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Use latest stable Rust CI + Fix Test Errors (#420)
* Use latest stable Rust CI Signed-off-by: Michael X. Grey <[email protected]> * Fix quotation in doc Signed-off-by: Michael X. Grey <[email protected]> * Fix serde feature for vendored messages Signed-off-by: Michael X. Grey <[email protected]> * Fix formatting of lists in docs Signed-off-by: Michael X. Grey <[email protected]> * Update minimum supported Rust version based on the currently used language features Signed-off-by: Michael X. Grey <[email protected]> * Conform to clippy style guide Signed-off-by: Michael X. Grey <[email protected]> * Add rust toolchain as a matrix dimension Signed-off-by: Michael X. Grey <[email protected]> * Bump declaration of minimum supported rust version Signed-off-by: Michael X. Grey <[email protected]> * Limit the scheduled runs to once a week Signed-off-by: Michael X. Grey <[email protected]> * Define separate stable and minimal workflows because matrix does not work with reusable actions Signed-off-by: Michael X. Grey <[email protected]> * Reduce minimum version to 1.75 to target Noble Signed-off-by: Michael X. Grey <[email protected]> --------- Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]>
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‎.github/workflows/rust.yml renamed to ‎.github/workflows/rust-minimal.yml

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name: Rust
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name: Rust Minimal
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on:
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push:
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branches: [ main ]
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pull_request:
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branches: [ main ]
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schedule:
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- cron: '0 0 * * *'
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# Run the CI at 02:22 UTC every Tuesday
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# We pick an arbitrary time outside of most of the world's work hours
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# to minimize the likelihood of running alongside a heavy workload.
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- cron: '22 2 * * 2'
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env:
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CARGO_TERM_COLOR: always
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use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
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- name: Setup Rust
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uses: dtolnay/rust-toolchain@1.74.0
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uses: dtolnay/rust-toolchain@1.75
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with:
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components: clippy, rustfmt
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‎.github/workflows/rust-stable.yml

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name: Rust Stable
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on:
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push:
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branches: [ main ]
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pull_request:
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branches: [ main ]
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schedule:
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# Run the CI at 02:22 UTC every Tuesday
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# We pick an arbitrary time outside of most of the world's work hours
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# to minimize the likelihood of running alongside a heavy workload.
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- cron: '22 2 * * 2'
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env:
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CARGO_TERM_COLOR: always
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jobs:
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build:
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strategy:
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matrix:
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ros_distribution:
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- humble
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- iron
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- rolling
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include:
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# Humble Hawksbill (May 2022 - May 2027)
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- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
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ros_distribution: humble
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ros_version: 2
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# Iron Irwini (May 2023 - November 2024)
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- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
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ros_distribution: iron
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ros_version: 2
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# Rolling Ridley (June 2020 - Present)
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- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
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ros_distribution: rolling
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ros_version: 2
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runs-on: ubuntu-latest
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continue-on-error: ${{ matrix.ros_distribution == 'rolling' }}
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container:
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image: ${{ matrix.docker_image }}
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steps:
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- uses: actions/checkout@v4
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- name: Search packages in this repository
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id: list_packages
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run: |
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echo ::set-output name=package_list::$(colcon list --names-only)
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- name: Setup ROS environment
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uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
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- name: Setup Rust
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uses: dtolnay/rust-toolchain@stable
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with:
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components: clippy, rustfmt
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- name: Install colcon-cargo and colcon-ros-cargo
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run: |
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sudo pip3 install git+https://github.com/colcon/colcon-cargo.git
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sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git
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- name: Check formatting of Rust packages
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run: |
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for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
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cd $path
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rustup toolchain install nightly
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cargo +nightly fmt -- --check
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cd -
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done
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- name: Install cargo-ament-build
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run: |
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cargo install --debug cargo-ament-build
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- name: Build and test
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id: build
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uses: ros-tooling/[email protected]
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with:
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package-name: ${{ steps.list_packages.outputs.package_list }}
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target-ros2-distro: ${{ matrix.ros_distribution }}
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vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos
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- name: Run clippy on Rust packages
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run: |
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cd ${{ steps.build.outputs.ros-workspace-directory-name }}
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. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
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for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
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cd $path
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echo "Running clippy in $path"
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# Run clippy for all features except generate_docs (needed for docs.rs)
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if [ "$(basename $path)" = "rclrs" ]; then
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cargo clippy --all-targets -F default,dyn_msg -- -D warnings
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else
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cargo clippy --all-targets --all-features -- -D warnings
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fi
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cd -
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done
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- name: Run cargo test on Rust packages
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run: |
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cd ${{ steps.build.outputs.ros-workspace-directory-name }}
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. install/setup.sh
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for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
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cd $path
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echo "Running cargo test in $path"
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# Run cargo test for all features except generate_docs (needed for docs.rs)
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if [ "$(basename $path)" = "rclrs" ]; then
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cargo test -F default,dyn_msg
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elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
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cargo test -F default
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else
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cargo test --all-features
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fi
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cd -
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done
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- name: Rustdoc check
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run: |
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cd ${{ steps.build.outputs.ros-workspace-directory-name }}
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. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
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for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
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cd $path
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echo "Running rustdoc check in $path"
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cargo rustdoc -- -D warnings
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cd -
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done

