move {
/// print!("{greeting}");
/// }
Expand Down Expand Up @@ -568,12 +568,12 @@ unsafe impl Send for rcl_client_t {}
mod tests {
use super::*;
use crate::test_helpers::*;
use test_msgs::srv;
use crate::vendor::test_msgs;

#[test]
fn traits() {
assert_send::<Client<srv::Arrays>>();
assert_sync::<Client<srv::Arrays>>();
assert_send::<Client<test_msgs::srv::Arrays>>();
assert_sync::<Client<test_msgs::srv::Arrays>>();
}

#[test]
Expand All @@ -582,7 +582,7 @@ mod tests {
let graph = construct_test_graph(namespace)?;
let _node_2_empty_client = graph
.node2
.create_client::<srv::Empty>("graph_test_topic_4")?;
.create_client::<test_msgs::srv::Empty>("graph_test_topic_4")?;

std::thread::sleep(std::time::Duration::from_millis(200));

Expand Down
6 changes: 5 additions & 1 deletion rclrs/src/lib.rs
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Expand Up @@ -32,6 +32,7 @@
//!
//! ```no_run
//! use rclrs::*;
//! # use crate::rclrs::vendor::example_interfaces;
//!
//! let context = Context::default_from_env()?;
//! let mut executor = context.create_basic_executor();
Expand All @@ -58,6 +59,7 @@
//! # let context = Context::default_from_env()?;
//! # let mut executor = context.create_basic_executor();
//! # let node = executor.create_node("example_node")?;
//! # use crate::rclrs::vendor::example_interfaces;
//! #
//! // This worker will manage the data for us.
//! // The worker's data is called its payload.
Expand Down Expand Up @@ -97,6 +99,7 @@
//! The following is a simple example of using a mandatory parameter:
//! ```no_run
//! use rclrs::*;
//! # use crate::rclrs::vendor::example_interfaces;
//! use std::sync::Arc;
//!
//! let mut executor = Context::default_from_env()?.create_basic_executor();
Expand Down Expand Up @@ -126,6 +129,7 @@
//!
//! ```no_run
//! use rclrs::*;
//! # use crate::rclrs::vendor::example_interfaces;
//! use std::time::Duration;
//!
//! let mut executor = Context::default_from_env()?.create_basic_executor();
Expand Down Expand Up @@ -189,7 +193,7 @@ mod service;
mod subscription;
mod time;
mod time_source;
mod vendor;
pub mod vendor;
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Oh this needs to be pub because doctest only links to public stuff... Jeez, I can see this causing some confusion. I think we need to re-evaluate our message consumption more and more everyday 😅

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Yeah, and I had to modify the vendorize script to not complain about missing docs for messages because now they are public 😅

mod wait_set;
mod worker;

