Re-Export Generated Messages in rclrs

.github/workflows/rust-minimal.yml

@@ -69,11 +69,10 @@ jobs:
 
     # Colcon can not be run in a venv which is required in Ubuntu Noble
     # Removing the externally managed file
-    - name: Install colcon-cargo and colcon-ros-cargo
+    - name: Install colcon-cargo
       run: |
         sudo rm -f /usr/lib/python3.12/EXTERNALLY-MANAGED
         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: |

.github/workflows/rust-stable.yml

@@ -69,11 +69,10 @@ jobs:
 
     # Colcon can not be run in a venv which is required in Ubuntu Noble
     # Removing the externally managed file
-    - name: Install colcon-cargo and colcon-ros-cargo
+    - name: Install colcon-cargo
       run: |
         sudo rm -f /usr/lib/python3.12/EXTERNALLY-MANAGED
         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: |

.github/workflows/rust-win.yml

@@ -39,13 +39,12 @@ jobs:
       - name: Install ros2_rust prerequisites 
         # prerequisites and fixes for windows build ros2_rust:
         #     * Libclang has to be added (from the ros2_rust instructions) and the dll has to be renamed
-        #     * colcon-ros-cargo and colcon-cargo have to be added as PyPI packages
+        #     * colcon-cargo has to be added as a PyPI package
         run: |
           pixi add libclang --manifest-path C:\pixi_ws\pixi.toml
           $src = "C:\pixi_ws\.pixi\envs\default\Library\bin\libclang-13.dll"
           $dst = "C:\pixi_ws\.pixi\envs\default\Library\bin\libclang.dll"
           if (Test-Path $src) { Rename-Item -Path $src -NewName "libclang.dll" }
-          pixi add --pypi "colcon-ros-cargo@git+https://github.com/colcon/colcon-ros-cargo.git" --manifest-path C:\pixi_ws\pixi.toml
           pixi add --pypi "colcon-cargo@git+https://github.com/colcon/colcon-cargo.git" --manifest-path C:\pixi_ws\pixi.toml
           pixi upgrade colcon-core --manifest-path C:\pixi_ws\pixi.toml
 

docs/writing-your-first-rclrs-node.md

@@ -44,7 +44,7 @@ Instead, you can store the node as a regular member. Let's add a struct that con
 
 ```rust
 use std::sync::Arc;
-use std_msgs::msg::String as StringMsg;
+use rclrs::std_msgs::msg::String as StringMsg;
 
 struct RepublisherNode {
     node: Arc<rclrs::Node>,
@@ -111,7 +111,7 @@ So, to store the received data in the struct, the following things have to chang
 
 ```rust
 use std::sync::{Arc, Mutex};  // (1)
-use std_msgs::msg::String as StringMsg;
+use rclrs::std_msgs::msg::String as StringMsg;
 
 struct RepublisherNode {
     node: Arc<rclrs::Node>,

docs/writing_a_simple_publisher_and_subscriber.md

@@ -94,7 +94,7 @@ To construct a node, replace the code in your `main.rs` file with the following:
 /// methods to publish a simple "Hello World" message on a loop in separate threads.
 use rclrs::{create_node, Context, Node, Publisher, RclrsError, QOS_PROFILE_DEFAULT};
 use std::{env, sync::Arc, thread, time::Duration};
-use std_msgs::msg::String as StringMsg;
+use rclrs::std_msgs::msg::String as StringMsg;
 /// SimplePublisherNode struct contains node and publisher members.
 /// Used to initialize a ROS 2 node and publisher, and publish messages.
 struct SimplePublisherNode {
@@ -138,7 +138,7 @@ handling, iteration, threading, ROS 2 communication, and string message publishi
 ```rust
 use rclrs::{create_node, Context, Node, Publisher, RclrsError, QOS_PROFILE_DEFAULT};
 use std::{env, sync::Arc, thread, time::Duration};
-use std_msgs::msg::String as StringMsg;
+use rclrs::std_msgs::msg::String as StringMsg;
 ```
 * `use std::{sync::Arc, time::Duration, iter, thread};`: Imports specific features from the standard library: 
     - `Arc` is for thread-safe shared ownership of data. 
@@ -149,7 +149,7 @@ use std_msgs::msg::String as StringMsg;
         - `RclrsError` for handling errors. 
         - `QOS_PROFILE_DEFAULT` for default Quality of Service settings. 
 - `Context, create_node, Node, Publisher` are for ROS 2 node creation and publishing.
-* `use std_msgs::msg::String as StringMsg;`: Imports the `StringMsg` type for publishing string messages.  
+* `use rclrs::std_msgs::msg::String as StringMsg;`: Imports the `StringMsg` type for publishing string messages.  
 
