Add Native ROS2 Rust Package Create Capability

ros2pkg/ros2pkg/api/create.py

@@ -33,22 +33,22 @@ def _expand_template(template_file, data, output_file):
     output = StringIO()
     if em_has_configuration:
         config = Configuration(
-            defaultStdout=output,
-            deleteOnError=True,
-            rawErrors=True,
-            useProxy=True)
+                defaultStdout=output,
+                deleteOnError=True,
+                rawErrors=True,
+                useProxy=True)
         interpreter = em.Interpreter(
-            config=config,
-            dispatcher=False,
-            globals=data)
+                config=config,
+                dispatcher=False,
+                globals=data)
     else:
         interpreter = em.Interpreter(
-            output=output,
-            options={
-                em.BUFFERED_OPT: True,
-                em.RAW_OPT: True,
-            },
-            globals=data)
+                output=output,
+                options={
+                    em.BUFFERED_OPT: True,
+                    em.RAW_OPT: True,
+                    },
+                globals=data)
 
     with open(template_file, 'r') as h:
         try:
@@ -84,8 +84,8 @@ def _create_folder(folder_name, base_directory, exist_ok=True):
 
 
 def _create_template_file(
-    template_subdir, template_file_name, output_directory, output_file_name, template_config
-):
+        template_subdir, template_file_name, output_directory, output_file_name, template_config
+        ):
     full_package = 'ros2pkg.resource.' + template_subdir
     with importlib_resources.path(full_package, template_file_name) as path:
         template_path = str(path)
@@ -102,30 +102,33 @@ def create_package_environment(package, destination_directory):
     package_directory = _create_folder(package.name, destination_directory)
 
     package_xml_config = {
-        'package_format': package.package_format,
-        'package_name': package.name,
-        'package_description': package.description,
-        'maintainer_email': package.maintainers[0].email,
-        'maintainer_name': package.maintainers[0].name,
-        'package_license': package.licenses[0],
-        'buildtool_dependencies': package.buildtool_depends,
-        'dependencies': package.build_depends,
-        'test_dependencies': package.test_depends,
-        'exports': package.exports,
-    }
+            'package_format': package.package_format,
+            'package_name': package.name,
+            'package_description': package.description,
+            'maintainer_email': package.maintainers[0].email,
+            'maintainer_name': package.maintainers[0].name,
+            'package_license': package.licenses[0],
+            'buildtool_dependencies': package.buildtool_depends,
+            'dependencies': package.build_depends,
+            'test_dependencies': package.test_depends,
+            'exports': package.exports,
+            }
     _create_template_file(
-        'package_environment',
-        'package.xml.em',
-        package_directory,
-        'package.xml',
-        package_xml_config)
+            'package_environment',
+            'package.xml.em',
+            package_directory,
+            'package.xml',
+            package_xml_config)
 
     source_directory = None
     include_directory = None
     if package.get_build_type() == 'cmake' or package.get_build_type() == 'ament_cmake':
         print('creating source and include folder')
         source_directory = _create_folder('src', package_directory)
         include_directory = _create_folder(package.name, package_directory + os.sep + 'include')
+    if package.get_build_type() == 'ament_cargo':
+        print('creating source folder')
+        source_directory = _create_folder('src', package_directory)
     if package.get_build_type() == 'ament_python':
         print('creating source folder')
         source_directory = _create_folder(package.name, package_directory)
@@ -135,14 +138,14 @@ def create_package_environment(package, destination_directory):
 
 def populate_ament_python(package, package_directory, source_directory, python_node_name):
     setup_py_config = {
-        'project_name': package.name,
-        'maintainer_email': package.maintainers[0].email,
-        'maintainer_name': package.maintainers[0].name,
-        'package_license': package.licenses[0],
-        'node_name': python_node_name,
-        'test_dependencies': package.test_depends,
-        'package_description': package.description
-    }
+            'project_name': package.name,
+            'maintainer_email': package.maintainers[0].email,
+            'maintainer_name': package.maintainers[0].name,
+            'package_license': package.licenses[0],
+            'node_name': python_node_name,
+            'test_dependencies': package.test_depends,
+            'package_description': package.description
+            }
 
