feat!: add support for dynamic publishers and subscriptions

.github/workflows/rust-minimal.yml

@@ -101,7 +101,7 @@ jobs:
         echo "Running clippy in $path"
         # Run clippy for all features except use_ros_shim (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
+          cargo clippy --no-deps --all-targets -F default -- -D warnings
         else
           cargo clippy --no-deps --all-targets --all-features -- -D warnings
         fi
@@ -117,7 +117,9 @@ jobs:
         echo "Running cargo test in $path"
         # Run cargo test for all features except use_ros_shim (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo test -F default,dyn_msg,serde
+          cargo test -F default
+        elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
+          cargo test -F default,serde
         else
           cargo test --all-features
         fi

.github/workflows/rust-stable.yml

@@ -101,7 +101,7 @@ jobs:
         echo "Running clippy in $path"
         # Run clippy for all features except use_ros_shim (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
+          cargo clippy --no-deps --all-targets -F default -- -D warnings
         else
           cargo clippy --no-deps --all-targets --all-features -- -D warnings
         fi
@@ -117,7 +117,9 @@ jobs:
         echo "Running cargo test in $path"
         # Run cargo test for all features except use_ros_shim (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo test -F default,dyn_msg,serde
+          cargo test -F default
+        elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
+          cargo test -F default,serde
         else
           cargo test --all-features
         fi

.github/workflows/rust-win.yml

@@ -75,7 +75,7 @@ jobs:
                 cd %%B
                 echo Running cargo test in %%B
                 if /I "%%~nxB"=="rclrs" (
-                  cargo test -F default,dyn_msg
+                  cargo test -F default
                 ) else if /I "%%~nxB"=="rosidl_runtime_rs" (
                   cargo test -F default
                 ) else (

rclrs/Cargo.toml

@@ -15,7 +15,7 @@ path = "src/lib.rs"
 # and also state why each dependency is needed.
 [dependencies]
 # Needed for dynamically finding type support libraries
-ament_rs = { version = "0.2", optional = true }
+ament_rs = { version = "0.2" }
 
 # Needed to create the GoalClientStream
 async-stream = "0.3.6"
@@ -33,7 +33,7 @@ futures-lite = { version = "2.6", features = ["std", "race"] }
 async-std = "1.13"
 
 # Needed for dynamic messages
-libloading = { version = "0.8", optional = true }
+libloading = { version = "0.8" }
 
 # Needed for the Message trait, among others
 rosidl_runtime_rs = "0.5"
@@ -67,7 +67,6 @@ rustflags = "0.1"
 
 [features]
 default = []
-dyn_msg = ["ament_rs", "libloading"]
 serde = ["dep:serde", "dep:serde-big-array", "rosidl_runtime_rs/serde"]
 # This feature is solely for the purpose of being able to generate documetation without a ROS installation
 # The only intended usage of this feature is for docs.rs builders to work, and is not intended to be used by end users