Merge with latest main

Signed-off-by: Michael X. Grey <[email protected]>

Author: mxgrey

.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

@@ -11,10 +11,9 @@ RUN apt-get update && apt-get install -y \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Rust and the cargo-ament-build plugin
-RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.74.0 -y
+# Install Rust
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.75.0 -y
 ENV PATH=/root/.cargo/bin:$PATH
-RUN cargo install cargo-ament-build
 
 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
 ```

examples/minimal_pub_sub/src/minimal_two_nodes.rs

@@ -7,7 +7,7 @@ use anyhow::{Error, Result};
 
 struct MinimalSubscriber {
     num_messages: AtomicU32,
-    node: rclrs::Node,
+    node: Arc<rclrs::Node>,
     subscription: Mutex<Option<Arc<rclrs::Subscription<std_msgs::msg::String>>>>,
 }
 

rclrs/build.rs

@@ -35,6 +35,7 @@ fn main() {
         }
     };
 
+    println!("cargo:rustc-check-cfg=cfg(ros_distro, values(\"humble\", \"iron\", \"jazzy\", \"rolling\"))");
     println!("cargo:rustc-cfg=ros_distro=\"{ros_distro}\"");
 
     let mut builder = bindgen::Builder::default()

rclrs/src/context.rs

@@ -6,7 +6,7 @@ use std::{
     vec::Vec,
 };
 
-use crate::{rcl_bindings::*, Executor, RclrsError, ToResult};
+use crate::{rcl_bindings::*, Executor, LoggingLifecycle, RclrsError, ToResult};
 
 /// This is locked whenever initializing or dropping any middleware entity
 /// because we have found issues in RCL and some RMW implementations that
@@ -56,6 +56,10 @@ unsafe impl Send for rcl_context_t {}
 /// - middleware-specific data, e.g. the domain participant in DDS
 /// - the allocator used (left as the default by `rclrs`)
 ///
+/// The context also configures the rcl_logging_* layer to allow publication to /rosout
+/// (as well as the terminal).  TODO: This behaviour should be configurable using an
+/// "auto logging initialise" flag as per rclcpp and rclpy.
+///
 pub struct Context {
     pub(crate) handle: Arc<ContextHandle>,
 }
@@ -68,6 +72,10 @@ pub struct Context {
 /// bindings in this library.
 pub(crate) struct ContextHandle {
     pub(crate) rcl_context: Mutex<rcl_context_t>,
+    /// This ensures that logging does not get cleaned up until after this ContextHandle
+    /// has dropped.
+    #[allow(unused)]
+    logging: Arc<LoggingLifecycle>,
 }
 
 impl Default for Context {
@@ -149,9 +157,16 @@ impl Context {
             // Move the check after the last fini()
             ret?;
         }
+
+        // TODO: "Auto set-up logging" is forced but should be configurable as per rclcpp and rclpy
+        // SAFETY: We created this context a moment ago and verified that it is valid.
+        // No other conditions are needed.
+        let logging = unsafe { LoggingLifecycle::configure(&rcl_context)? };
+
         Ok(Self {
             handle: Arc::new(ContextHandle {
                 rcl_context: Mutex::new(rcl_context),
+                logging,
             }),
         })
     }

rclrs/src/executor.rs

@@ -1,27 +1,26 @@
 use crate::{
     rcl_bindings::rcl_context_is_valid, ContextHandle, IntoNodeOptions, Node, RclrsError, WaitSet,
-    WeakNode,
 };
 use std::{
-    sync::{Arc, Mutex},
+    sync::{Arc, Mutex, Weak},
     time::Duration,
 };
 
 /// Single-threaded executor implementation.
 pub struct Executor {
     context: Arc<ContextHandle>,
-    nodes_mtx: Mutex<Vec<WeakNode>>,
+    nodes_mtx: Mutex<Vec<Weak<Node>>>,
 }
 
 impl Executor {
     /// Create a [`Node`] that will run on this Executor.
     pub fn create_node<'a>(
         &'a self,
         options: impl IntoNodeOptions<'a>,
-    ) -> Result<Node, RclrsError> {
+    ) -> Result<Arc<Node>, RclrsError> {
         let options = options.into_node_options();
         let node = options.build(&self.context)?;
-        self.nodes_mtx.lock().unwrap().push(node.downgrade());
+        self.nodes_mtx.lock().unwrap().push(Arc::downgrade(&node));
         Ok(node)
     }
 
@@ -55,7 +54,7 @@ impl Executor {
     fn spin_once(&self, timeout: Option<Duration>) -> Result<(), RclrsError> {
         for node in { self.nodes_mtx.lock().unwrap() }
             .iter()
-            .filter_map(WeakNode::upgrade)
+            .filter_map(Weak::upgrade)
             .filter(|node| unsafe {
                 rcl_context_is_valid(&*node.handle.context_handle.rcl_context.lock().unwrap())
             })

rclrs/src/lib.rs

@@ -11,6 +11,7 @@ mod clock;
 mod context;
 mod error;
 mod executor;
+mod logging;
 mod node;
 mod parameter;
 mod publisher;
@@ -36,6 +37,7 @@ pub use clock::*;
 pub use context::*;
 pub use error::*;
 pub use executor::*;
+pub use logging::*;
 pub use node::*;
 pub use parameter::*;
 pub use publisher::*;