‎rclrs/Cargo.toml

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edition = "2021"
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license = "Apache-2.0"
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description = "A ROS 2 client library for developing robotics applications in Rust"
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rust-version = "1.63"
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rust-version = "1.75"
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[lib]
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path = "src/lib.rs"
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# Needed for the Message trait, among others
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rosidl_runtime_rs = "0.4"
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# Needed for serliazation and deserialization of vendored messages
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serde = { version = "1", optional = true, features = ["derive"] }
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serde-big-array = { version = "0.5.1", optional = true }
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[dev-dependencies]
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# Needed for e.g. writing yaml files in tests
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tempfile = "3.3.0"
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[features]
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default = []
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dyn_msg = ["ament_rs", "libloading"]
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serde = ["dep:serde", "dep:serde-big-array", "rosidl_runtime_rs/serde"]
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# This feature is solely for the purpose of being able to generate documetation without a ROS installation
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# The only intended usage of this feature is for docs.rs builders to work, and is not intended to be used by end users
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generate_docs = ["rosidl_runtime_rs/generate_docs"]

‎rclrs/src/parameter.rs

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// Among the most relevant ones:
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//
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// * Parameter declaration returns an object which will be the main accessor to the parameter,
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// providing getters and, except for read only parameters, setters. Object destruction will
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// undeclare the parameter.
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// providing getters and, except for read only parameters, setters. Object destruction will
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// undeclare the parameter.
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// * Declaration uses a builder pattern to specify ranges, description, human readable constraints
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// instead of an ParameterDescriptor argument.
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// instead of an ParameterDescriptor argument.
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// * Parameters properties of read only and dynamic are embedded in their type rather than being a
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// boolean parameter.
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// boolean parameter.
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// * There are no runtime exceptions for common cases such as undeclared parameter, already
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// declared, or uninitialized.
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// declared, or uninitialized.
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// * There is no "parameter not set" type, users can instead decide to have a `Mandatory` parameter
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// that must always have a value or `Optional` parameter that can be unset.
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// that must always have a value or `Optional` parameter that can be unset.
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// * Explicit API for access to undeclared parameters by having a
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// `node.use_undeclared_parameters()` API that allows access to all parameters.
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// `node.use_undeclared_parameters()` API that allows access to all parameters.
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#[derive(Clone, Debug)]
4242
struct ParameterOptionsStorage {
@@ -701,9 +701,9 @@ impl<'a> Parameters<'a> {
701701
/// Returns:
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/// * `Ok(())` if setting was successful.
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/// * [`Err(DeclarationError::TypeMismatch)`] if the type of the requested value is different
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/// from the parameter's type.
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/// from the parameter's type.
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/// * [`Err(DeclarationError::OutOfRange)`] if the requested value is out of the parameter's
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/// range.
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/// range.
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/// * [`Err(DeclarationError::ReadOnly)`] if the parameter is read only.
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pub fn set<T: ParameterVariant>(
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&self,

