fix: added generated bindings for ROS Humble, Jazzy, Kilted and Rolling

.github/workflows/generate-bindings.yml

@@ -0,0 +1,93 @@
+name: Generate bindings
+
+on:
+  schedule:
+    # Run the CI at 02:22 UTC every Tuesday
+    # We pick an arbitrary time outside of most of the world's work hours
+    # to minimize the likelihood of running alongside a heavy workload.
+    - cron: '22 2 * * 2'
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        ros_distribution:
+          - humble
+          - jazzy
+          - kilted
+          - rolling
+        include:
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+            ros_distribution: humble
+            ros_version: 2
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+            ros_distribution: jazzy
+            ros_version: 2
+          # Kilted Kaiju (May 2025 - Dec 2026)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-ros-base-latest
+            ros_distribution: kilted
+            ros_version: 2
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: write
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Setup ROS environment
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+        use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
+
+    - name: Setup Rust
+      uses: dtolnay/[email protected]
+      with:
+        components: clippy, rustfmt
+
+    - name: Install cargo binstall
+      run: curl -L --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/cargo-bins/cargo-binstall/main/install-from-binstall-release.sh | bash
+
+    - name: Install bindgen
+      run: cargo binstall -y bindgen
+
+    - name: Generate bindings
+      run: |
+        cd rclrs/src
+        ../generate_bindings.py rcl_wrapper.h ${{ matrix.ros_distribution }} .
+
+    - name: Submit PR
+      run: |
+        if git diff --exit-code; then
+          exit 0
+        fi
+        git config --global user.email "[email protected]"
+        git config --global user.name "GitHub Action"
+        git remote set-url origin https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}
+        git remote update origin
+        CREATE_PR=0
+        if !git checkout update-bindings-${{ matrix.ros_distribution }}; then
+          CREATE_PR=1
+          git checkout -b update-bindings-${{ matrix.ros_distribution }}
+        fi
+        git add rclrs/src/rcl_bindings_generated_${{ matrix.ros_distribution }}.rs
+        git commit -m "Regenerate bindings for ${{ matrix.ros_distribution }}"
+        git push -u origin update-bindings-${{ matrix.ros_distribution }}
+        if [ $CREATE_PR -eq 1 ]; then
+          gh pr create --base main --head update-bindings-${{ matrix.ros_distribution }} --title "Regenerate bindings for ${{ matrix.ros_distribution }}" --body "This PR regenerates the bindings for ${{ matrix.ros_distribution }}."
+        fi
+      env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

rclrs/build.rs

@@ -38,78 +38,8 @@ fn main() {
     println!("cargo:rustc-check-cfg=cfg(ros_distro, values(\"humble\", \"jazzy\", \"rolling\"))");
     println!("cargo:rustc-cfg=ros_distro=\"{ros_distro}\"");
 
