Move examples to separate repo

.github/workflows/rust.yml

@@ -0,0 +1,115 @@
+name: Rust
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        ros_distribution:
+          - foxy
+          - galactic
+          - humble
+          - rolling
+        include:
+          # Foxy Fitzroy (June 2020 - May 2023)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
+            ros_distribution: foxy
+            ros_version: 2
+          # Galactic Geochelone (May 2021 - November 2022)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
+            ros_distribution: galactic
+            ros_version: 2
+          # 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
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+    runs-on: ubuntu-latest
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Search packages in this repository
+      id: list_packages
+      run: |
+        echo ::set-output name=package_list::$(colcon list --names-only)
+
+    - name: Setup ROS environment
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+
+    - name: Setup Rust
+      uses: dtolnay/[email protected]
+      with:
+        components: clippy, rustfmt
+
+    - name: Install colcon-cargo and colcon-ros-cargo
+      run: |
+        sudo pip3 install git+https://github.com/colcon/colcon-cargo.git
+        sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git
+
+    - name: Check formatting of Rust packages
+      run: |
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
+        cd $path
+        cargo fmt -- --check
+        cd -
+        done
+
+    - name: Install cargo-ament-build
+      run: |
+        cargo install --debug cargo-ament-build
+
+    - name: Build and test
+      id: build
+      uses: ros-tooling/[email protected]
+      with:
+        package-name: ${{ steps.list_packages.outputs.package_list }}
+        target-ros2-distro: ${{ matrix.ros_distribution }}
+        vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos
+
+    - name: Run clippy on Rust packages
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
+        cd $path
+        echo "Running clippy in $path"
+        cargo clippy --all-targets --all-features -- -D warnings
+        cd -
+        done
+
+    - name: Run cargo test on Rust packages
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        . install/setup.sh
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" { print $2 }'); do
+        cd $path
+        echo "Running cargo test in $path"
+        cargo test --all-features
+        cd -
+        done
+
+    - name: Rustdoc check
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" { print $2 }'); do
+        cd $path
+        echo "Running rustdoc check in $path"
+        cargo rustdoc -- -D warnings
+        cd -
+        done

message_demo/Cargo.toml

@@ -0,0 +1,25 @@
+[package]
+name = "examples_rclrs_message_demo"
+version = "0.3.0"
+authors = ["Nikolai Morin <[email protected]>"]
+edition = "2021"
+
+[[bin]]
+name = "message_demo"
+path = "src/message_demo.rs"
+
+[dependencies]
+anyhow = {version = "1", features = ["backtrace"]}
+
+[dependencies.rclrs]
+version = "0.3"
+
+[dependencies.rosidl_runtime_rs]
+version = "0.3"
+
+[dependencies.rclrs_example_msgs]
+version = "0.3"
+features = ["serde"]
+
+[dependencies.serde_json]
+version = "1.0"

message_demo/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>examples_rclrs_message_demo</name>
+  <version>0.3.0</version>
+  <description>Package containing an example of message-related functionality in rclrs.</description>
+  <maintainer email="[email protected]">Nikolai Morin</maintainer>
+  <license>Apache License 2.0</license>
+
+  <build_depend>rclrs</build_depend>
+  <build_depend>rosidl_runtime_rs</build_depend>
+  <build_depend>rclrs_example_msgs</build_depend>
+
+  <exec_depend>rclrs</exec_depend>
+  <exec_depend>rosidl_runtime_rs</exec_depend>
+  <exec_depend>rclrs_example_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>

