Merge pull request #397 from dora-rs/update-ros2-client

Update `ros2-client` and `rustdds` dependencies to latest fork version

.github/workflows/ci.yml

@@ -152,7 +152,7 @@ jobs:
   ros2-bridge-examples:
     name: "ROS2 Bridge Examples"
     runs-on: ubuntu-latest
-    timeout-minutes: 30
+    timeout-minutes: 45
     steps:
       - uses: actions/checkout@v3
       - uses: r7kamura/rust-problem-matchers@v1.1.0

Cargo.lock

@@ -377,10 +377,23 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "81953c529336010edd6d8e358f886d9581267795c61b19475b71314bffa46d35"
 dependencies = [
  "concurrent-queue",
- "event-listener",
+ "event-listener 2.5.3",
  "futures-core",
 ]
 
+[[package]]
+name = "async-channel"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ca33f4bc4ed1babef42cad36cc1f51fa88be00420404e5b1e80ab1b18f7678c"
+dependencies = [
+ "concurrent-queue",
+ "event-listener 4.0.0",
+ "event-listener-strategy",
+ "futures-core",
+ "pin-project-lite",
+]
+
 [[package]]
 name = "async-executor"
 version = "1.5.4"
@@ -401,7 +414,7 @@ version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f1b6f5d7df27bd294849f8eec66ecfc63d11814df7a4f5d74168a2394467b776"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "async-executor",
  "async-io",
  "async-lock",
@@ -437,7 +450,7 @@ version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "287272293e9d8c41773cec55e365490fe034813a2f172f502d6ddcf75b2f582b"
 dependencies = [
- "event-listener",
+ "event-listener 2.5.3",
 ]
 
 [[package]]
@@ -451,7 +464,7 @@ dependencies = [
  "autocfg",
  "blocking",
  "cfg-if 1.0.0",
- "event-listener",
+ "event-listener 2.5.3",
  "futures-lite",
  "rustix 0.37.25",
  "signal-hook",
@@ -476,7 +489,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "62565bb4402e926b29953c785397c6dc0391b7b446e45008b0049eb43cec6f5d"
 dependencies = [
  "async-attributes",
- "async-channel",
+ "async-channel 1.9.0",
  "async-global-executor",
  "async-io",
  "async-lock",
@@ -729,7 +742,7 @@ version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "94c4ef1f913d78636d78d538eec1f18de81e481f44b1be0a81060090530846e1"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "async-lock",
  "async-task",
  "fastrand 2.0.1",
@@ -1950,6 +1963,27 @@ version = "2.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
+[[package]]
+name = "event-listener"
+version = "4.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "770d968249b5d99410d61f5bf89057f3199a077a04d087092f58e7d10692baae"
+dependencies = [
+ "concurrent-queue",
+ "parking",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "event-listener-strategy"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "958e4d70b6d5e81971bebec42271ec641e7ff4e170a6fa605f2b8a8b65cb97d3"
+dependencies = [
+ "event-listener 4.0.0",
+ "pin-project-lite",
+]
+
 [[package]]
 name = "ext-trait"
 version = "1.0.1"
@@ -2758,6 +2792,15 @@ dependencies = [
  "either",
 ]
 
+[[package]]
+name = "itertools"
+version = "0.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b1c173a5686ce8bfa551b3563d0c2170bf24ca44da99c7ca4bfdab5418c3fe57"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "itoa"
 version = "1.0.9"
@@ -3467,13 +3510,13 @@ dependencies = [
 
 [[package]]
 name = "num-derive"
-version = "0.3.3"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "876a53fff98e03a936a674b29568b0e605f06b29372c2489ff4de23f1949743d"
+checksum = "cfb77679af88f8b125209d354a202862602672222e7f2313fdd6dc349bad4712"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.38",
 ]
 
 [[package]]
@@ -4191,7 +4234,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e5d2d8d10f3c6ded6da8b05b5fb3b8a5082514344d56c9f871412d29b4e075b4"
 dependencies = [
  "anyhow",
- "itertools",
+ "itertools 0.10.5",
  "proc-macro2",
  "quote",
  "syn 1.0.109",
@@ -4564,22 +4607,28 @@ dependencies = [
 
