Fixes for releasing to crates.io

rclrs/Cargo.toml

@@ -4,6 +4,8 @@ version = "0.2.0"
 # This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
 authors = ["Esteve Fernandez <[email protected]>", "Nikolai Morin <[email protected]>", "Jacob Hassold <[email protected]>"]
 edition = "2021"
+license = "Apache-2.0"
+description = "A ROS 2 client library for developing robotics applications in Rust"
 
 [lib]
 path = "src/lib.rs"
@@ -16,17 +18,14 @@ libc = "0.2.43"
 # Provides better concurrency primitives than std
 parking_lot = "0.11.2"
 # Needed for the Message trait, among others
-rosidl_runtime_rs = "*"
+rosidl_runtime_rs = "0.2.0"
 # Needed for clients
 futures = "0.3"
 
 [dev-dependencies]
 # Needed for e.g. writing yaml files in tests
 tempfile = "3.3.0"
 
-[dev-dependencies.std_msgs]
-version = "*"
-
 [build-dependencies]
 # Needed for FFI
 bindgen = "0.59.1"

rclrs/package.xml

@@ -17,8 +17,6 @@
   <build_depend>rosidl_runtime_rs</build_depend>
   <build_depend>rcl</build_depend>
 
-  <test_depend>std_msgs</test_depend>
-
   <export>
     <build_type>ament_cargo</build_type>
   </export>

rclrs/src/lib.rs

@@ -147,44 +147,3 @@ pub fn create_node(context: &Context, node_name: &str) -> Result<Node, RclrsErro
 pub fn create_node_builder(context: &Context, node_name: &str) -> NodeBuilder {
     Node::builder(context, node_name)
 }
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use std::sync::{Arc, Mutex};
-    use std::time::Duration;
-
-    #[test]
-    fn test_spin_once() -> Result<(), RclrsError> {
-        let context = Context::new(vec![]).unwrap();
-        let mut subscriber_node = create_node(&context, "minimal_subscriber")?;
-        let num_messages = Arc::new(Mutex::new(0));
-        let received_msg = Arc::new(Mutex::new(String::new()));
-        let n = num_messages.clone();
-        let m = received_msg.clone();
-        let publisher = subscriber_node
-            .create_publisher::<std_msgs::msg::String>("topic", QOS_PROFILE_DEFAULT)?;
-        let _subscription = subscriber_node.create_subscription::<std_msgs::msg::String, _>(
-            "topic",
-            QOS_PROFILE_DEFAULT,
-            move |msg: std_msgs::msg::String| {
-                let mut num_messages = n.lock().unwrap();
-                let mut received_msg = m.lock().unwrap();
-
-                *num_messages += 1;
-                *received_msg = msg.data;
-            },
-        )?;
-
-        let message = std_msgs::msg::String {
-            data: String::from("Hello World"),
-        };
-        publisher.publish(message)?;
-        spin_once(&subscriber_node, Some(Duration::from_millis(500)))?;
-
-        assert_eq!(*num_messages.lock().unwrap(), 1);
-        assert_eq!(&*received_msg.lock().unwrap().as_str(), "Hello World");
-
-        Ok(())
-    }
-}

rclrs/src/node.rs

@@ -338,41 +338,3 @@ unsafe fn call_string_getter_with_handle(
     let cstr = CStr::from_ptr(char_ptr);
     cstr.to_string_lossy().into_owned()
 }
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::{create_node, Context, Node, QOS_PROFILE_DEFAULT};
-
-    #[test]
-    fn test_new() -> Result<(), RclrsError> {
-        let context =
-            Context::new(vec![]).expect("Context instantiation is expected to be a success");
-        let _ = Node::new(&context, "Bob")?;
-
-        Ok(())
-    }
-
-    #[test]
-    fn test_create_subscription() -> Result<(), RclrsError> {
-        let context =
-            Context::new(vec![]).expect("Context instantiation is expected to be a success");
-        let mut node = create_node(&context, "test_create_subscription")?;
-        let _subscription = node.create_subscription::<std_msgs::msg::String, _>(
-            "topic",
-            QOS_PROFILE_DEFAULT,
-            move |_: std_msgs::msg::String| {},
-        )?;
-        Ok(())
-    }
-
-    #[test]
-    fn test_create_publisher() -> Result<(), RclrsError> {
-        let context =
-            Context::new(vec![]).expect("Context instantiation is expected to be a success");
-        let node = create_node(&context, "test_create_publisher")?;
-        let _publisher =
-            node.create_publisher::<std_msgs::msg::String>("topic", QOS_PROFILE_DEFAULT)?;
-        Ok(())
-    }
-}