     _create_template_file('ament_python',
                           'setup.py.em',
@@ -195,8 +198,8 @@ def populate_ament_python(package, package_directory, source_directory, python_n
 
 def populate_python_node(package, source_directory, python_node_name):
     main_py_config = {
-        'project_name': package.name
-    }
+            'project_name': package.name
+            }
     _create_template_file('ament_python',
                           'main.py.em',
                           source_directory,
@@ -215,101 +218,134 @@ def populate_python_libary(package, source_directory, python_library_name):
 
 def populate_cmake(package, package_directory, cpp_node_name, cpp_library_name):
     cmakelists_config = {
-        'project_name': package.name,
-        'dependencies': [str(dep) for dep in package.build_depends],
-        'cpp_node_name': cpp_node_name,
-        'cpp_library_name': cpp_library_name,
-    }
+            'project_name': package.name,
+            'dependencies': [str(dep) for dep in package.build_depends],
+            'cpp_node_name': cpp_node_name,
+            'cpp_library_name': cpp_library_name,
+            }
     _create_template_file(
-        'cmake',
-        'CMakeLists.txt.em',
-        package_directory,
-        'CMakeLists.txt',
-        cmakelists_config)
+            'cmake',
+            'CMakeLists.txt.em',
+            package_directory,
+            'CMakeLists.txt',
+            cmakelists_config)
 
     cmake_config = {
-        'project_name': package.name,
-        'cpp_library_name': cpp_library_name,
-        'cpp_node_name': cpp_node_name,
-    }
+            'project_name': package.name,
+            'cpp_library_name': cpp_library_name,
+            'cpp_node_name': cpp_node_name,
+            }
     _create_template_file(
-        'cmake',
-        'Config.cmake.in.em',
-        package_directory,
-        package.name + 'Config.cmake.in',
-        cmake_config)
+            'cmake',
+            'Config.cmake.in.em',
+            package_directory,
+            package.name + 'Config.cmake.in',
+            cmake_config)
 
     version_config = {
-        'project_name': package.name,
-    }
+            'project_name': package.name,
+            }
     _create_template_file(
-        'cmake',
-        'ConfigVersion.cmake.in.em',
-        package_directory,
-        package.name + 'ConfigVersion.cmake.in',
-        version_config)
+            'cmake',
+            'ConfigVersion.cmake.in.em',
+            package_directory,
+            package.name + 'ConfigVersion.cmake.in',
+            version_config)
 
 
 def populate_ament_cmake(package, package_directory, cpp_node_name, cpp_library_name):
     cmakelists_config = {
-        'project_name': package.name,
-        'dependencies': [str(dep) for dep in package.build_depends],
-        'cpp_node_name': cpp_node_name,
-        'cpp_library_name': cpp_library_name,
-    }
+            'project_name': package.name,
+            'dependencies': [str(dep) for dep in package.build_depends],
+            'cpp_node_name': cpp_node_name,
+            'cpp_library_name': cpp_library_name,
+            }
     _create_template_file(
-        'ament_cmake',
-        'CMakeLists.txt.em',
-        package_directory,
-        'CMakeLists.txt',
-        cmakelists_config)
+            'ament_cmake',
+            'CMakeLists.txt.em',
+            package_directory,
+            'CMakeLists.txt',
+            cmakelists_config)
 
 
 def populate_cpp_node(package, source_directory, cpp_node_name):
     cpp_node_config = {
-        'package_name': package.name,
-    }
+            'package_name': package.name,
+            }
     _create_template_file(
-        'cpp',
-        'main.cpp.em',
-        source_directory,
-        cpp_node_name + '.cpp',
-        cpp_node_config)
+            'cpp',
+            'main.cpp.em',
+            source_directory,
+            cpp_node_name + '.cpp',
+            cpp_node_config)
 