Expand Down
41 changes: 28 additions & 13 deletions rclrs/src/node.rs
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Expand Up @@ -244,6 +244,7 @@ impl NodeState {
/// In some cases the payload type can be inferred by Rust:
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::example_interfaces;
/// let executor = Context::default().create_basic_executor();
/// let node = executor.create_node("my_node").unwrap();
///
Expand All @@ -269,6 +270,7 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::example_interfaces;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// let worker = node.create_worker::<String>(String::new());
Expand All @@ -277,6 +279,7 @@ impl NodeState {
/// The data given to the worker can be any custom data type:
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::example_interfaces;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
///
Expand Down Expand Up @@ -312,6 +315,7 @@ impl NodeState {
/// # use rclrs::*;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// # use crate::rclrs::vendor::test_msgs;
/// let client = node.create_client::<test_msgs::srv::Empty>(
/// "my_service"
/// )
Expand All @@ -325,6 +329,7 @@ impl NodeState {
/// # use rclrs::*;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// # use crate::rclrs::vendor::test_msgs;
/// let client = node.create_client::<test_msgs::srv::Empty>(
/// "my_service"
/// .keep_all()
Expand Down Expand Up @@ -357,6 +362,7 @@ impl NodeState {
/// # use rclrs::*;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// # use crate::rclrs::vendor::test_msgs;
/// let publisher = node.create_publisher::<test_msgs::msg::Empty>(
/// "my_topic"
/// )
Expand All @@ -368,6 +374,7 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::test_msgs;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// let publisher = node.create_publisher::<test_msgs::msg::Empty>(
Expand Down Expand Up @@ -414,6 +421,7 @@ impl NodeState {
/// Pass in only the service name for the `options` argument to use all default service options:
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::test_msgs;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// let service = node.create_service::<test_msgs::srv::Empty, _>(
Expand All @@ -430,6 +438,7 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::test_msgs;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// let service = node.create_service::<test_msgs::srv::Empty, _>(
Expand Down Expand Up @@ -468,19 +477,19 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::example_interfaces;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// use std::sync::Mutex;
/// use example_interfaces::srv::*;
///
/// let counter = Mutex::new(0usize);
/// let service = node.create_service::<Trigger, _>(
/// let service = node.create_service::<example_interfaces::srv::Trigger, _>(
/// "trigger_counter",
/// move |_request: Trigger_Request| {
/// move |_request: example_interfaces::srv::Trigger_Request| {
/// let mut counter = counter.lock().unwrap();
/// *counter += 1;
/// println!("Triggered {} times", *counter);
/// Trigger_Response {
/// example_interfaces::srv::Trigger_Response {
/// success: true,
/// message: "no problems here".to_string(),
/// }
Expand All @@ -494,21 +503,21 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::example_interfaces;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// use std::sync::{Arc, Mutex};
/// use example_interfaces::srv::*;
///
/// let counter = Arc::new(Mutex::new(0usize));
///
/// let counter_in_service = Arc::clone(&counter);
/// let service = node.create_service::<Trigger, _>(
/// let service = node.create_service::<example_interfaces::srv::Trigger, _>(
/// "trigger_counter",
/// move |_request: Trigger_Request| {
/// move |_request: example_interfaces::srv::Trigger_Request| {
/// let mut counter = counter_in_service.lock().unwrap();
/// *counter += 1;
/// println!("Triggered {} times", *counter);
/// Trigger_Response {
/// example_interfaces::srv::Trigger_Response {
/// success: true,
/// message: "no problems here".to_string(),
/// }
Expand Down Expand Up @@ -588,17 +597,17 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::example_interfaces;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node")?;
/// use std::sync::Arc;
/// use example_interfaces::srv::*;
///
/// let worker_a = node.create_worker(0_i64);
/// let worker_b = node.create_worker(0_i64);
///
/// let service = node.create_async_service::<AddTwoInts, _>(
/// let service = node.create_async_service::<example_interfaces::srv::AddTwoInts, _>(
/// "add",
/// move |request: AddTwoInts_Request| {
/// move |request: example_interfaces::srv::AddTwoInts_Request| {
/// // Clone the workers so they can be captured into the async block
/// let worker_a = Arc::clone(&worker_a);
/// let worker_b = Arc::clone(&worker_b);
Expand All @@ -617,7 +626,7 @@ impl NodeState {
/// // Awaiting above ensures that each number from the
/// // request is saved in its respective worker before
/// // we give back a response.
/// AddTwoInts_Response { sum: a + b }
/// example_interfaces::srv::AddTwoInts_Response { sum: a + b }
/// }
/// }
/// )?;
Expand Down Expand Up @@ -660,6 +669,7 @@ impl NodeState {
/// Pass in only the topic name for the `options` argument to use all default subscription options:
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::test_msgs;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// let subscription = node.create_subscription(
Expand All @@ -675,6 +685,7 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::test_msgs;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// let subscription = node.create_subscription(
Expand Down Expand Up @@ -717,6 +728,7 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::example_interfaces;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// use std::sync::Mutex;
Expand All @@ -739,6 +751,7 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::example_interfaces;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
/// use std::sync::{Arc, Mutex};
Expand Down Expand Up @@ -839,8 +852,10 @@ impl NodeState {
///
/// ```
/// # use rclrs::*;
/// # use crate::rclrs::vendor::example_interfaces;
/// # let executor = Context::default().create_basic_executor();
/// # let node = executor.create_node("my_node").unwrap();
///
/// use std::sync::Arc;
///
/// let count_worker = node.create_worker(0_usize);
Expand Down Expand Up @@ -1094,7 +1109,7 @@ mod tests {

#[test]
fn test_topic_names_and_types() -> Result<(), RclrsError> {
use test_msgs::msg;
use crate::vendor::test_msgs::msg;

let graph = construct_test_graph("test_topics_graph")?;

Expand Down
3 changes: 2 additions & 1 deletion rclrs/src/publisher.rs
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Expand Up @@ -337,14 +337,15 @@ mod tests {

#[test]
fn traits() {
use crate::vendor::test_msgs;
assert_send::<Publisher<test_msgs::msg::BoundedSequences>>();
assert_sync::<Publisher<test_msgs::msg::BoundedSequences>>();
}

#[test]
fn test_publishers() -> Result<(), RclrsError> {
use crate::vendor::test_msgs::msg;
use crate::TopicEndpointInfo;
use test_msgs::msg;

let namespace = "/test_publishers_graph";
let graph = construct_test_graph(namespace)?;
Expand Down
1 change: 1 addition & 0 deletions rclrs/src/publisher/loaned_message.rs
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Expand Up @@ -99,6 +99,7 @@ mod tests {
#[test]
fn traits() {
use crate::test_helpers::*;
use crate::vendor::test_msgs;

assert_send::<LoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
assert_sync::<LoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
Expand Down
3 changes: 2 additions & 1 deletion rclrs/src/service.rs
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Expand Up @@ -393,14 +393,15 @@ mod tests {

#[test]
fn traits() {
use crate::vendor::test_msgs;
assert_send::<Service<test_msgs::srv::Arrays>>();
assert_sync::<Service<test_msgs::srv::Arrays>>();
}

#[test]
fn test_services() -> Result<(), RclrsError> {
use crate::vendor::test_msgs::srv;
use crate::TopicNamesAndTypes;
use test_msgs::srv;

let namespace = "/test_services_graph";
let graph = construct_test_graph(namespace)?;
Expand Down
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