rclrs/src/node/publisher.rs

@@ -163,37 +163,3 @@ impl<'a, T: Message> MessageCow<'a, T> for &'a T {
         Cow::Borrowed(self)
     }
 }
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::{create_node, Context, Publisher, QOS_PROFILE_DEFAULT};
-
-    fn create_fixture(name: &str) -> (Context, Node) {
-        let context =
-            Context::new(vec![]).expect("Context instantiation is expected to be a success");
-        let node =
-            create_node(&context, name).expect("Node instantiation is expected to be a success");
-
-        (context, node)
-    }
-
-    #[test]
-    fn test_new_publisher() -> Result<(), RclrsError> {
-        let (_, node) = create_fixture("test_new_publisher");
-        let _ = Publisher::<std_msgs::msg::String>::new(&node, "test", QOS_PROFILE_DEFAULT)?;
-
-        Ok(())
-    }
-
-    #[test]
-    fn test_publish_message() -> Result<(), RclrsError> {
-        let (_, node) = create_fixture("test_publish_message");
-        let publisher =
-            Publisher::<std_msgs::msg::String>::new(&node, "test", QOS_PROFILE_DEFAULT)?;
-        let message = std_msgs::msg::String {
-            data: "Hello world!".to_owned(),
-        };
-        publisher.publish(&message)
-    }
-}

rclrs/src/node/subscription.rs

@@ -214,23 +214,3 @@ where
         Ok(())
     }
 }
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::{create_node, Context, QOS_PROFILE_DEFAULT};
-
-    #[test]
-    fn test_instantiate_subscriber() -> Result<(), RclrsError> {
-        let context =
-            Context::new(vec![]).expect("Context instantiation is expected to be a success");
-        let mut node = create_node(&context, "test_new_subscriber")?;
-        let _subscriber = node.create_subscription::<std_msgs::msg::String, _>(
-            "test",
-            QOS_PROFILE_DEFAULT,
-            move |_: std_msgs::msg::String| {},
-        )?;
-
-        Ok(())
-    }
-}

rclrs/src/wait.rs

@@ -289,42 +289,3 @@ impl WaitSet {
         Ok(ready_entities)
     }
 }
-
-#[cfg(test)]
-mod tests {
-    use crate::{Context, Node, RclrsError, WaitSet, QOS_PROFILE_DEFAULT};
-    use std::sync::Arc;
-
-    #[test]
-    fn test_adding_waitable_to_wait_sets() -> Result<(), RclrsError> {
-        let context = Context::new([])?;
-        let mut node = Node::new(&context, "test_adding_waitable_to_wait_sets")?;
-        let subscription = node.create_subscription(
-            "test",
-            QOS_PROFILE_DEFAULT,
-            move |_: std_msgs::msg::String| {},
-        )?;
-        let mut wait_set_1 = WaitSet::new(1, 0, 0, 0, 0, 0, &context)?;
-        let mut wait_set_2 = WaitSet::new(1, 0, 0, 0, 0, 0, &context)?;
-
-        // Try to add the subscription to wait set 1 twice
-        wait_set_1.add_subscription(Arc::clone(&subscription) as _)?;
-        assert!(wait_set_1
-            .add_subscription(Arc::clone(&subscription) as _)
-            .is_err());
-
-        // Try to add it to another wait set
-        assert!(wait_set_2
-            .add_subscription(Arc::clone(&subscription) as _)
-            .is_err());
-
-        // It works as soon as it is not anymore part of wait_set_1
-        wait_set_1.clear();
-        wait_set_2.add_subscription(Arc::clone(&subscription) as _)?;
-
-        // Dropping the wait set also frees up the subscription
-        drop(wait_set_2);
-        wait_set_1.add_subscription(Arc::clone(&subscription) as _)?;
-        Ok(())
-    }
-}

rosidl_runtime_rs/Cargo.toml

@@ -2,8 +2,10 @@
 name = "rosidl_runtime_rs"
 version = "0.2.0"
 # This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
-authors = ["Jacob Hassold <[email protected]>", "Nikolai Morin <[email protected]>"]
+authors = ["Esteve Fernandez <[email protected]>", "Nikolai Morin <[email protected]>", "Jacob Hassold <[email protected]>"]
 edition = "2021"
+license = "Apache-2.0"
+description = "Message generation code shared by Rust projects in ROS 2"
 
 [lib]
 path = "src/lib.rs"