‎rclrs/src/parameter/range.rs

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/// Usually only one of these ranges will be applied, but all have to be stored since:
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///
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/// * A dynamic parameter can change its type at runtime, in which case a different range could be
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/// applied.
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/// applied.
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/// * Introspection through service calls requires all the ranges to be reported to the user.
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#[derive(Clone, Debug, Default)]
3838
pub struct ParameterRanges {

‎rclrs/src/subscription.rs

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}
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fn execute(&self) -> Result<(), RclrsError> {
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// Immediately evaluated closure, to handle SubscriptionTakeFailed
276-
// outside this match
277-
match (|| {
275+
let evaluate = || {
278276
match &mut *self.callback.lock().unwrap() {
279277
AnySubscriptionCallback::Regular(cb) => {
280278
let (msg, _) = self.take()?;
@@ -302,7 +300,11 @@ where
302300
}
303301
}
304302
Ok(())
305-
})() {
303+
};
304+
305+
// Immediately evaluated closure, to handle SubscriptionTakeFailed
306+
// outside this match
307+
match evaluate() {
306308
Err(RclrsError::RclError {
307309
code: RclReturnCode::SubscriptionTakeFailed,
308310
..

‎rclrs/src/subscription/message_info.rs

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55
/// An identifier for a publisher in the local context.
66
///
7-
/// To quote the `rmw` documentation:
7+
/// To quote the [`rmw` documentation][1]:
88
///
99
/// > The identifier uniquely identifies the publisher for the local context, but
10-
/// it will not necessarily be the same identifier given in other contexts or processes
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/// for the same publisher.
12-
/// Therefore the identifier will uniquely identify the publisher within your application
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/// but may disagree about the identifier for that publisher when compared to another
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/// application.
15-
/// Even with this limitation, when combined with the publisher sequence number it can
16-
/// uniquely identify a message within your local context.
17-
/// Publisher GIDs generated by the RMW implementation could collide at some point, in which
18-
/// case it is not possible to distinguish which publisher sent the message.
19-
/// The details of how GIDs are generated are RMW implementation dependent.
20-
///
10+
/// > it will not necessarily be the same identifier given in other contexts or processes
11+
/// > for the same publisher.
12+
/// > Therefore the identifier will uniquely identify the publisher within your application
13+
/// > but may disagree about the identifier for that publisher when compared to another
14+
/// > application.
15+
/// > Even with this limitation, when combined with the publisher sequence number it can
16+
/// > uniquely identify a message within your local context.
17+
/// > Publisher GIDs generated by the RMW implementation could collide at some point, in which
18+
/// > case it is not possible to distinguish which publisher sent the message.
19+
/// > The details of how GIDs are generated are RMW implementation dependent.
20+
/// >
2121
/// > It is possible the the RMW implementation needs to reuse a publisher GID,
22-
/// due to running out of unique identifiers or some other constraint, in which case
23-
/// the RMW implementation may document what happens in that case, but that
24-
/// behavior is not defined here.
25-
/// However, this should be avoided, if at all possible, by the RMW implementation,
26-
/// and should be unlikely to happen in practice.
22+
/// > due to running out of unique identifiers or some other constraint, in which case
23+
/// > the RMW implementation may document what happens in that case, but that
24+
/// > behavior is not defined here.
25+
/// > However, this should be avoided, if at all possible, by the RMW implementation,
26+
/// > and should be unlikely to happen in practice.
27+
///
28+
/// [1]: https://docs.ros.org/en/rolling/p/rmw/generated/structrmw__message__info__s.html#_CPPv4N18rmw_message_info_s13publisher_gidE
2729
#[derive(Clone, Debug, PartialEq, Eq)]
2830
pub struct PublisherGid {
2931
/// Bytes identifying a publisher in the RMW implementation.

‎rclrs/src/wait.rs

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329329
///
330330
/// - Passing a wait set with no wait-able items in it will return an error.
331331
/// - The timeout must not be so large so as to overflow an `i64` with its nanosecond
332-
/// representation, or an error will occur.
332+
/// representation, or an error will occur.
333333
///
334334
/// This list is not comprehensive, since further errors may occur in the `rmw` or `rcl` layers.
335335
///

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