Add rosidl_runtime_rs from the ros2-rust repository

rosidl_runtime_rs/Cargo.toml

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+[package]
+name = "rosidl_runtime_rs"
+version = "0.4.1"
+# This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
+authors = ["Esteve Fernandez <esteve@apache.org>", "Nikolai Morin <nnmmgit@gmail.com>", "Jacob Hassold <jacob.a.hassold.civ@army.mil>"]
+edition = "2021"
+license = "Apache-2.0"
+description = "Message generation code shared by Rust projects in ROS 2"
+
+[lib]
+path = "src/lib.rs"
+
+# Please keep the list of dependencies alphabetically sorted,
+# and also state why each dependency is needed.
+[dependencies]
+# Optional dependency for making it possible to convert messages to and from
+# formats such as JSON, YAML, Pickle, etc.
+serde = { version = "1", optional = true }
+
+[features]
+default = []
+# 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
+generate_docs = []
+
+[dev-dependencies]
+# Needed for writing property tests
+quickcheck = "1"
+# Needed for testing serde support
+serde_json = "1"
+
+[build-dependencies]
+# Needed for uploading documentation to docs.rs
+cfg-if = "1.0.0"
+
+[package.metadata.docs.rs]
+features = ["generate_docs"]

rosidl_runtime_rs/README.md

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+# Common types and traits for ROS 2 messages in Rust
+
+ROS 2 is a popular open source robotics framework, used in a variety of fields (self-driving cars, drones, humanoid robots, etc.). `rosidl_runtime_rs` is a library that is mainly used by generated code for ROS 2 messages.
+
+Please see the docs in the [`ros2_rust` repo](https://github.com/ros2-rust/ros2_rust).

rosidl_runtime_rs/build.rs

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+cfg_if::cfg_if! {
+    if #[cfg(not(feature="generate_docs"))] {
+        use std::env;
+        use std::path::Path;
+
+        const AMENT_PREFIX_PATH: &str = "AMENT_PREFIX_PATH";
+
+        fn get_env_var_or_abort(env_var: &'static str) -> String {
+            if let Ok(value) = env::var(env_var) {
+                value
+            } else {
+                panic!(
+                    "{} environment variable not set - please source ROS 2 installation first.",
+                    env_var
+                );
+            }
+        }
+    }
+}
+
+fn main() {
+    #[cfg(not(feature = "generate_docs"))]
+    {
+        let ament_prefix_path_list = get_env_var_or_abort(AMENT_PREFIX_PATH);
+        for ament_prefix_path in ament_prefix_path_list.split(':') {
+            let library_path = Path::new(ament_prefix_path).join("lib");
+            println!("cargo:rustc-link-search=native={}", library_path.display());
+        }
+    }
+
+    // Invalidate the built crate whenever this script changes
+    println!("cargo:rerun-if-changed=build.rs");
+}

rosidl_runtime_rs/package.xml

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+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosidl_runtime_rs</name>
+  <version>0.4.1</version>
+  <description>Message generation code shared by Rust projects in ROS 2</description>
+  <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
+  <maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
+  <maintainer email="nnmmgit@gmail.com">Nikolai Morin</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="jacob.a.hassold.civ@army.mil">Jacob Hassold</author>
+  <author email="nnmmgit@gmail.com">Nikolai Morin</author>
+
+  <depend>rosidl_runtime_c</depend>
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>

rosidl_runtime_rs/src/lib.rs

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+#![warn(missing_docs)]
+//! Bindings to `rosidl_runtime_c` and related functionality for messages.
+
+#[macro_use]
+mod sequence;
+pub use sequence::{BoundedSequence, Sequence, SequenceExceedsBoundsError};
+
+mod string;
+pub use string::{BoundedString, BoundedWString, String, StringExceedsBoundsError, WString};
+
+mod traits;
+pub use traits::{Action, ActionImpl, Message, RmwMessage, SequenceAlloc, Service};