Replace proc macro by build script to generate C++ bindings

The `cxx_build` crate does not support proc macro output (see https://github.com/dtolnay/cxx/issues/808), so we have to generate a standard Rust source file instead.

Cargo.lock

@@ -1697,12 +1697,14 @@ version = "0.1.0"
 dependencies = [
  "array-init",
  "cxx",
+ "cxx-build",
  "dora-daemon",
- "dora-ros2-bridge-msg-gen-macro",
+ "dora-ros2-bridge-msg-gen",
  "eyre",
  "futures",
  "rand",
  "ros2-client",
+ "rust-format",
  "rustdds",
  "serde",
  "serde-big-array",
@@ -1726,21 +1728,6 @@ dependencies = [
  "thiserror",
 ]
 
-[[package]]
-name = "dora-ros2-bridge-msg-gen-macro"
-version = "0.1.0"
-dependencies = [
- "anyhow",
- "dora-ros2-bridge-msg-gen",
- "heck 0.3.3",
- "nom",
- "proc-macro2",
- "quote",
- "regex",
- "syn 2.0.41",
- "thiserror",
-]
-
 [[package]]
 name = "dora-ros2-bridge-python"
 version = "0.1.0"
@@ -4679,6 +4666,17 @@ dependencies = [
  "eyre",
 ]
 
+[[package]]
+name = "rust-format"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60e7c00b6c3bf5e38a880eec01d7e829d12ca682079f8238a464def3c4b31627"
+dependencies = [
+ "prettyplease",
+ "proc-macro2",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "rust-ros2-dataflow-example-node"
 version = "0.3.0"

Cargo.toml

@@ -27,7 +27,6 @@ members = [
     "libraries/extensions/dora-record",
     "libraries/extensions/ros2-bridge",
     "libraries/extensions/ros2-bridge/msg-gen",
-    "libraries/extensions/ros2-bridge/msg-gen-macro",
     "libraries/extensions/ros2-bridge/python",
 ]
 

examples/rust-ros2-dataflow/node/src/main.rs

@@ -5,10 +5,12 @@ use dora_node_api::{
     DoraNode, Event,
 };
 use dora_ros2_bridge::{
-    geometry_msgs::msg::{Twist, Vector3},
+    messages::{
+        geometry_msgs::msg::{Twist, Vector3},
+        turtlesim::msg::Pose,
+    },
     ros2_client::{self, ros2, NodeOptions},
     rustdds::{self, policy},
-    turtlesim::msg::Pose,
 };
 use eyre::{eyre, Context};
 

libraries/extensions/ros2-bridge/Cargo.toml

@@ -7,14 +7,13 @@ edition = "2021"
 
 [features]
 default = ["generate-messages"]
-generate-messages = ["dep:dora-ros2-bridge-msg-gen-macro"]
-cxx-bridge = ["dep:cxx"]
+generate-messages = ["dep:dora-ros2-bridge-msg-gen", "dep:rust-format"]
+cxx-bridge = ["dep:cxx", "dep:cxx-build"]
 # enables examples that depend on a sourced ROS2 installation
 ros2-examples = ["eyre", "tokio", "dora-daemon"]
 
 [dependencies]
 array-init = "2.1.0"
-dora-ros2-bridge-msg-gen-macro = { path = "msg-gen-macro", optional = true }
 serde = { version = "1.0.164", features = ["derive"] }
 serde-big-array = "0.5.1"
 widestring = "1.0.2"
@@ -30,3 +29,10 @@ cxx = { version = "1.0", optional = true }
 [dev-dependencies]
 rand = "0.8.5"
 futures = { version = "0.3.28", default-features = false }
+
+[build-dependencies]
+dora-ros2-bridge-msg-gen = { path = "msg-gen", optional = true }
+rust-format = { version = "0.3.4", features = [
+    "pretty_please",
+], optional = true }
+cxx-build = { version = "1.0.73", optional = true }