 
 def populate_cpp_library(package, source_directory, include_directory, cpp_library_name):
     class_name = cpp_library_name.replace('_', ' ').title()
     class_name = ''.join(x for x in class_name if not x.isspace())
     cpp_header_config = {
-        'package_name': package.name,
-        'library_name': cpp_library_name,
-        'class_name': class_name,
-    }
+            'package_name': package.name,
+            'library_name': cpp_library_name,
+            'class_name': class_name,
+            }
     _create_template_file(
-        'cpp',
-        'header.hpp.em',
-        include_directory,
-        cpp_library_name + '.hpp',
-        cpp_header_config)
+            'cpp',
+            'header.hpp.em',
+            include_directory,
+            cpp_library_name + '.hpp',
+            cpp_header_config)
 
     cpp_library_config = {
-        'package_name': package.name,
-        'library_name': cpp_library_name,
-        'class_name': class_name
-    }
+            'package_name': package.name,
+            'library_name': cpp_library_name,
+            'class_name': class_name
+            }
     _create_template_file(
-        'cpp',
-        'library.cpp.em',
-        source_directory,
-        cpp_library_name + '.cpp',
-        cpp_library_config)
+            'cpp',
+            'library.cpp.em',
+            source_directory,
+            cpp_library_name + '.cpp',
+            cpp_library_config)
 
     visibility_config = {
-        'package_name': package.name.upper(),
-    }
+            'package_name': package.name.upper(),
+            }
+    _create_template_file(
+            'cpp',
+            'visibility_control.h.em',
+            include_directory,
+            'visibility_control.h',
+            visibility_config)
+
+
+def populate_ament_cargo(package, package_directory, cargo_library_name):
+    cargo_toml_config = {
+            'project_name': package.name,
+            'dependencies': [str(dep) for dep in package.build_depends],
+            'cargo_library_name': cargo_library_name,
+            'maintainer_email': package.maintainers[0].email,
+            'maintainer_name': package.maintainers[0].name,
+            }
+    _create_template_file(
+            'ament_cargo',
+            'Cargo.toml.em',
+            package_directory,
+            'Cargo.toml',
+            cargo_toml_config)
+
+
+def populate_rust_node(package, source_directory, node_name):
+    if node_name is None:
+        node_name = f'{package.name}_node'
+
+    cargo_node_config = {
+            'package_name': package.name,
+            'node_name': node_name
+            }
+
     _create_template_file(
-        'cpp',
-        'visibility_control.h.em',
-        include_directory,
-        'visibility_control.h',
-        visibility_config)
+            'rust',
+            'main.rs.em',
+            source_directory,
+            'main.rs',
+            cargo_node_config)

ros2pkg/ros2pkg/resource/ament_cargo/Cargo.toml.em

@@ -0,0 +1,26 @@
+[package]
+name = "@project_name"
+version = "0.0.1"
+authors = ["@maintainer_name <@maintainer_email>"]
+edition = "2021"
+
+[[bin]]
+name = "@project_name"
+path = "src/main.rs"
+
+[dependencies]
+anyhow = {version = "1", features = ["backtrace"]}
+rosidl_runtime_rs = "0.4"
+
+# This specific version is compatible with Rust 1.75
+backtrace = "=0.3.74"
+
+@[if dependencies]@
+@[  for dep in dependencies]@
+@dep = "*"
+@[  end for]@
+@[else]@
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# <dependency> = "*" 
+@[end if]@

ros2pkg/ros2pkg/resource/rust/main.rs.em

@@ -0,0 +1,13 @@
+use anyhow::Result;
+use rclrs::{Context, CreateBasicExecutor, RclrsErrorFilter, SpinOptions};
+
+/// Creates a ROS 2 context and node, prints a hello message,
+/// then spins until shutdown.
+fn main() -> Result<()> {
+    let context: Context = Context::default_from_env()?;
+    let mut executor = context.create_basic_executor();
+    let _node = executor.create_node("@(node_name)")?;
+    println!("Hello from @(package_name) package!");
+    executor.spin(SpinOptions::default()).first_error()?;
+    Ok(())
+}