 #### `SimplePublisherNode`
 Next, this structure defines a `SimplePublisherNode` which holds references to a ROS 2 node and a publisher for string messages.
@@ -291,7 +291,7 @@ use std::{
     thread,
     time::Duration,
 };
-use std_msgs::msg::String as StringMsg;
+use rclrs::std_msgs::msg::String as StringMsg;
 pub struct SimpleSubscriptionNode {
     node: Arc<Node>,
     _subscriber: Arc<Subscription<StringMsg>>,

rclrs/Cargo.toml

@@ -65,6 +65,9 @@ tokio = { version = "1", features = ["rt", "time", "macros"] }
 cfg-if = "1.0.0"
 rustflags = "0.1"
 
+# Used to read Cargo.toml dependencies when re-exporting generated crates
+cargo_toml = "0.14"
+
 [features]
 default = []
 dyn_msg = ["ament_rs", "libloading"]

rclrs/build.rs

@@ -1,4 +1,8 @@
-use std::{env, path::Path};
+use std::{env, fs, path::Path};
+use std::path::PathBuf;
+
+use cargo_toml::Manifest;
+
 const AMENT_PREFIX_PATH: &str = "AMENT_PREFIX_PATH";
 const ROS_DISTRO: &str = "ROS_DISTRO";
 
@@ -13,6 +17,19 @@ fn get_env_var_or_abort(env_var: &'static str) -> String {
     }
 }
 
+fn marked_reexport(cargo_toml: String) -> bool {
+    cargo_toml.contains("[package.metadata.rclrs]")
+        && cargo_toml.contains("reexport = true")
+}
+
+fn star_deps_to_use(manifest: &Manifest) -> String {
+    manifest.dependencies
+        .iter()
+        .filter(|(_, version)| version.req() == "*")
+        .map(|(name, _)| format!("use crate::{name};\n"))
+        .collect::<String>()
+}
+
 fn main() {
     println!(
         "cargo:rustc-check-cfg=cfg(ros_distro, values(\"{}\"))",
@@ -54,6 +71,91 @@ fn main() {
         println!("cargo:rustc-link-search=native={}", library_path.display());
     }
 