libraries/extensions/ros2-bridge/build.rs

@@ -0,0 +1,42 @@
+use rust_format::Formatter;
+use std::path::PathBuf;
+
+fn main() {
+    let create_cxx_bridge = cfg!(feature = "cxx-bridge");
+    let paths = ament_prefix_paths();
+    let generated = dora_ros2_bridge_msg_gen::gen(paths.as_slice(), create_cxx_bridge);
+    let generated_string = rust_format::PrettyPlease::default()
+        .format_tokens(generated)
+        .unwrap();
+    let out_dir = PathBuf::from(std::env::var("OUT_DIR").unwrap());
+    let target_file = out_dir.join("generated.rs");
+    std::fs::write(&target_file, generated_string).unwrap();
+    println!("cargo:rustc-env=GENERATED_PATH={}", target_file.display());
+
+    #[cfg(feature = "cxx-bridge")]
+    let _build = cxx_build::bridge(&target_file);
+}
+
+fn ament_prefix_paths() -> Vec<PathBuf> {
+    let ament_prefix_path: String = match std::env::var("AMENT_PREFIX_PATH") {
+        Ok(path) => path,
+        Err(std::env::VarError::NotPresent) => {
+            println!("cargo:warning='AMENT_PREFIX_PATH not set'");
+            String::new()
+        }
+        Err(std::env::VarError::NotUnicode(s)) => {
+            panic!(
+                "AMENT_PREFIX_PATH is not valid unicode: `{}`",
+                s.to_string_lossy()
+            );
+        }
+    };
+    println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
+
+    let paths: Vec<_> = ament_prefix_path.split(':').map(PathBuf::from).collect();
+    for path in &paths {
+        println!("cargo:rerun-if-changed={}", path.display());
+    }
+
+    paths
+}

libraries/extensions/ros2-bridge/msg-gen-macro/Cargo.toml

@@ -1,20 +0,0 @@
-[package]
-name = "dora-ros2-bridge-msg-gen-macro"
-version = "0.1.0"
-edition = "2021"
-authors = ["Yuma Hiramatsu <yuma.hiramatsu@gmail.com>"]
-license = "Apache-2.0"
-
-[dependencies]
-anyhow = "1.0"
-heck = "0.3"
-nom = "7"
-proc-macro2 = "1.0"
-quote = "1.0"
-regex = "1"
-syn = { version = "2.0.41", features = ["parsing"] }
-thiserror = "1.0"
-dora-ros2-bridge-msg-gen = { path = "../msg-gen" }
-
-[lib]
-proc-macro = true

libraries/extensions/ros2-bridge/msg-gen-macro/build.rs

@@ -1,25 +0,0 @@
-use std::path::Path;
-
-fn main() {
-    let ament_prefix_path = match std::env::var("AMENT_PREFIX_PATH") {
-        Ok(path) => path,
-        Err(std::env::VarError::NotPresent) => {
-            println!("cargo:warning='AMENT_PREFIX_PATH not set'");
-            String::new()
-        }
-        Err(std::env::VarError::NotUnicode(s)) => {
-            panic!(
-                "AMENT_PREFIX_PATH is not valid unicode: `{}`",
-                s.to_string_lossy()
-            );
-        }
-    };
-    println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
-
-    let paths = ament_prefix_path.split(':').map(Path::new);
-    for path in paths {
-        println!("cargo:rerun-if-changed={}", path.display());
-    }
-
-    println!("cargo:rustc-env=DETECTED_AMENT_PREFIX_PATH={ament_prefix_path}");
-}