message_demo/src/message_demo.rs

@@ -0,0 +1,177 @@
+use std::convert::TryInto;
+use std::env;
+
+use anyhow::{Error, Result};
+use rosidl_runtime_rs::{seq, BoundedSequence, Message, Sequence};
+
+fn check_default_values() {
+    let msg = rclrs_example_msgs::msg::rmw::VariousTypes::default();
+    assert!(msg.bool_member);
+    assert_eq!(msg.int8_member, 1i8);
+    assert_eq!(msg.uint8_member, 2u8);
+    assert_eq!(msg.byte_member, 3u8);
+    assert_eq!(msg.float32_member, 1e-2f32);
+    assert_eq!(msg.float_array, [1.0, 2.0, 3.0]);
+    assert_eq!(msg.float_seq_bounded, seq![3 # 4.0, 5.0]);
+    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_wstring_member.to_string(), "äöü");
+    assert_eq!(
+        msg.string_array.clone().map(|s| s.to_string()),
+        ["R", "O", "S", "2"].map(String::from)
+    );
+    assert_eq!(
+        msg.string_seq_bounded,
+        seq![4 # "R".into(), "O".into(), "S".into(), "2".into()]
+    );
+    assert_eq!(
+        msg.string_seq_unbounded,
+        seq!["R".into(), "O".into(), "S".into(), "2".into()]
+    );
+    assert_eq!(
+        msg.bounded_string_array.clone().map(|s| s.to_string()),
+        ["R", "O", "S", "2"].map(String::from)
+    );
+    assert_eq!(
+        msg.bounded_string_seq_bounded,
+        ["R", "O", "S", "2"]
+            .into_iter()
+            .map(|s| s.try_into().unwrap())
+            .collect()
+    );
+    assert_eq!(
+        msg.bounded_string_seq_unbounded,
+        ["R", "O", "S", "2"]
+            .into_iter()
+            .map(|s| s.try_into().unwrap())
+            .collect()
+    );
+    assert_eq!(msg.nested_member.effect.to_string(), "discombobulate");
+    assert_eq!(
+        msg.nested_array,
+        [msg.nested_member.clone(), msg.nested_member.clone()]
+    );
+    assert_eq!(msg.nested_seq_bounded, seq![3 #]);
+    assert_eq!(msg.nested_seq_unbounded, seq![]);
+
+    // The default instance for the idiomatic type also has the defaults set
+    let idiomatic_msg = rclrs_example_msgs::msg::VariousTypes::default();
+    assert_eq!(
+        rclrs_example_msgs::msg::VariousTypes::into_rmw_message(std::borrow::Cow::Owned(
+            idiomatic_msg
+        ))
+        .into_owned(),
+        msg
+    );
+}
+
+fn demonstrate_printing() {
+    let default_msg = rclrs_example_msgs::msg::VariousTypes::default();
+    println!("================== Compact debug representation ==================");
+    println!("{:?}", default_msg);
+    println!("================== Pretty debug representation ===================");
+    println!("{:#?}", default_msg);
+    // The RMW-native message type has the same output
+    let default_rmw_msg = rclrs_example_msgs::msg::rmw::VariousTypes::default();
+    assert_eq!(
+        format!("{:?}", default_msg),
+        format!("{:?}", default_rmw_msg)
+    );
+    assert_eq!(
+        format!("{:#?}", default_msg),
+        format!("{:#?}", default_rmw_msg)
+    );
+}
+
+fn demonstrate_serde() -> Result<(), Error> {
+    // When the serde feature is turned on, messages are able to be serialized
+    // to and deserialized from a variety of formats. Here JSON is used as an
+    // example.
+    // Works with RMW-native and idiomatic messages.
+    let idiomatic_msg = rclrs_example_msgs::msg::VariousTypes::default();
+    let rmw_msg = rclrs_example_msgs::msg::rmw::VariousTypes::default();
+    println!("================= JSON serialization with Serde ==================");
+    let idiomatic_serialized = serde_json::to_string_pretty(&idiomatic_msg)?;
+    let rmw_serialized = serde_json::to_string_pretty(&rmw_msg)?;
+    assert_eq!(idiomatic_serialized, rmw_serialized);
+    println!("{}", rmw_serialized);
+    let idiomatic_deserialized = serde_json::from_str(&idiomatic_serialized)?;
+    let rmw_deserialized = serde_json::from_str(&rmw_serialized)?;
+    assert_eq!(idiomatic_msg, idiomatic_deserialized);
+    assert_eq!(rmw_msg, rmw_deserialized);
+    Ok(())
+}
+
+fn demonstrate_sequences() {
+    // Convenient creation of (bounded) sequences with the seq! macro
+    // This one has three items and a length bound of 5
+    let mut float_seq_bounded = seq![5 # 1.0, 2.0, 3.0];
+    // Sequences and bounded sequences have iter(), iter_mut(), and into_iter()
+    float_seq_bounded
+        .iter_mut()
+        .for_each(|n: &mut f32| *n += 1.0);
+    let float_vec_1: Vec<_> = float_seq_bounded.iter().copied().collect();
+    let float_vec_2: Vec<_> = float_seq_bounded.into_iter().collect();
+    assert_eq!(float_vec_1, float_vec_2);
+    // Sequences also implement FromIterator.
+    let mut int_seq_unbounded: Sequence<i32> = [42; 4].into_iter().collect();
+    // Bounded sequences will ignore remaining items once the length bound is reached
+    let mut int_seq_bounded: BoundedSequence<i32, 3> = [42; 4].into_iter().collect();
+    // Sequences deref to slices
+    int_seq_bounded[2] = 24;
+    assert_eq!(int_seq_bounded.last(), Some(&24));
+    int_seq_unbounded[2..].copy_from_slice(&int_seq_bounded[1..]);
+    // New sequences will contain default values – and 0 for primitive types
+    let seq_with_default_values = Sequence::<rclrs_example_msgs::msg::rmw::NestedType>::new(1);
+    assert_eq!(seq_with_default_values[0].effect, "discombobulate".into());
+}
+
+fn demonstrate_pubsub() -> Result<(), Error> {
+    println!("================== Interoperability demo ==================");
+    // Demonstrate interoperability between idiomatic and RMW-native message types
+    let context = rclrs::Context::new(env::args())?;
+    let mut node = rclrs::create_node(&context, "message_demo")?;
+
+    let idiomatic_publisher = node.create_publisher::<rclrs_example_msgs::msg::VariousTypes>(
+        "topic",
+        rclrs::QOS_PROFILE_DEFAULT,
+    )?;
+    let direct_publisher = node.create_publisher::<rclrs_example_msgs::msg::rmw::VariousTypes>(
+        "topic",
+        rclrs::QOS_PROFILE_DEFAULT,
+    )?;
+
+    let _idiomatic_subscription = node
+        .create_subscription::<rclrs_example_msgs::msg::VariousTypes, _>(
+            "topic",
+            rclrs::QOS_PROFILE_DEFAULT,
+            move |_msg: rclrs_example_msgs::msg::VariousTypes| println!("Got idiomatic message!"),
+        )?;
+    let _direct_subscription = node
+        .create_subscription::<rclrs_example_msgs::msg::rmw::VariousTypes, _>(
+            "topic",
+            rclrs::QOS_PROFILE_DEFAULT,
+            move |_msg: rclrs_example_msgs::msg::rmw::VariousTypes| {
+                println!("Got RMW-native message!")
+            },
+        )?;
+    println!("Sending idiomatic message.");
+    idiomatic_publisher.publish(rclrs_example_msgs::msg::VariousTypes::default())?;
+    rclrs::spin_once(&node, None)?;
+    println!("Sending RMW-native message.");
+    direct_publisher.publish(rclrs_example_msgs::msg::rmw::VariousTypes::default())?;
+    rclrs::spin_once(&node, None)?;
+
+    Ok(())
+}
+
+fn main() -> Result<(), Error> {
+    check_default_values();
+    demonstrate_printing();
+    demonstrate_serde()?;
+    demonstrate_sequences();
+    demonstrate_pubsub()?;
+    Ok(())
+}