-    let mut builder = bindgen::Builder::default()
-        .header(BINDGEN_WRAPPER)
-        .derive_copy(false)
-        .allowlist_type("rcl_.*")
-        .allowlist_type("rmw_.*")
-        .allowlist_type("rcutils_.*")
-        .allowlist_type("rosidl_.*")
-        .allowlist_function("rcl_.*")
-        .allowlist_function("rmw_.*")
-        .allowlist_function("rcutils_.*")
-        .allowlist_function("rosidl_.*")
-        .allowlist_var("rcl_.*")
-        .allowlist_var("rmw_.*")
-        .allowlist_var("rcutils_.*")
-        .allowlist_var("rosidl_.*")
-        .layout_tests(false)
-        .default_enum_style(bindgen::EnumVariation::Rust {
-            non_exhaustive: false,
-        })
-        .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");
-    println!("cargo:rerun-if-changed={BINDGEN_WRAPPER}");
-
-    // #############
-    // # ALGORITHM #
-    // #############
-    //
-    // For each prefix in ${AMENT_PREFIX_PATH}:
-    // Search through ament index at ${prefix}/share/ament_index/resource_index/packages/ to find packages to include
-    // The include root will be located at either:
-    // - ${prefix}/include/ (old style)
-    // - ${prefix}/include/${package_name} (new style)
-    // - ${prefix}/include/CycloneDDS (special case, match for this)
-    // End of loop
-    // Compiled libraries are always at ${prefix}/lib
-    //
-    // See REP 122 for more details: https://www.ros.org/reps/rep-0122.html#filesystem-layout
-
     let ament_prefix_paths = get_env_var_or_abort(AMENT_PREFIX_PATH);
     for ament_prefix_path in ament_prefix_paths.split(':').map(Path::new) {
-        // Locate the ament index
-        let ament_index = ament_prefix_path.join("share/ament_index/resource_index/packages");
-        if !ament_index.is_dir() {
-            continue;
-        }
-
-        // Old-style include directory
-        let include_dir = ament_prefix_path.join("include");
-
-        // Including the old-style packages
-        builder = builder.clang_arg(format!("-isystem{}", include_dir.display()));
-
-        // Search for and include new-style-converted package paths
-        for dir_entry in read_dir(&ament_index).unwrap().filter_map(|p| p.ok()) {
-            let package = dir_entry.file_name();
-            let package_include_dir = include_dir.join(&package);
-
-            if package_include_dir.is_dir() {
-                let new_style_include_dir = package_include_dir.join(&package);
-
-                // CycloneDDS is a special case - it needs to be included as if it were a new-style path, but
-                // doesn't actually have a secondary folder within it called "CycloneDDS"
-                // TODO(jhdcs): if this changes in future, remove this check
-                if package == "CycloneDDS" || new_style_include_dir.is_dir() {
-                    builder =
-                        builder.clang_arg(format!("-isystem{}", package_include_dir.display()));
-                }
-            }
-        }
-
         // Link the native libraries
         let library_path = ament_prefix_path.join("lib");
         println!("cargo:rustc-link-search=native={}", library_path.display());
@@ -120,11 +50,4 @@ fn main() {
     println!("cargo:rustc-link-lib=dylib=rcutils");
     println!("cargo:rustc-link-lib=dylib=rmw");
     println!("cargo:rustc-link-lib=dylib=rmw_implementation");
-
-    let bindings = builder.generate().expect("Unable to generate bindings");
-
-    let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
-    bindings
-        .write_to_file(out_path.join("rcl_bindings_generated.rs"))
-        .expect("Couldn't write bindings!");
 }

rclrs/generate_bindings.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+import ament_index_python
+import os
+import subprocess
+import sys
+
+def main():
+    if len(sys.argv) != 4:
+        print("Usage: generate_bindings.py <header_file> <ros_distribution> <output_directory>")
+        sys.exit(1)
+
+    header_file = sys.argv[1]
+    ros_distribution = sys.argv[2]
+    output_directory = sys.argv[3]
+    bindgen_command = []
+    bindgen_command.append('bindgen')
+    bindgen_command.append(header_file)
+    bindgen_command.append('-o')
+    bindgen_command.append(f'{output_directory}/rcl_bindings_generated_{ros_distribution}.rs')
+    bindgen_command.append('--rust-edition')
+    bindgen_command.append('2021')
+    bindgen_command.append('--rust-target')
+    bindgen_command.append('1.75')
+    bindgen_command.append('--no-derive-copy')
+    bindgen_command.append('--allowlist-type')
+    bindgen_command.append('rcl_.*')
+    bindgen_command.append('--allowlist-type')
+    bindgen_command.append('rmw_.*')
+    bindgen_command.append('--allowlist-type')
+    bindgen_command.append('rcutils_.*')
+    bindgen_command.append('--allowlist-type')
+    bindgen_command.append('rosidl_.*')
+    bindgen_command.append('--allowlist-function')
+    bindgen_command.append('rcl_.*')
+    bindgen_command.append('--allowlist-function')
+    bindgen_command.append('rmw_.*')
+    bindgen_command.append('--allowlist-function')
+    bindgen_command.append('rcutils_.*')
+    bindgen_command.append('--allowlist-function')
+    bindgen_command.append('rosidl_.*')
+    bindgen_command.append('--allowlist-var')
+    bindgen_command.append('rcl_.*')
+    bindgen_command.append('--allowlist-var')
+    bindgen_command.append('rmw_.*')
+    bindgen_command.append('--allowlist-var')
+    bindgen_command.append('rcutils_.*')
+    bindgen_command.append('--allowlist-var')
+    bindgen_command.append('rosidl_.*')
+    bindgen_command.append('--no-layout-tests')
+    bindgen_command.append('--default-enum-style')
+    bindgen_command.append('rust')
+    bindgen_command.append('--')
+    for package, prefix in ament_index_python.get_packages_with_prefixes().items():
+        package_include_dir = os.path.join(prefix, 'include', package)
+        if os.path.isdir(package_include_dir):
+            bindgen_command.append('-isystem')
+            bindgen_command.append(package_include_dir)
+    subprocess.run(bindgen_command)
+
+if __name__ == "__main__":
+    main()