libraries/extensions/ros2-bridge/msg-gen-macro/src/lib.rs

@@ -1,68 +0,0 @@
-// Based on https://github.com/rclrust/rclrust/tree/3a48dbb8f23a3d67d3031351da3ed236a354f039/rclrust-msg-gen
-
-#![warn(
-    rust_2018_idioms,
-    elided_lifetimes_in_paths,
-    clippy::all,
-    clippy::nursery
-)]
-
-use std::path::Path;
-
-use dora_ros2_bridge_msg_gen::get_packages;
-use proc_macro::TokenStream;
-use quote::quote;
-use syn::{punctuated::Punctuated, MetaNameValue, Token};
-
-struct Config {
-    create_cxx_bridge: bool,
-}
-
-impl syn::parse::Parse for Config {
-    fn parse(input: syn::parse::ParseStream<'_>) -> syn::Result<Self> {
-        let punctuated = Punctuated::<MetaNameValue, Token![,]>::parse_terminated(input)?;
-
-        let mut config = Self {
-            create_cxx_bridge: false,
-        };
-
-        for item in &punctuated {
-            let ident = item.path.require_ident()?;
-            if ident == "cxx_bridge" {
-                let syn::Expr::Lit(lit) = &item.value else {
-                    return Err(syn::Error::new_spanned(&item.value, "invalid value, expected bool"));
-                };
-                let syn::Lit::Bool(b) = &lit.lit else {
-                    return Err(syn::Error::new_spanned(&lit.lit, "invalid value, expected bool"));
-                };
-                config.create_cxx_bridge = b.value;
-            } else {
-                return Err(syn::Error::new_spanned(&item.path, "invalid argument"));
-            }
-        }
-
-        Ok(config)
-    }
-}
-
-#[proc_macro]
-pub fn msg_include_all(input: TokenStream) -> TokenStream {
-    let config = syn::parse_macro_input!(input as Config);
-
-    let ament_prefix_path = std::env!("DETECTED_AMENT_PREFIX_PATH").trim();
-    if ament_prefix_path.is_empty() {
-        quote! {
-            /// **No messages are available because the `AMENT_PREFIX_PATH` environment variable
-            /// was not set during build.**
-            pub const AMENT_PREFIX_PATH_NOT_SET: () = ();
-        }
-        .into()
-    } else {
-        let paths = ament_prefix_path
-            .split(':')
-            .map(Path::new)
-            .collect::<Vec<_>>();
-
-        dora_ros2_bridge_msg_gen::gen(&paths, config.create_cxx_bridge).into()
-    }
-}

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/action/Fibonacci.action

@@ -1,8 +0,0 @@
-#goal definition
-int32 order
----
-#result definition
-int32[] sequence
----
-#feedback
-int32[] sequence

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/Arrays.msg

@@ -1,34 +0,0 @@
-# Arrays of different types
-bool[3] bool_values
-byte[3] byte_values
-char[3] char_values
-float32[3] float32_values
-float64[3] float64_values
-int8[3] int8_values
-uint8[3] uint8_values
-int16[3] int16_values
-uint16[3] uint16_values
-int32[3] int32_values
-uint32[3] uint32_values
-int64[3] int64_values
-uint64[3] uint64_values
-string[3] string_values
-BasicTypes[3] basic_types_values
-Constants[3] constants_values
-Defaults[3] defaults_values
-bool[3] bool_values_default [false, true, false]
-byte[3] byte_values_default [0, 1, 255]
-char[3] char_values_default [0, 1, 127]
-float32[3] float32_values_default [1.125, 0.0, -1.125]
-float64[3] float64_values_default [3.1415, 0.0, -3.1415]
-int8[3] int8_values_default [0, 127, -128]
-uint8[3] uint8_values_default [0, 1, 255]
-int16[3] int16_values_default [0, 32767, -32768]
-uint16[3] uint16_values_default [0, 1, 65535]
-int32[3] int32_values_default [0, 2147483647, -2147483648]
-uint32[3] uint32_values_default [0, 1, 4294967295]
-int64[3] int64_values_default [0, 9223372036854775807, -9223372036854775808]
-uint64[3] uint64_values_default [0, 1, 18446744073709551615]
-string[3] string_values_default ["", "max value", "min value"]
-# Regression test: check alignment of basic field after an array field is correct
-int32 alignment_check

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/BasicTypes.msg

@@ -1,13 +0,0 @@
-bool bool_value
-byte byte_value
-char char_value
-float32 float32_value
-float64 float64_value
-int8 int8_value
-uint8 uint8_value
-int16 int16_value
-uint16 uint16_value
-int32 int32_value
-uint32 uint32_value
-int64 int64_value
-uint64 uint64_value

