From 0105a76f533ba655db46893784cc8bff69286696 Mon Sep 17 00:00:00 2001
From: stelzo <csieh@uos.de>
Date: Mon, 25 Mar 2024 15:13:48 +0100
Subject: [PATCH] bump version

---
 Cargo.toml |  2 +-
 README.md  | 53 ++++++++++++++++++++++++++++++++++++-----------------
 2 files changed, 37 insertions(+), 18 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index a97e861..f5de2b8 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.3.2"
+version = "0.4.0"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
diff --git a/README.md b/README.md
index aba9a92..01d5766 100644
--- a/README.md
+++ b/README.md
@@ -61,7 +61,42 @@ let new_cloud_points = convert
 assert_eq!(new_cloud_points, cloud_copy);
 ```
 
-To use `ros_pointcloud2` in your favorite ROS crate, you can either use this crate's features (see Integration section below) or implement the `Into` and `From` traits for `PointCloud2Msg`.
+## Integrations
+
+There are currently 3 integrations for common ROS crates.
+- [rosrust_msg](https://github.com/adnanademovic/rosrust)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml)
+- [r2r_msg](https://github.com/sequenceplanner/r2r)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml)
+- [rclrs_msg](https://github.com/ros2-rust/ros2_rust)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_humble.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_humble.yml)
+  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_iron.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rclrs_iron.yml)
+
+You can use `rosrust` and `r2r` by enabling the respective feature:
+```toml
+[dependencies]
+ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
+# or
+ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
+```
+
+### rclrs (ros2_rust)
+Features do not work properly with `rcrls` because the messages are linked externally. You need to use tags instead:
+```toml
+[dependencies]
+ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.4.0_rclrs" }
+```
+Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
+```xml
+<depend>std_msgs</depend>
+<depend>sensor_msgs</depend>
+<depend>builtin_interfaces</depend>
+```
+
+### Others
+To use `ros_pointcloud2` somewhere else, you can also implement the `Into` and `From` traits for `PointCloud2Msg`.
 
 Try to avoid cloning the `data: Vec<u8>` field.
 ```rust
@@ -82,22 +117,6 @@ impl From<YourROSPointCloud2> for PointCloud2Msg {
 }
 ```
 
-## Integrations
-
-There are currently 2 integrations for common ROS crates such as rosrust for ROS1 and R2R for ROS2.
-- [rosrust_msg](https://github.com/adnanademovic/rosrust)
-  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/rosrust_noetic.yml)
-- [r2r_msg](https://github.com/sequenceplanner/r2r)
-  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_galactic.yml)
-  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_humble.yml)
-  - [![Tests](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml/badge.svg)](https://github.com/stelzo/ros_pointcloud2/actions/workflows/r2r_iron.yml)
-
-You can use them by enabling the corresponding feature. Example:
-```toml
-[dependencies]
-ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
-```
-
 Please open an issue or PR if you want to see support for other crates.
 
 ## Features