From bf861a6a2606c0351eaa518662c052d0d10b3daa Mon Sep 17 00:00:00 2001
From: "Michael X. Grey" <greyxmike@gmail.com>
Date: Thu, 9 Oct 2025 22:28:53 +0800
Subject: [PATCH] Re-export traits from rosidl_runtime_rs

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
---
 rclrs/src/lib.rs     |  2 ++
 rclrs/src/service.rs | 24 ++++++++++++------------
 rclrs/src/worker.rs  |  4 ++--
 3 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
index 3952682a1..e7ae8bab1 100644
--- a/rclrs/src/lib.rs
+++ b/rclrs/src/lib.rs
@@ -223,3 +223,5 @@ pub use time::*;
 use time_source::*;
 pub use wait_set::*;
 pub use worker::*;
+
+pub use rosidl_runtime_rs::{Message as MessageIDL, Service as ServiceIDL};
diff --git a/rclrs/src/service.rs b/rclrs/src/service.rs
index 4537d7b6e..52bfb6adb 100644
--- a/rclrs/src/service.rs
+++ b/rclrs/src/service.rs
@@ -5,7 +5,7 @@ use std::{
     sync::{Arc, Mutex, MutexGuard},
 };
 
-use rosidl_runtime_rs::{Message, Service as IdlService};
+use rosidl_runtime_rs::{Message, Service as ServiceIDL};
 
 use crate::{
     error::ToResult, rcl_bindings::*, IntoPrimitiveOptions, MessageCow, Node, NodeHandle,
@@ -71,7 +71,7 @@ pub type WorkerService<T, Payload> = Arc<ServiceState<T, Worker<Payload>>>;
 /// [1]: std::sync::Weak
 pub struct ServiceState<T, Scope>
 where
-    T: IdlService,
+    T: ServiceIDL,
     Scope: WorkScope,
 {
     /// This handle is used to access the data that rcl holds for this service.
@@ -86,7 +86,7 @@ where
 
 impl<T, Scope> ServiceState<T, Scope>
 where
-    T: IdlService,
+    T: ServiceIDL,
     Scope: WorkScope + 'static,
 {
     /// Returns the name of the service.
@@ -166,7 +166,7 @@ where
     }
 }
 
-impl<T: IdlService> ServiceState<T, Node> {
+impl<T: ServiceIDL> ServiceState<T, Node> {
     /// Set the callback of this service, replacing the callback that was
     /// previously set.
     ///
@@ -192,7 +192,7 @@ impl<T: IdlService> ServiceState<T, Node> {
     }
 }
 
-impl<T: IdlService, Payload: 'static + Send + Sync> ServiceState<T, Worker<Payload>> {
+impl<T: ServiceIDL, Payload: 'static + Send + Sync> ServiceState<T, Worker<Payload>> {
     /// Set the callback of this service, replacing the callback that was
     /// previously set.
     ///
@@ -238,7 +238,7 @@ impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for ServiceOptions<'a> {
     }
 }
 
-struct ServiceExecutable<T: IdlService, Scope: WorkScope> {
+struct ServiceExecutable<T: ServiceIDL, Scope: WorkScope> {
     handle: Arc<ServiceHandle>,
     callback: Arc<Mutex<AnyServiceCallback<T, Scope::Payload>>>,
     commands: Arc<WorkerCommands>,
@@ -246,7 +246,7 @@ struct ServiceExecutable<T: IdlService, Scope: WorkScope> {
 
 impl<T, Scope> RclPrimitive for ServiceExecutable<T, Scope>
 where
-    T: IdlService,
+    T: ServiceIDL,
     Scope: WorkScope,
 {
     unsafe fn execute(&mut self, payload: &mut dyn Any) -> Result<(), RclrsError> {
@@ -317,9 +317,9 @@ impl ServiceHandle {
     // |      rmw_take       |
     // +---------------------+
     // ```
-    fn take_request<T: IdlService>(&self) -> Result<(T::Request, rmw_request_id_t), RclrsError> {
+    fn take_request<T: ServiceIDL>(&self) -> Result<(T::Request, rmw_request_id_t), RclrsError> {
         let mut request_id_out = RequestId::zero_initialized_rmw();
-        type RmwMsg<T> = <<T as IdlService>::Request as Message>::RmwMsg;
+        type RmwMsg<T> = <<T as ServiceIDL>::Request as Message>::RmwMsg;
         let mut request_out = RmwMsg::<T>::default();
         let handle = &*self.lock();
         unsafe {
@@ -335,11 +335,11 @@ impl ServiceHandle {
     }
 
     /// Same as [`Self::take_request`] but includes additional info about the service
-    fn take_request_with_info<T: IdlService>(
+    fn take_request_with_info<T: ServiceIDL>(
         &self,
     ) -> Result<(T::Request, rmw_service_info_t), RclrsError> {
         let mut service_info_out = ServiceInfo::zero_initialized_rmw();
-        type RmwMsg<T> = <<T as IdlService>::Request as Message>::RmwMsg;
+        type RmwMsg<T> = <<T as ServiceIDL>::Request as Message>::RmwMsg;
         let mut request_out = RmwMsg::<T>::default();
         let handle = &*self.lock();
         unsafe {
@@ -354,7 +354,7 @@ impl ServiceHandle {
         Ok((T::Request::from_rmw_message(request_out), service_info_out))
     }
 
-    fn send_response<T: IdlService>(
+    fn send_response<T: ServiceIDL>(
         self: &Arc<Self>,
         request_id: &mut rmw_request_id_t,
         response: T::Response,
diff --git a/rclrs/src/worker.rs b/rclrs/src/worker.rs
index 261240ec7..3ca459d58 100644
--- a/rclrs/src/worker.rs
+++ b/rclrs/src/worker.rs
@@ -4,7 +4,7 @@ use crate::{
     WorkerCommands, WorkerService, WorkerSubscription,
 };
 use futures::channel::oneshot;
-use rosidl_runtime_rs::{Message, Service as IdlService};
+use rosidl_runtime_rs::{Message, Service as ServiceIDL};
 use std::{
     any::Any,
     sync::{Arc, Mutex, Weak},
@@ -360,7 +360,7 @@ impl<Payload: 'static + Send + Sync> WorkerState<Payload> {
         callback: impl IntoWorkerServiceCallback<T, Payload, Args>,
     ) -> Result<WorkerService<T, Payload>, RclrsError>
     where
-        T: IdlService,
+        T: ServiceIDL,
     {
         ServiceState::<T, Worker<Payload>>::create(
             options,