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/BoundedSequences.msg

@@ -1,34 +0,0 @@
-# Bounded sequences of different types
-bool[<=3] bool_values
-byte[<=3] byte_values
-char[<=3] char_values
-float32[<=3] float32_values
-float64[<=3] float64_values
-int8[<=3] int8_values
-uint8[<=3] uint8_values
-int16[<=3] int16_values
-uint16[<=3] uint16_values
-int32[<=3] int32_values
-uint32[<=3] uint32_values
-int64[<=3] int64_values
-uint64[<=3] uint64_values
-string[<=3] string_values
-BasicTypes[<=3] basic_types_values
-Constants[<=3] constants_values
-Defaults[<=3] defaults_values
-bool[<=3] bool_values_default [false, true, false]
-byte[<=3] byte_values_default [0, 1, 255]
-char[<=3] char_values_default [0, 1, 127]
-float32[<=3] float32_values_default [1.125, 0.0, -1.125]
-float64[<=3] float64_values_default [3.1415, 0.0, -3.1415]
-int8[<=3] int8_values_default [0, 127, -128]
-uint8[<=3] uint8_values_default [0, 1, 255]
-int16[<=3] int16_values_default [0, 32767, -32768]
-uint16[<=3] uint16_values_default [0, 1, 65535]
-int32[<=3] int32_values_default [0, 2147483647, -2147483648]
-uint32[<=3] uint32_values_default [0, 1, 4294967295]
-int64[<=3] int64_values_default [0, 9223372036854775807, -9223372036854775808]
-uint64[<=3] uint64_values_default [0, 1, 18446744073709551615]
-string[<=3] string_values_default ["", "max value", "min value"]
-# Regression test: check alignment of basic field after a sequence field is correct
-int32 alignment_check

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/Constants.msg

@@ -1,13 +0,0 @@
-bool BOOL_CONST=true
-byte BYTE_CONST=50
-char CHAR_CONST=100
-float32 FLOAT32_CONST=1.125
-float64 FLOAT64_CONST=1.125
-int8 INT8_CONST=-50
-uint8 UINT8_CONST=200
-int16 INT16_CONST=-1000
-uint16 UINT16_CONST=2000
-int32 INT32_CONST=-30000
-uint32 UINT32_CONST=60000
-int64 INT64_CONST=-40000000
-uint64 UINT64_CONST=50000000

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/Defaults.msg

@@ -1,13 +0,0 @@
-bool bool_value true
-byte byte_value 50
-char char_value 100
-float32 float32_value 1.125
-float64 float64_value 1.125
-int8 int8_value -50
-uint8 uint8_value 200
-int16 int16_value -1000
-uint16 uint16_value 2000
-int32 int32_value -30000
-uint32 uint32_value 60000
-int64 int64_value -40000000
-uint64 uint64_value 50000000

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/MultiNested.msg

@@ -1,10 +0,0 @@
-# Mulitple levels of nested messages
-Arrays[3] array_of_arrays
-BoundedSequences[3] array_of_bounded_sequences
-UnboundedSequences[3] array_of_unbounded_sequences
-Arrays[<=3] bounded_sequence_of_arrays
-BoundedSequences[<=3] bounded_sequence_of_bounded_sequences
-UnboundedSequences[<=3] bounded_sequence_of_unbounded_sequences
-Arrays[] unbounded_sequence_of_arrays
-BoundedSequences[] unbounded_sequence_of_bounded_sequences
-UnboundedSequences[] unbounded_sequence_of_unbounded_sequences

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/Nested.msg

@@ -1 +0,0 @@
-BasicTypes basic_types_value

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/Strings.msg

@@ -1,13 +0,0 @@
-string string_value
-string string_value_default1 "Hello world!"
-string string_value_default2 "Hello'world!"
-string string_value_default3 'Hello"world!'
-string string_value_default4 'Hello\'world!'
-string string_value_default5 "Hello\"world!"
-string STRING_CONST="Hello world!"
-string<=22 bounded_string_value
-string<=22 bounded_string_value_default1 "Hello world!"
-string<=22 bounded_string_value_default2 "Hello'world!"
-string<=22 bounded_string_value_default3 'Hello"world!'
-string<=22 bounded_string_value_default4 'Hello\'world!'
-string<=22 bounded_string_value_default5 "Hello\"world!"

