From d4a406e93ec498df4966afcb01d6313bb0fe2e71 Mon Sep 17 00:00:00 2001
From: Philipp Oppermann <dev@phil-opp.com>
Date: Fri, 5 Apr 2024 20:10:58 +0200
Subject: [PATCH] Adjust generated code and examples for latest `ros2-client`
 version

---
 examples/rust-ros2-dataflow/node/src/main.rs        | 8 +++++---
 libraries/extensions/ros2-bridge/msg-gen/src/lib.rs | 5 +++--
 libraries/extensions/ros2-bridge/python/src/lib.rs  | 5 ++++-
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/examples/rust-ros2-dataflow/node/src/main.rs b/examples/rust-ros2-dataflow/node/src/main.rs
index 32ac8cf4..395a5e34 100644
--- a/examples/rust-ros2-dataflow/node/src/main.rs
+++ b/examples/rust-ros2-dataflow/node/src/main.rs
@@ -25,7 +25,9 @@ fn main() -> eyre::Result<()> {
 
     // spawn a background spinner task that is handles service discovery (and other things)
     let pool = futures::executor::ThreadPool::new()?;
-    let spinner = ros_node.spinner();
+    let spinner = ros_node
+        .spinner()
+        .map_err(|e| eyre::eyre!("failed to create spinner: {e:?}"))?;
     pool.spawn(async {
         if let Err(err) = spinner.spin().await {
             eprintln!("ros2 spinner failed: {err:?}");
@@ -150,7 +152,7 @@ async fn add_two_ints_request(
 
     let response = add_client.async_receive_response(request_id);
     futures::pin_mut!(response);
-    let timeout = futures_timer::Delay::new(Duration::from_secs(5));
+    let timeout = futures_timer::Delay::new(Duration::from_secs(15));
     match futures::future::select(response, timeout).await {
         futures::future::Either::Left((Ok(response), _)) => {
             println!("received response: {response:?}");
@@ -172,7 +174,7 @@ fn init_ros_node() -> eyre::Result<ros2_client::Node> {
                 .map_err(|e| eyre!("failed to create ROS2 node name: {e}"))?,
             NodeOptions::new().enable_rosout(true),
         )
-        .context("failed to create ros2 node")
+        .map_err(|e| eyre::eyre!("failed to create ros2 node: {e:?}"))
 }
 
 fn create_vel_publisher(
diff --git a/libraries/extensions/ros2-bridge/msg-gen/src/lib.rs b/libraries/extensions/ros2-bridge/msg-gen/src/lib.rs
index e338410c..9e598a06 100644
--- a/libraries/extensions/ros2-bridge/msg-gen/src/lib.rs
+++ b/libraries/extensions/ros2-bridge/msg-gen/src/lib.rs
@@ -126,9 +126,10 @@ where
 
                         let name = ros2_client::NodeName::new(name_space, base_name).map_err(|e| eyre::eyre!(e))?;
                         let options = ros2_client::NodeOptions::new().enable_rosout(true);
-                        let mut node = self.context.new_node(name, options)?;
+                        let mut node = self.context.new_node(name, options)
+                            .map_err(|e| eyre::eyre!("failed to create ROS2 node: {e:?}"))?;
 
-                        let spinner = node.spinner();
+                        let spinner = node.spinner().context("failed to create spinner")?;
                         self.executor.spawn(async {
                             if let Err(err) = spinner.spin().await {
                                 eprintln!("ros2 spinner failed: {err:?}");
diff --git a/libraries/extensions/ros2-bridge/python/src/lib.rs b/libraries/extensions/ros2-bridge/python/src/lib.rs
index c9492dca..ac0a0bec 100644
--- a/libraries/extensions/ros2-bridge/python/src/lib.rs
+++ b/libraries/extensions/ros2-bridge/python/src/lib.rs
@@ -81,7 +81,10 @@ impl Ros2Context {
         let name = ros2_client::NodeName::new(namespace, name)
             .map_err(|err| eyre!("invalid node name: {err}"))?;
         Ok(Ros2Node {
-            node: self.context.new_node(name, options.into())?,
+            node: self
+                .context
+                .new_node(name, options.into())
+                .map_err(|e| eyre::eyre!("failed to create ROS2 node: {e:?}"))?,
             messages: self.messages.clone(),
         })
     }