+    // Re-export any generated interface crates that we find
+    let ament_prefix_paths = env!("AMENT_PREFIX_PATH", "AMENT_PREFIX_PATH environment variable not set - please source ROS 2 installation first.");
+    let export_crate_tomls = ament_prefix_paths
+        .split(':')
+        .map(PathBuf::from)
+        .flat_map(|base_path| {
+            // 1. Try to read share/ directory
+            fs::read_dir(base_path.join("share")).into_iter().flatten()
+        })
+        .filter_map(|entry| entry.ok())
+        .filter(|entry| entry.path().is_dir())
+        .flat_map(|package_dir| {
+            // 2. Try to read <package>/rust/ directory
+            fs::read_dir(package_dir.path().join("rust"))
+                .into_iter()
+                .flatten()
+        })
+        .filter_map(|entry| entry.ok())
+        .map(|entry| entry.path())
+        .filter(|path| path.file_name() == Some(std::ffi::OsStr::new("Cargo.toml")))
+        .filter(|path| {
+            fs::read_to_string(path)
+                .map(marked_reexport)
+                .unwrap_or(false)
+        });
+
+    let content: String = export_crate_tomls
+        .filter_map(|path| path.parent().map(|p| p.to_path_buf()))
+        .map(|package_dir| {
+            let package = package_dir
+                .parent()
+                .unwrap()
+                .file_name()
+                .unwrap()
+                .to_str()
+                .unwrap();
+
+            // Find all dependencies for this crate that have a `*` version requirement.
+            // We will assume that these are other exported dependencies that need symbols
+            // exposed in their module.
+            let dependencies: String = Manifest::from_path(package_dir.clone().join("Cargo.toml"))
+                .iter()
+                .map(star_deps_to_use)
+                .collect();
+
+            let internal_mods: String = fs::read_dir(package_dir.join("src"))
+                .into_iter()
+                .flatten()
+                .filter_map(|entry| entry.ok())
+                .filter(|entry| entry.path().is_file())
+                // Ignore lib.rs and any rmw.rs. lib.rs is only used if the crate is consumed
+                // independently, and rmw.rs files need their top level module
+                // (i.e. msg, srv, action) to exist to be re-exported.
+                .filter(|entry| {
+                    let name = entry.file_name();
+                    name != "lib.rs" && name != "rmw.rs"
+                })
+                // Wrap the inclusion of each file in a module matching the file stem
+                // so that the generated code can be imported like `rclrs::std_msgs::msgs::Bool`
+                .filter_map(|e| {
+                    e.path()
+                        .file_stem()
+                        .and_then(|stem| stem.to_str())
+                        .map(|stem| {
+                            let idiomatic_path = e.path().display().to_string();
+                            let sep = std::path::MAIN_SEPARATOR;
+                            let rmw_path = idiomatic_path
+                                .rsplit_once(std::path::MAIN_SEPARATOR)
+                                .map(|(dir, _)| format!("{dir}{sep}{stem}{sep}rmw.rs"))
+                                .unwrap_or_else(|| "rmw.rs".to_string());
+                            format!("pub mod {stem} {{ {dependencies} include!(\"{idiomatic_path}\"); pub mod rmw {{ {dependencies} include!(\"{rmw_path}\");}} }}")
+                        })
+                })
+                .collect();
+
+            format!("pub mod {package} {{ {internal_mods} }}")
+        })
+        .collect();
+
+    let out_dir = env::var("OUT_DIR").expect("OUT_DIR not set ");
+    let dest_path = PathBuf::from(out_dir).join("interfaces.rs");
+
+    // TODO I would like to run rustfmt on this generated code, similar to how bindgen does it
+    fs::write(dest_path, content.clone()).expect("Failed to write interfaces.rs");
+
     println!("cargo:rustc-link-lib=dylib=rcl");
     println!("cargo:rustc-link-lib=dylib=rcl_action");
     println!("cargo:rustc-link-lib=dylib=rcl_yaml_param_parser");

rclrs/src/action.rs

@@ -9,7 +9,7 @@ pub use action_goal_receiver::*;
 pub(crate) mod action_server;
 pub use action_server::*;
 
-use crate::{log_error, rcl_bindings::*, vendor::builtin_interfaces::msg::Time, DropGuard};
+use crate::{log_error, rcl_bindings::*, builtin_interfaces::msg::Time, DropGuard};
 use std::fmt;
 
 #[cfg(feature = "serde")]
@@ -256,7 +256,7 @@ fn empty_goal_status_array() -> DropGuard<rcl_action_goal_status_array_t> {
 #[cfg(test)]
 mod tests {
     use crate::{
-        vendor::example_interfaces::action::{
+        example_interfaces::action::{
             Fibonacci, Fibonacci_Feedback, Fibonacci_Goal, Fibonacci_Result,
         },
         *,

rclrs/src/action/action_client.rs

@@ -2,7 +2,7 @@ use super::empty_goal_status_array;
 use crate::{
     log_warn,
     rcl_bindings::*,
-    vendor::{action_msgs::srv::CancelGoal_Response, builtin_interfaces::msg::Time},
+    {action_msgs::srv::CancelGoal_Response, builtin_interfaces::msg::Time},
     CancelResponse, CancelResponseCode, DropGuard, GoalStatus, GoalStatusCode, GoalUuid,
     MultiCancelResponse, Node, NodeHandle, QoSProfile, RclPrimitive, RclPrimitiveHandle,
     RclPrimitiveKind, RclrsError, ReadyKind, TakeFailedAsNone, ToResult, Waitable,

rclrs/src/action/action_client/goal_client.rs

@@ -1,5 +1,5 @@
 use crate::{
-    vendor::builtin_interfaces::msg::Time, CancellationClient, FeedbackClient, GoalStatus,
+    builtin_interfaces::msg::Time, CancellationClient, FeedbackClient, GoalStatus,
     GoalStatusCode, ResultClient, StatusWatcher,
 };
 use rosidl_runtime_rs::Action;
@@ -96,7 +96,7 @@ impl<A: Action> GoalClient<A> {
 ///
 /// ```
 /// use rclrs::*;
-/// use crate::rclrs::vendor::example_interfaces::action::Fibonacci;
+/// use crate::rclrs::example_interfaces::action::Fibonacci;
 /// use futures::StreamExt;
 ///
 /// async fn process_goal_client_stream(