 [[package]]
 name = "ros2-client"
-version = "0.5.2"
-source = "git+https://github.com/dora-rs/ros2-client.git?branch=deserialize-seed#3cab61b9d877322bd9da5779764b8a8e7d3f4030"
+version = "0.6.1"
+source = "git+https://github.com/dora-rs/ros2-client.git?branch=deserialize-seed-2#23cbcc8557011cf3e89f95bab4fe02a40c5dac74"
 dependencies = [
+ "async-channel 2.1.1",
+ "bstr",
  "bytes",
  "cdr-encoding-size",
  "chrono",
+ "clap 4.4.6",
  "futures",
+ "itertools 0.11.0",
  "lazy_static",
  "log",
  "mio 0.6.23",
  "mio-extras",
+ "nom",
  "pin-utils",
  "rustdds",
  "serde",
  "serde_repr",
  "uuid",
+ "widestring",
 ]
 
 [[package]]
@@ -4665,8 +4714,8 @@ dependencies = [
 
 [[package]]
 name = "rustdds"
-version = "0.8.4"
-source = "git+https://github.com/dora-rs/RustDDS.git?branch=deserialize-seed#f49cafcf6448767a26f0b8788856cb1857a254fc"
+version = "0.9.0"
+source = "git+https://github.com/dora-rs/RustDDS.git?branch=deserialize-seed-2#fae9fcfb582c4842b849268b3466875daf62fb7f"
 dependencies = [
  "bit-vec",
  "byteorder",
@@ -5240,7 +5289,7 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "af91f480ee899ab2d9f8435bfdfc14d08a5754bd9d3fef1f1a1c23336aad6c8b"
 dependencies = [
- "async-channel",
+ "async-channel 1.9.0",
  "cfg-if 1.0.0",
  "futures-core",
  "pin-project-lite",
@@ -6412,7 +6461,7 @@ dependencies = [
  "async-trait",
  "base64 0.13.1",
  "env_logger",
- "event-listener",
+ "event-listener 2.5.3",
  "flume",
  "form_urlencoded",
  "futures",
@@ -6711,7 +6760,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cdf3eaea2095d2c13fefdae25aca813b3644fc15e1441e16a4398b5113033753"
 dependencies = [
  "hex",
- "itertools",
+ "itertools 0.10.5",
  "lazy_static",
  "rand",
  "serde",
@@ -6727,7 +6776,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "821070b62a55d4c8a22e1e06c939c1f2d94767e660df9fcbea377781f72f59bf"
 dependencies = [
  "async-std",
- "event-listener",
+ "event-listener 2.5.3",
  "flume",
  "futures",
  "tokio",

examples/python-ros2-dataflow/random_turtle.py

@@ -39,6 +39,12 @@ dora_node.merge_external_events(pose_reader)
 
 print("looping", flush=True)
 
+# take track of minimum and maximum coordinates of turtle
+min_x = 1000
+max_x = 0
+min_y = 1000
+max_y = 0
+
 for i in range(500):
     event = dora_node.next()
     if event is None:
@@ -55,8 +61,10 @@ for i in range(500):
         # ROS2 Event
     elif event_kind == "external":
         pose = event.inner()[0].as_py()
-        if i == CHECK_TICK:
-            assert (
-                pose["x"] != 5.544444561004639
-            ), "turtle should not be at initial x axis"
+        min_x = min([min_x, pose["x"]])
+        max_x = max([max_x, pose["x"]])
+        min_y = min([min_y, pose["y"]])
+        max_y = max([max_y, pose["y"]])
         dora_node.send_output("turtle_pose", event.inner())
+
+assert max_x - min_x > 1 or max_y - min_y > 1, "no turtle movement"

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

@@ -10,7 +10,7 @@ use dora_ros2_bridge::{
     rustdds::{self, policy},
     turtlesim::msg::Pose,
 };
-use eyre::Context;
+use eyre::{eyre, Context};
 
 fn main() -> eyre::Result<()> {
     let mut ros_node = init_ros_node()?;
@@ -79,8 +79,8 @@ fn init_ros_node() -> eyre::Result<ros2_client::Node> {
 
