Merge branch 'main' into main

.github/workflows/rust-minimal.yml

@@ -45,7 +45,11 @@ jobs:
     - name: Search packages in this repository
       id: list_packages
       run: |
-        echo ::set-output name=package_list::$(colcon list --names-only)
+        {
+          echo 'package_list<<EOF'
+          colcon list --names-only
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
 
     - name: Setup ROS environment
       uses: ros-tooling/[email protected]
@@ -72,10 +76,6 @@ jobs:
         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]
@@ -93,9 +93,9 @@ jobs:
         echo "Running clippy in $path"
         # Run clippy for all features except generate_docs (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --all-targets -F default,dyn_msg -- -D warnings
+          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
         else
-          cargo clippy --all-targets --all-features -- -D warnings
+          cargo clippy --no-deps --all-targets --all-features -- -D warnings
         fi
         cd -
         done

.github/workflows/rust-stable.yml

@@ -45,7 +45,11 @@ jobs:
     - name: Search packages in this repository
       id: list_packages
       run: |
-        echo ::set-output name=package_list::$(colcon list --names-only)
+        {
+          echo 'package_list<<EOF'
+          colcon list --names-only
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
 
     - name: Setup ROS environment
       uses: ros-tooling/[email protected]
@@ -72,10 +76,6 @@ jobs:
         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]
@@ -93,9 +93,9 @@ jobs:
         echo "Running clippy in $path"
         # Run clippy for all features except generate_docs (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --all-targets -F default,dyn_msg -- -D warnings
+          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
         else
-          cargo clippy --all-targets --all-features -- -D warnings
+          cargo clippy --no-deps --all-targets --all-features -- -D warnings
         fi
         cd -
         done

Dockerfile

@@ -27,13 +27,13 @@ RUN apt-get update && apt-get install -y \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Rust and the cargo-ament-build plugin
 
+# Install Rust
 USER $CONTAINER_USER
 WORKDIR /home/${CONTAINER_USER}
 RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.75.0 -y
-ENV PATH="/home/${CONTAINER_USER}/.cargo/bin:$PATH"
-RUN cargo install cargo-ament-build
+ENV PATH=/root/.cargo/bin:$PATH
+
 
 RUN pip install --upgrade pytest 
 

README.md

@@ -1,9 +1,9 @@
 ROS 2 for Rust
 ==============
 
-| Target | Status |
-|----------|--------|
-| **Ubuntu 20.04** | [![Build Status](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust.yml/badge.svg?branch=main)](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust.yml?branch=main) |
+[![Minimal Version Status](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-minimal.yml/badge.svg?branch=main)](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-minimal.yml)
+[![Stable CI Status](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-stable.yml/badge.svg?branch=main)](https://github.com/ros2-rust/ros2_rust/actions/workflows/rust-stable.yml)
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 Introduction
 ------------
@@ -37,7 +37,6 @@ Here are the steps for building the `ros2_rust` examples in a vanilla Ubuntu Foc
 # Assuming you installed the minimal version of ROS 2, you need these additional packages:
 sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
 # Install these plugins for cargo and colcon:
-cargo install --debug cargo-ament-build  # --debug is faster to install
 pip install git+https://github.com/colcon/colcon-cargo.git
 pip install git+https://github.com/colcon/colcon-ros-cargo.git
 