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/UnboundedSequences.msg

@@ -1,34 +0,0 @@
-# Unbounded sequences of different types
-bool[] bool_values
-byte[] byte_values
-char[] char_values
-float32[] float32_values
-float64[] float64_values
-int8[] int8_values
-uint8[] uint8_values
-int16[] int16_values
-uint16[] uint16_values
-int32[] int32_values
-uint32[] uint32_values
-int64[] int64_values
-uint64[] uint64_values
-string[] string_values
-BasicTypes[] basic_types_values
-Constants[] constants_values
-Defaults[] defaults_values
-bool[] bool_values_default [false, true, false]
-byte[] byte_values_default [0, 1, 255]
-char[] char_values_default [0, 1, 127]
-float32[] float32_values_default [1.125, 0.0, -1.125]
-float64[] float64_values_default [3.1415, 0.0, -3.1415]
-int8[] int8_values_default [0, 127, -128]
-uint8[] uint8_values_default [0, 1, 255]
-int16[] int16_values_default [0, 32767, -32768]
-uint16[] uint16_values_default [0, 1, 65535]
-int32[] int32_values_default [0, 2147483647, -2147483648]
-uint32[] uint32_values_default [0, 1, 4294967295]
-int64[] int64_values_default [0, 9223372036854775807, -9223372036854775808]
-uint64[] uint64_values_default [0, 1, 18446744073709551615]
-string[] string_values_default ["", "max value", "min value"]
-# Regression test: check alignment of basic field after a sequence field is correct
-int32 alignment_check

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/msg/WStrings.msg

@@ -1,10 +0,0 @@
-wstring wstring_value
-wstring wstring_value_default1 "Hello world!"
-wstring wstring_value_default2 "Hellö wörld!"
-wstring wstring_value_default3 "ハローワールド"
-#wstring WSTRING_CONST="Hello world!"
-#wstring<=22 bounded_wstring_value
-#wstring<=22 bounded_wstring_value_default1 "Hello world!"
-wstring[3] array_of_wstrings
-wstring[<=3] bounded_sequence_of_wstrings
-wstring[] unbounded_sequence_of_wstrings

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/srv/Arrays.srv

@@ -1,63 +0,0 @@
-bool[3] bool_values
-byte[3] byte_values
-char[3] char_values
-float32[3] float32_values
-float64[3] float64_values
-int8[3] int8_values
-uint8[3] uint8_values
-int16[3] int16_values
-uint16[3] uint16_values
-int32[3] int32_values
-uint32[3] uint32_values
-int64[3] int64_values
-uint64[3] uint64_values
-string[3] string_values
-BasicTypes[3] basic_types_values
-Constants[3] constants_values
-Defaults[3] defaults_values
-bool[3] bool_values_default [false, true, false]
-byte[3] byte_values_default [0, 1, 255]
-char[3] char_values_default [0, 1, 127]
-float32[3] float32_values_default [1.125, 0.0, -1.125]
-float64[3] float64_values_default [3.1415, 0.0, -3.1415]
-int8[3] int8_values_default [0, 127, -128]
-uint8[3] uint8_values_default [0, 1, 255]
-int16[3] int16_values_default [0, 32767, -32768]
-uint16[3] uint16_values_default [0, 1, 65535]
-int32[3] int32_values_default [0, 2147483647, -2147483648]
-uint32[3] uint32_values_default [0, 1, 4294967295]
-int64[3] int64_values_default [0, 9223372036854775807, -9223372036854775808]
-uint64[3] uint64_values_default [0, 1, 18446744073709551615]
-string[3] string_values_default ["", "max value", "min value"]
----
-bool[3] bool_values
-byte[3] byte_values
-char[3] char_values
-float32[3] float32_values
-float64[3] float64_values
-int8[3] int8_values
-uint8[3] uint8_values
-int16[3] int16_values
-uint16[3] uint16_values
-int32[3] int32_values
-uint32[3] uint32_values
-int64[3] int64_values
-uint64[3] uint64_values
-string[3] string_values
-BasicTypes[3] basic_types_values
-Constants[3] constants_values
-Defaults[3] defaults_values
-bool[3] bool_values_default [false, true, false]
-byte[3] byte_values_default [0, 1, 255]
-char[3] char_values_default [0, 1, 127]
-float32[3] float32_values_default [1.125, 0.0, -1.125]
-float64[3] float64_values_default [3.1415, 0.0, -3.1415]
-int8[3] int8_values_default [0, 127, -128]
-uint8[3] uint8_values_default [0, 1, 255]
-int16[3] int16_values_default [0, 32767, -32768]
-uint16[3] uint16_values_default [0, 1, 65535]
-int32[3] int32_values_default [0, 2147483647, -2147483648]
-uint32[3] uint32_values_default [0, 1, 4294967295]
-int64[3] int64_values_default [0, 9223372036854775807, -9223372036854775808]
-uint64[3] uint64_values_default [0, 1, 18446744073709551615]
-string[3] string_values_default ["", "max value", "min value"]