     ros_context
         .new_node(
-            "turtle_teleop", // name
-            "/ros2_demo",    // namespace
+            ros2_client::NodeName::new("/ros2_demo", "turtle_teleop")
+                .map_err(|e| eyre!("failed to create ROS2 node name: {e}"))?,
             NodeOptions::new().enable_rosout(true),
         )
         .context("failed to create ros2 node")
@@ -93,7 +93,7 @@ fn create_vel_publisher(
         rustdds::QosPolicyBuilder::new()
             .durability(policy::Durability::Volatile)
             .liveliness(policy::Liveliness::Automatic {
-                lease_duration: ros2::Duration::DURATION_INFINITE,
+                lease_duration: ros2::Duration::INFINITE,
             })
             .reliability(policy::Reliability::Reliable {
                 max_blocking_time: ros2::Duration::from_millis(100),
@@ -104,8 +104,9 @@ fn create_vel_publisher(
 
     let turtle_cmd_vel_topic = ros_node
         .create_topic(
-            "/turtle1/cmd_vel",
-            String::from("geometry_msgs::msg::dds_::Twist_"),
+            &ros2_client::Name::new("/turtle1", "cmd_vel")
+                .map_err(|e| eyre!("failed to create ROS2 name: {e}"))?,
+            ros2_client::MessageTypeName::new("geometry_msgs", "Twist"),
             &topic_qos,
         )
         .context("failed to create topic")?;
@@ -122,8 +123,9 @@ fn create_pose_reader(
 ) -> eyre::Result<ros2_client::Subscription<Pose>> {
     let turtle_pose_topic = ros_node
         .create_topic(
-            "/turtle1/pose",
-            String::from("turtlesim::msg::dds_::Pose_"),
+            &ros2_client::Name::new("/turtle1", "pose")
+                .map_err(|e| eyre!("failed to create ROS2 name: {e}"))?,
+            ros2_client::MessageTypeName::new("turtlesim", "Pose"),
             &Default::default(),
         )
         .context("failed to create topic")?;

libraries/extensions/ros2-bridge/Cargo.toml

@@ -17,8 +17,8 @@ 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"
-ros2-client = { git = "https://github.com/dora-rs/ros2-client.git", branch = "deserialize-seed" }
-rustdds = { git = "https://github.com/dora-rs/RustDDS.git", branch = "deserialize-seed" }
+ros2-client = { git = "https://github.com/dora-rs/ros2-client.git", branch = "deserialize-seed-2" }
+rustdds = { git = "https://github.com/dora-rs/RustDDS.git", branch = "deserialize-seed-2" }
 eyre = { version = "0.6.8", optional = true }
 tokio = { version = "1.29.1", features = ["full"], optional = true }
 dora-daemon = { path = "../../../binaries/daemon", optional = true }

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

@@ -76,8 +76,10 @@ impl Ros2Context {
         namespace: &str,
         options: Ros2NodeOptions,
     ) -> eyre::Result<Ros2Node> {
+        let name = ros2_client::NodeName::new(namespace, name)
+            .map_err(|err| eyre!("invalid node name: {err}"))?;
         Ok(Ros2Node {
-            node: self.context.new_node(name, namespace, options.into())?,
+            node: self.context.new_node(name, options.into())?,
             messages: self.messages.clone(),
         })
     }
@@ -103,12 +105,16 @@ impl Ros2Node {
                 message_type
             )
         })?;
-        let encoded_type_name = format!("{namespace_name}::msg::dds_::{message_name}_");
+        let message_type_name = ros2_client::MessageTypeName::new(namespace_name, message_name);
+        let topic_name = ros2_client::Name::parse(name)
+            .map_err(|err| eyre!("failed to parse ROS2 topic name: {err}"))?;
         let topic = self
             .node
-            .create_topic(name, encoded_type_name, &qos.into())?;
-        let type_info = for_message(&self.messages, namespace_name, message_name)
-            .context("failed to determine type info for message")?;
+            .create_topic(&topic_name, message_type_name, &qos.into())?;
+        let type_info =
+            for_message(&self.messages, namespace_name, message_name).with_context(|| {
+                format!("failed to determine type info for message {namespace_name}/{message_name}")
+            })?;
 
         Ok(Ros2Topic { topic, type_info })
     }

libraries/extensions/ros2-bridge/python/src/qos.rs

@@ -96,7 +96,7 @@ pub enum Ros2Liveliness {
 impl Ros2Liveliness {
     fn convert(self, lease_duration: f64) -> policy::Liveliness {
         let lease_duration = if lease_duration.is_infinite() {
-            rustdds::Duration::DURATION_INFINITE
+            rustdds::Duration::INFINITE
         } else {
             rustdds::Duration::from_frac_seconds(lease_duration)
         };