docs/building.md

@@ -43,7 +43,6 @@ The exact steps may differ between platforms, but as an example, here is how you
 # Assuming you installed the minimal version of ROS 2, you need these additional packages:
 sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
 # Install these plugins for cargo and colcon:
-cargo install cargo-ament-build
 pip install git+https://github.com/colcon/colcon-cargo.git
 pip install git+https://github.com/colcon/colcon-ros-cargo.git
 ```

rclrs/src/logging/logging_configuration.rs

@@ -103,7 +103,7 @@ pub(crate) mod log_handler {
         pub(crate) message: Cow<'a, str>,
     }
 
-    impl<'a> LogEntry<'a> {
+    impl LogEntry<'_> {
         /// Change the entry from something borrowed into something owned
         pub(crate) fn into_owned(self) -> LogEntry<'static> {
             LogEntry {
@@ -124,7 +124,7 @@ pub(crate) mod log_handler {
         pub line_number: usize,
     }
 
-    impl<'a> LogLocation<'a> {
+    impl LogLocation<'_> {
         pub(crate) fn into_owned(self) -> LogLocation<'static> {
             LogLocation {
                 function_name: Cow::Owned(self.function_name.into_owned()),

rclrs/src/parameter.rs

@@ -195,7 +195,7 @@ impl<'a, T: ParameterVariant> ParameterBuilder<'a, T> {
     }
 }
 
-impl<'a, T> ParameterBuilder<'a, Arc<[T]>>
+impl<T> ParameterBuilder<'_, Arc<[T]>>
 where
     Arc<[T]>: ParameterVariant,
 {
@@ -206,7 +206,7 @@ where
     }
 }
 
-impl<'a> ParameterBuilder<'a, Arc<[Arc<str>]>> {
+impl ParameterBuilder<'_, Arc<[Arc<str>]>> {
     /// Sets the default for the parameter from a string-like array.
     pub fn default_string_array<U>(mut self, default_value: U) -> Self
     where
@@ -679,7 +679,7 @@ impl std::fmt::Display for DeclarationError {
 
 impl std::error::Error for DeclarationError {}
 
-impl<'a> Parameters<'a> {
+impl Parameters<'_> {
     /// Tries to read a parameter of the requested type.
     ///
     /// Returns `Some(T)` if a parameter of the requested type exists, `None` otherwise.

rclrs/src/publisher/loaned_message.rs

@@ -22,7 +22,7 @@ where
     pub(super) publisher: &'a Publisher<T>,
 }
 
-impl<'a, T> Deref for LoanedMessage<'a, T>
+impl<T> Deref for LoanedMessage<'_, T>
 where
     T: RmwMessage,
 {
@@ -33,7 +33,7 @@ where
     }
 }
 
-impl<'a, T> DerefMut for LoanedMessage<'a, T>
+impl<T> DerefMut for LoanedMessage<'_, T>
 where
     T: RmwMessage,
 {
@@ -43,7 +43,7 @@ where
     }
 }
 
-impl<'a, T> Drop for LoanedMessage<'a, T>
+impl<T> Drop for LoanedMessage<'_, T>
 where
     T: RmwMessage,
 {
@@ -66,11 +66,11 @@ where
 
 // SAFETY: The functions accessing this type, including drop(), shouldn't care about the thread
 // they are running in. Therefore, this type can be safely sent to another thread.
-unsafe impl<'a, T> Send for LoanedMessage<'a, T> where T: RmwMessage {}
+unsafe impl<T> Send for LoanedMessage<'_, T> where T: RmwMessage {}
 // SAFETY: There is no interior mutability in this type. All mutation happens through &mut references.
-unsafe impl<'a, T> Sync for LoanedMessage<'a, T> where T: RmwMessage {}
+unsafe impl<T> Sync for LoanedMessage<'_, T> where T: RmwMessage {}
 
-impl<'a, T> LoanedMessage<'a, T>
+impl<T> LoanedMessage<'_, T>
 where
     T: RmwMessage,
 {

rclrs/src/subscription/readonly_loaned_message.rs

@@ -22,7 +22,7 @@ where
     pub(super) subscription: &'a Subscription<T>,
 }
 
-impl<'a, T> Deref for ReadOnlyLoanedMessage<'a, T>
+impl<T> Deref for ReadOnlyLoanedMessage<'_, T>
 where
     T: Message,
 {
@@ -32,7 +32,7 @@ where
     }
 }
 
-impl<'a, T> Drop for ReadOnlyLoanedMessage<'a, T>
+impl<T> Drop for ReadOnlyLoanedMessage<'_, T>
 where
     T: Message,
 {
@@ -50,9 +50,9 @@ where
 
 // SAFETY: The functions accessing this type, including drop(), shouldn't care about the thread
 // they are running in. Therefore, this type can be safely sent to another thread.
-unsafe impl<'a, T> Send for ReadOnlyLoanedMessage<'a, T> where T: Message {}
+unsafe impl<T> Send for ReadOnlyLoanedMessage<'_, T> where T: Message {}
 // SAFETY: This type has no interior mutability, in fact it has no mutability at all.
-unsafe impl<'a, T> Sync for ReadOnlyLoanedMessage<'a, T> where T: Message {}
+unsafe impl<T> Sync for ReadOnlyLoanedMessage<'_, T> where T: Message {}
 
 #[cfg(test)]
 mod tests {

rosidl_runtime_rs/src/string/serde.rs

@@ -13,7 +13,7 @@ use super::{
 struct StringVisitor;
 struct WStringVisitor;
 
-impl<'de> Visitor<'de> for StringVisitor {
+impl Visitor<'_> for StringVisitor {
     type Value = String;
 
     fn expecting(&self, formatter: &mut fmt::Formatter) -> fmt::Result {

rosidl_runtime_rs/src/traits.rs

@@ -124,10 +124,11 @@ pub trait RmwMessage: Clone + Debug + Default + Send + Sync + Message {
 ///
 /// Memory ownership by C is achieved by calling `init()` when any string or sequence is created,
 /// as well as in the `Default` impl for messages.
+///
 /// User code can still create messages explicitly, which will not call `init()`, but this is not a
-///  problem, since nothing is allocated this way.
+/// problem, since nothing is allocated this way.
+///
 /// The `Drop` impl for any sequence or string will call `fini()`.
-
 pub trait Message: Clone + Debug + Default + 'static + Send + Sync {
     /// The corresponding RMW-native message type.
     type RmwMsg: RmwMessage;