Roslibrust tf support

.github/workflows/ci.yml

@@ -2,9 +2,7 @@ name: CI
 
 on:
   push:
-    branches: [main]
   pull_request:
-    branches: [main]
   schedule:
     - cron: '0 15 * * 0,4' # Every Monday and Friday at 00:00 JST
 
@@ -15,7 +13,6 @@ env:
   RUST_BACKTRACE: 1
   RUSTDOCFLAGS: -D warnings
   RUSTFLAGS: -D warnings
-  RUSTUP_MAX_RETRIES: 10
 
 defaults:
   run:
@@ -29,73 +26,51 @@ jobs:
   build:
     strategy:
       fail-fast: false
-      matrix:
-        os: [ubuntu-latest, macos-latest]
-    runs-on: ${{ matrix.os }}
+    runs-on: ubuntu-22.04
     timeout-minutes: 60
     steps:
       - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@stable
-      - run: cargo build
 
-  test:
-    name: Test Suite
-    runs-on: ubuntu-latest
-    timeout-minutes: 60
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@stable
-      - run: echo "ROS2_DISTRO=humble" >>"${GITHUB_ENV}"
-      - name: Install ROS2
+      - name: apt update
         run: |
-          # for tf_r2r
-          sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
-          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
           sudo apt-get update
-          sudo apt-get install -y ros-$ROS2_DISTRO-ros-core ros-$ROS2_DISTRO-geometry-msgs ros-$ROS2_DISTRO-tf2-msgs
-      - name: cargo test
-        run: |
-          # for tf_r2r
-          source /opt/ros/$ROS2_DISTRO/setup.bash
-          cargo test --all-features
 
-  fmt:
-    name: Rustfmt
-    runs-on: ubuntu-latest
-    timeout-minutes: 60
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@nightly
-        with:
-          components: rustfmt
-      - run: cargo fmt --all --check
+      - name: apt upgrade
+        run: |
+          sudo apt-get upgrade
 
-  clippy:
-    name: Clippy
-    runs-on: ubuntu-latest
-    timeout-minutes: 60
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@stable
-        with:
-          components: clippy
-      - run: echo "ROS2_DISTRO=humble" >>"${GITHUB_ENV}"
-      - name: Install ROS2
+      - name: apt rust installs
         run: |
-          # for tf_r2r
-          sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
-          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-          sudo apt-get update
-          sudo apt-get install -y ros-$ROS2_DISTRO-ros-core ros-$ROS2_DISTRO-geometry-msgs ros-$ROS2_DISTRO-tf2-msgs
-      - name: cargo clippy
+          sudo apt-get install -yqq cargo
+          sudo apt-get install -yqq rustc
+          sudo apt-get install -yqq librust-openssl-dev
+          # currently these are 1.82 (but are 1.75 on non-github-action Ubuntu 22.04)
+          # mostly this makes clippy fail on more things
+          cargo --version
+          rustc --version
+
+      - name: more apt installs
         run: |
-          # for tf_r2r
-          source /opt/ros/$ROS2_DISTRO/setup.bash
-          cargo clippy --all-features --all-targets
+          sudo apt-get install -yqq python3-rosmsg pkg-config rospack-tools
+          sudo apt-get install -yqq libactionlib-msgs-dev python3-actionlib-msgs ros-actionlib-msgs
+          sudo apt-get install -yqq libgeometry-msgs-dev python3-geometry-msgs ros-geometry-msgs
+          sudo apt-get install -yqq libnav-msgs-dev ros-nav-msgs
+          sudo apt-get install -yqq libsensor-msgs-dev python3-sensor-msgs ros-sensor-msgs
+          sudo apt-get install -yqq libstd-msgs-dev python3-std-msgs ros-std-msgs
+          sudo apt-get install -yqq libstd-srvs-dev python3-std-srvs ros-std-srvs
+          sudo apt-get install -yqq libtf2-msgs-dev python3-tf2-msgs ros-tf2-msgs
+          rospack find geometry_msgs
+          echo "ROS_PACKAGE_PATH=`rospack find geometry_msgs`:`rospack find nav_msgs`:`rospack find tf2_msgs`:`rospack find sensor_msgs`:`rospack find std_msgs`:`rospack find actionlib_msgs`" >> $GITHUB_ENV
 
-  spell-check:
-    runs-on: ubuntu-latest
-    timeout-minutes: 60
-    steps:
-      - uses: actions/checkout@v4
-      - run: tools/spell-check.sh
+      - run: |
+          ! [[ -z "$ROS_PACKAGE_PATH" ]]
+
+      - run: echo $ROS_PACKAGE_PATH
+
+      - run: cargo build
+
+      - run: cargo test
+
+      - run: cargo fmt --check
+
+      - run: cargo clippy

.gitignore

@@ -1,3 +1,2 @@
 /target
-Cargo.lock
 .vscode/