ros-env

Top-level Rust crate to include generated Rust code found in a sourced ROS 2 workspace.

Usage

The shape/msg/Plane message can be included with:

// Assuming the rust crate for `shape_msgs` is in the `AMENT_PREFIX_PATH`
use ros_env::shape_msgs::msg::Plane;

Details

Any Rust crate found in the AMENT_PREFIX_PATH environment variable, that has opted in, will be include!()d.

To opt in, the crate must have the following metadata present in the Cargo.toml

[package.metadata.ros-env]
include = true

By default, crates generated from rosidl_generator_rs opt in.

Limitations

• The include!() macro is literal text inclusion. As such, depending on the number of generated crates found in AMENT_PREFIX_PATH, the build times for this crate can be long.
• The dependencies of the included crates are not included. You cannot dynamically alter cargo dependencies through anything other than features, and features need to be explicitly declared and enabled. As such, this crate must have all expected dependencies itself (hence why this crate has a serde dependency for example).