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fix: let user pass compiler flag to specify the ROS distro #514

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Merged
merged 3 commits into from
Aug 20, 2025
+53 −30
Merged

fix: let user pass compiler flag to specify the ROS distro #514

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b36ab68
fix: let user pass compiler flag to specify the ROS distro
esteve Aug 19, 2025
17d794c
fix: add compiler flag for picking ROS distro for release-plz
esteve Aug 19, 2025
a1e7810
fix: escape compiler flags
esteve Aug 19, 2025
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3 changes: 3 additions & 0 deletions .github/workflows/release-plz.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,9 @@ on:
branches:
- main

env:
RUSTFLAGS: "--cfg ros_distro=\"humble\""

jobs:
release-plz-release:
name: Release-plz release
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4 changes: 2 additions & 2 deletions rclrs/Cargo.toml
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Expand Up @@ -43,10 +43,9 @@ tempfile = "3.3.0"
tokio = { version = "1", features = ["rt", "time", "macros"] }

[build-dependencies]
# Needed for FFI
bindgen = "0.70"
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Is there a reason bindgen was removed?

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It's not used anymore, the bindings are generated via the generate_binding.py script, which invokes the bindgen binary.

# Needed for uploading documentation to docs.rs
cfg-if = "1.0.0"
rustflags = "0.1"

[features]
default = []
Expand All @@ -58,3 +57,4 @@ use_ros_shim = ["rosidl_runtime_rs/use_ros_shim"]

[package.metadata.docs.rs]
features = ["use_ros_shim"]
rustc-args = ["--cfg", "ros_distro=\"humble\""]
35 changes: 22 additions & 13 deletions rclrs/build.rs
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Original file line number Diff line number Diff line change
@@ -1,12 +1,6 @@
use std::{
env,
fs::read_dir,
path::{Path, PathBuf},
};

use std::{env, path::Path};
const AMENT_PREFIX_PATH: &str = "AMENT_PREFIX_PATH";
const ROS_DISTRO: &str = "ROS_DISTRO";
const BINDGEN_WRAPPER: &str = "src/rcl_wrapper.h";

fn get_env_var_or_abort(env_var: &'static str) -> String {
if let Ok(value) = env::var(env_var) {
Expand All @@ -20,22 +14,37 @@ fn get_env_var_or_abort(env_var: &'static str) -> String {
}

fn main() {
println!(
"cargo:rustc-check-cfg=cfg(ros_distro, values(\"{}\"))",
vec!["humble", "jazzy", "kilted", "rolling"].join("\", \"")
);
let ros_distro = if let Ok(value) = env::var(ROS_DISTRO) {
value
} else {
let error_msg =
"ROS_DISTRO environment variable not set - please source ROS 2 installation first.";
use rustflags;
cfg_if::cfg_if! {
if #[cfg(feature="use_ros_shim")] {
println!("{}", error_msg);
return;
// // Look for --cfg ros_distro=<ros_distro>
for flag in rustflags::from_env() {
if matches!(flag, rustflags::Flag::Cfg { ref name, value : _ } if name == "ros_distro") {
if let rustflags::Flag::Cfg {name:_, value: flag_value} = flag {
println!("cargo:rustc-cfg=ros_distro=\"{}\"", flag_value.unwrap());
return;
} else {
continue;
}
}
}
let error_msg =
"When using the use_ros_shim feature, you must pass the ROS distribution you are targeting as a compiler flag with --cfg ros_distro=\"<ros_distro>\"";
panic!("{}", error_msg);
} else {
let error_msg =
"ROS_DISTRO environment variable not set - please source ROS 2 installation first.";
panic!("{}", error_msg);
}
}
};

println!("cargo:rustc-check-cfg=cfg(ros_distro, values(\"humble\", \"jazzy\", \"rolling\"))");
println!("cargo:rustc-cfg=ros_distro=\"{ros_distro}\"");

let ament_prefix_paths = get_env_var_or_abort(AMENT_PREFIX_PATH);
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41 changes: 26 additions & 15 deletions rclrs/src/rcl_bindings.rs
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Expand Up @@ -12,30 +12,41 @@
#![allow(missing_docs)]

cfg_if::cfg_if! {
if #[cfg(feature="use_ros_shim")] {
if #[cfg(ros_distro="humble")] {
include!(
concat!(
env!("CARGO_MANIFEST_DIR"),
"/src/rcl_bindings_generated_",
"rolling", // rolling will always be a valid ROS distro
".rs",
)
);

} else {
"/src/rcl_bindings_generated_humble.rs",
)
);
} else if #[cfg(ros_distro="jazzy")] {
include!(
concat!(
env!("CARGO_MANIFEST_DIR"),
"/src/rcl_bindings_generated_",
env!("ROS_DISTRO"),
".rs",
)
);

pub const RMW_GID_STORAGE_SIZE: usize = rmw_gid_storage_size_constant;
"/src/rcl_bindings_generated_jazzy.rs",
)
);
} else if #[cfg(ros_distro="kilted")] {
include!(
concat!(
env!("CARGO_MANIFEST_DIR"),
"/src/rcl_bindings_generated_kilted.rs",
)
);
} else if #[cfg(ros_distro="rolling")] {
include!(
concat!(
env!("CARGO_MANIFEST_DIR"),
"/src/rcl_bindings_generated_rolling.rs",
)
);
} else {
panic!("Unsupported ROS distribution");
}
}

pub const RMW_GID_STORAGE_SIZE: usize = rmw_gid_storage_size_constant;

/// Wrapper around [`std::slice::from_raw_parts`] that accommodates the rcl
/// convention of providing a null pointer to represent empty arrays. This
/// violates the safety requirements of [`std::slice::from_raw_parts`].
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