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/srv/BasicTypes.srv

@@ -1,29 +0,0 @@
-bool bool_value
-byte byte_value
-char char_value
-float32 float32_value
-float64 float64_value
-int8 int8_value
-uint8 uint8_value
-int16 int16_value
-uint16 uint16_value
-int32 int32_value
-uint32 uint32_value
-int64 int64_value
-uint64 uint64_value
-string string_value
----
-bool bool_value
-byte byte_value
-char char_value
-float32 float32_value
-float64 float64_value
-int8 int8_value
-uint8 uint8_value
-int16 int16_value
-uint16 uint16_value
-int32 int32_value
-uint32 uint32_value
-int64 int64_value
-uint64 uint64_value
-string string_value

libraries/extensions/ros2-bridge/msg-gen-macro/test_msgs/srv/Empty.srv

@@ -1 +0,0 @@
----

libraries/extensions/ros2-bridge/msg-gen/src/lib.rs

@@ -16,8 +16,11 @@ pub mod types;
 
 pub use crate::parser::get_packages;
 
-pub fn gen(paths: &[&Path], create_cxx_bridge: bool) -> proc_macro2::TokenStream {
-    let message_structs = get_packages(&paths)
+pub fn gen<P>(paths: &[P], create_cxx_bridge: bool) -> proc_macro2::TokenStream
+where
+    P: AsRef<Path>,
+{
+    let message_structs = get_packages(paths)
         .unwrap()
         .iter()
         .map(|v| v.message_structs(create_cxx_bridge))
@@ -25,12 +28,12 @@ pub fn gen(paths: &[&Path], create_cxx_bridge: bool) -> proc_macro2::TokenStream
     let message_struct_defs = message_structs.iter().map(|(s, _)| s);
     let message_struct_impls = message_structs.iter().map(|(_, i)| i);
 
-    let aliases = get_packages(&paths)
+    let aliases = get_packages(paths)
         .unwrap()
         .iter()
         .map(|v| v.aliases_token_stream())
         .collect::<Vec<_>>();
-    let packages = get_packages(&paths)
+    let packages = get_packages(paths)
         .unwrap()
         .iter()
         .map(|v| v.token_stream(create_cxx_bridge))
@@ -47,9 +50,9 @@ pub fn gen(paths: &[&Path], create_cxx_bridge: bool) -> proc_macro2::TokenStream
         )
     };
 
-    (quote! {
+    quote! {
         #attributes
-        pub mod ffi {
+        mod ffi {
             #imports
 
             #[derive(Debug, Default, Clone, PartialEq, Eq, Serialize, Deserialize)]
@@ -73,6 +76,5 @@ pub fn gen(paths: &[&Path], create_cxx_bridge: bool) -> proc_macro2::TokenStream
 
 
         // #(#packages)*
-    })
-    .into()
+    }
 }

libraries/extensions/ros2-bridge/msg-gen/src/parser/package.rs

@@ -92,10 +92,13 @@ fn get_ros_msgs_each_package<P: AsRef<Path>>(root_dir: P) -> Result<Vec<Package>
     Ok(packages)
 }
 
-pub fn get_packages(paths: &[&Path]) -> Result<Vec<Package>> {
+pub fn get_packages<P>(paths: &[P]) -> Result<Vec<Package>>
+where
+    P: AsRef<Path>,
+{
     let mut packages = paths
         .iter()
-        .map(|&path| get_ros_msgs_each_package(path))
+        .map(get_ros_msgs_each_package)
         .collect::<Result<Vec<_>>>()?
         .into_iter()
         .flatten()

libraries/extensions/ros2-bridge/src/lib.rs

@@ -1,10 +1,8 @@
 pub use ros2_client;
 pub use rustdds;
 
-#[cfg(all(feature = "generate-messages", feature = "cxx-bridge"))]
-dora_ros2_bridge_msg_gen_macro::msg_include_all!(cxx_bridge = true);
-
-#[cfg(all(feature = "generate-messages", not(feature = "cxx-bridge")))]
-dora_ros2_bridge_msg_gen_macro::msg_include_all!();
+pub mod messages {
+    include!(env!("GENERATED_PATH"));
+}
 
 pub mod _core;