add lyrical to CI jobs and rcl_bindings.rs#640
Conversation
|
Hi, thanks for the work on adding Lyrical support. While testing this PR, I noticed that it currently fails to compile because The PR updates Could you please verify whether |
|
@ottojo thanks for submitting this PR. Could you please rebase on top of main? I've merged a series of fixes that should make this PR pass. Also, as @xiaoyang20010608 mentioned, the bindings file for lyrical is missing, could you add it as well? Thanks! |
Switch the agent's ROS 2 layer to Lyrical without a source build. `rclrs` and `rosidl_runtime_rs` now come from crates.io, and the robostack-lyrical conda packages provide the ROS 2 runtime plus pre-generated Rust message bindings, which `.cargo/config.toml` patches in. Move the Pixi manifest to the repo root and slim it to `ros-lyrical-ros-base` plus the Rust toolchain. Remove the `rclrs_ws` colcon/vcstool source-build workspace and its `setup.bash` step; building now only needs `pixi install` then `cargo build`. Update docs and CHANGELOG accordingly. Building talos-agent is blocked until an rclrs release with ROS 2 Lyrical support lands on crates.io (upstream ros2-rust/ros2_rust#640); the client crates are unaffected. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
3 participants
Lyrical is about to be released, the
rostooling/setup-ros-docker:ubuntu-resolute-ros-lyrical-ros-base-latestdocker image already exists. I successfully ran the../generate_bindings.py rcl_wrapper.h lyrical .command and ran the subscriber example on lyrical.