minimal_client_service/Cargo.toml

@@ -0,0 +1,30 @@
+[package]
+name = "examples_rclrs_minimal_client_service"
+version = "0.3.0"
+authors = ["Esteve Fernandez <[email protected]>"]
+edition = "2021"
+
+[[bin]]
+name = "minimal_client"
+path = "src/minimal_client.rs"
+
+[[bin]]
+name = "minimal_client_async"
+path = "src/minimal_client_async.rs"
+
+[[bin]]
+name = "minimal_service"
+path = "src/minimal_service.rs"
+
+[dependencies]
+anyhow = {version = "1", features = ["backtrace"]}
+tokio = { version = "1", features = ["macros", "rt", "rt-multi-thread", "time"] }
+
+[dependencies.rclrs]
+version = "0.3"
+
+[dependencies.rosidl_runtime_rs]
+version = "0.3"
+
+[dependencies.example_interfaces]
+version = "*"

minimal_client_service/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>examples_rclrs_minimal_client_service</name>
+  <version>0.3.0</version>
+  <description>Package containing an example of the client-service mechanism in rclrs.</description>
+  <maintainer email="[email protected]">Esteve Fernandez</maintainer>
+  <license>Apache License 2.0</license>
+
+  <build_depend>example_interfaces</build_depend>
+  <build_depend>rclrs</build_depend>
+  <build_depend>rosidl_runtime_rs</build_depend>
+
+  <exec_depend>example_interfaces</exec_depend>
+  <exec_depend>rclrs</exec_depend>
+  <exec_depend>rosidl_runtime_rs</exec_depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>