rclrs/src/action/action_server.rs

@@ -1,7 +1,7 @@
 use super::empty_goal_status_array;
 use crate::{
     action::GoalUuid, error::ToResult, rcl_bindings::*,
-    vendor::action_msgs::srv::CancelGoal_Response, ActionGoalReceiver, CancelResponseCode,
+    action_msgs::srv::CancelGoal_Response, ActionGoalReceiver, CancelResponseCode,
     DropGuard, GoalStatusCode, Node, NodeHandle, QoSProfile, RclPrimitive, RclPrimitiveHandle,
     RclPrimitiveKind, RclrsError, ReadyKind, TakeFailedAsNone, Waitable, WaitableLifecycle,
     ENTITY_LIFECYCLE_MUTEX,

rclrs/src/action/action_server/cancellation_state.rs

@@ -2,7 +2,7 @@ use super::ActionServerHandle;
 use crate::{
     log_error,
     rcl_bindings::*,
-    vendor::{
+    {
         action_msgs::{msg::GoalInfo, srv::CancelGoal_Response},
         unique_identifier_msgs::msg::UUID,
     },

rclrs/src/client.rs

@@ -159,7 +159,7 @@ where
     /// signatures and which returns a `()` (a.k.a. nothing).
     /// ```
     /// # use rclrs::*;
-    /// # use crate::rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::test_msgs;
     /// # let node = Context::default()
     /// #   .create_basic_executor()
     /// #   .create_node("test_node")?;
@@ -187,7 +187,7 @@ where
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use crate::rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::test_msgs;
     /// # use std::future::Future;
     /// # let node = Context::default()
     /// #   .create_basic_executor()
@@ -216,7 +216,7 @@ where
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use crate::rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::test_msgs;
     /// # let node = Context::default()
     /// #   .create_basic_executor()
     /// #   .create_node("test_node")?;
@@ -568,7 +568,7 @@ unsafe impl Send for rcl_client_t {}
 #[cfg(test)]
 mod tests {
     use super::*;
-    use crate::{test_helpers::*, vendor::test_msgs};
+    use crate::{test_helpers::*, test_msgs};
 
     #[test]
     fn traits() {

rclrs/src/lib.rs

@@ -32,7 +32,7 @@
 //!
 //! ```no_run
 //! use rclrs::*;
-//! # use crate::rclrs::vendor::example_interfaces;
+//! # use crate::rclrs::example_interfaces;
 //!
 //! let context = Context::default_from_env()?;
 //! let mut executor = context.create_basic_executor();
@@ -59,7 +59,7 @@
 //! # let context = Context::default_from_env()?;
 //! # let mut executor = context.create_basic_executor();
 //! # let node = executor.create_node("example_node")?;
-//! # use crate::rclrs::vendor::example_interfaces;
+//! # use crate::rclrs::example_interfaces;
 //! #
 //! // This worker will manage the data for us.
 //! // The worker's data is called its payload.
@@ -99,7 +99,7 @@
 //! The following is a simple example of using a mandatory parameter:
 //! ```no_run
 //! use rclrs::*;
-//! # use crate::rclrs::vendor::example_interfaces;
+//! # use crate::rclrs::example_interfaces;
 //! use std::sync::Arc;
 //!
 //! let mut executor = Context::default_from_env()?.create_basic_executor();
@@ -129,7 +129,7 @@
 //!
 //! ```no_run
 //! use rclrs::*;
-//! # use crate::rclrs::vendor::example_interfaces;
+//! # use crate::rclrs::example_interfaces;
 //! use std::time::Duration;
 //!
 //! let mut executor = Context::default_from_env()?.create_basic_executor();
@@ -196,7 +196,6 @@ mod subscription;
 mod time;
 mod time_source;
 mod timer;
-pub mod vendor;
 mod wait_set;
 mod worker;
 
@@ -205,6 +204,8 @@ mod test_helpers;
 
 mod rcl_bindings;
 
+include!(concat!(env!("OUT_DIR"), "/interfaces.rs"));
+
 #[cfg(feature = "dyn_msg")]
 pub mod dynamic_message;