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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

Release Instructions

Steps:

  • Starting on master
  • Edit change log
  • Revise the version numbers in Cargo.toml files
  • Commit the changes
  • Release packages in order: roslibrust_codegen -> roslibrust_codegen_macro -> roslibrust
  • Push to master
  • Tag and push tag

Note: need to publish with cargo publish --all-features

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

Added

Fixed

Changed

0.11.0

Added

  • ROS1 Native Publishers now support latching behavior
  • The XML RPC client for interacting directly with the rosmaster server has been exposed as a public API
  • Experimental: Initial support for writing generic clients that can be compile time specialized for rosbridge or ros1
  • Can subscribe to any topic and get raw bytes instead of a deserialized message of known type
  • Can publish to any topic and send raw bytes instead of a deserialized message

Fixed

  • ROS1 Native Publishers correctly call unadvertise when dropped
  • ROS1 Native Publishers no longer occasionally truncate very large messages (>5MB)

Changed

  • ROS1 Node Handle's advertise() now requires a latching argument

0.10.2 - August 3rd, 2024

Added

Fixed

  • Bug with message_definitions provided by Publisher in the connection header not being the fully expanded definition.
  • Bug with ROS1 native subscribers not being able to receive messages larger than 4096 bytes.

Changed

0.10.1 - July 5th, 2024

Added

Fixed

  • Bug with ros1 native publishers not parsing connection headers correctly

Changed

0.10.0 - July 5th, 2024

Added

  • ROS1 native service servers and service clients are now supported (experimental feature)

Fixed

  • The reconnection logic for rosbridge clients was fundamentally broken and failing to reconnect. This has been fixed.
  • Generic subscriptions coming from rospy that specified "*" as the md5sum were not properly handled. This has been fixed.

Changed

  • Code generated by roslibrust_codegen now depends only on libraries exposed by roslibrust_codegen. This means that crates that were previously adding dependencies on serde, serde-big-array, and smart-default will no longer need to do so.
  • A significant reworking of the error types in the ROS1 native client was performed to move away from the Box<dyn Error + Send + Sync> pattern and instead use the anyhow crate.

0.9.0 - May 13th, 2024

Added

  • The build.rs example in example_package now correctly informs cargo of filesystem dependencies
  • The advertise_service method in rosbridge/client.rs now accepts closures
  • Expose additional methods useful for custom cases not using package manifests or standard ROS2 setups

Fixed

  • Messages containing fixed sized arrays now successfully serialize and deserialize when using ROS1 native communication

Changed

  • The function interface for top level generation functions in roslibrust_codegen have been changed to include the list of dependent filesystem paths that should trigger re-running code generation. Note: new files added to the search paths will not be automatically detected.
  • [Breaking Change] Codegen now generates fixed sized arrays as arrays [T; N] instead of Vec
  • Removed find_and_generate_ros_messages_relative_to_manifest_dir! this proc_macro was changing the current working directory of the compilation job resulting in a variety of strange compilation behaviors. Build.rs scripts are recommended for use cases requiring fine grained control of message generation.
  • The function interface for top level generation functions in roslibrust_codegen have been changed to include the list of dependent filesystem paths that should trigger re-running code generation. Note: new files added to the search paths will not be automatically detected.
  • Refactor the ros1::node module into separate smaller pieces. This should be invisible externally (and no changes to examples were required).

0.8.0 - October 4th, 2023

Added

  • Experimental support for ROS1 native communication behind the ros1 feature flag
  • Generation of C++ source added via roslibrust_genmsg along with arbitrary languages via passed in templates
  • Generation of Rust source for actions
  • Example for custom generic message usage with rosbridge
  • Example for async native ROS1 listener
  • Example for async native ROS1 publisher

Fixed

  • Incorrect handling of ROS1 message string constants

Changed

  • crawl function in roslibrust_codegen updated to a more flexible API
  • Overhaul of error handling in roslibrust_codegen to bubble errors up, and remove use of panic! and unwrap(). Significantly better error messages should be produced from proc_macros and build.rs files. Direct usages of the API will need to be updated to handle the returned error type.
  • RosMessageType trait now has associated constants for MD5SUM and DEFINITION to enable ROS1 native support. These constants are optional at this time with a default value of "" provided.

0.7.0 - March 13, 2022

Added

  • Support for default field values in ROS2 messages
  • Added public APIs for getting message data from search and for generating Rust code given message data in roslibrust_codegen
  • More useful logs available when running codegen
  • Refactor some of the public APIs and types in roslibrust_codegen (concept of ParsedMessageFile vs MessageFile)
  • Added a method get_md5sum to MessageFile
  • Additional code generation API and macro which excludes ROS_PACKAGE_PATH

Fixed

  • Bug causing single quoted string constants in message files to not be parsed correctly
  • Bug causing float constants in message files to cause compiler errors because f32 = 0; is not allowed in rust
  • Bug where packages were not properly de-duplicated during discovery.

Changed

  • advertise_service and subscribe methods on ClientHandle were changed from needing &mut self to &self

0.6.0 - December 12, 2022

Added

  • Initial support for ROS2 message generation
  • Initial integration testing for ROS2 all basic functionality covered
  • CI testing for Humble

Fixed

  • The generated char type within rust is now u8.
  • Package names are now determined by the name tag within package.xml instead of by directory name

0.5.2 - October 31, 2022

Changed

  • No longer generate empty impl blocks from message structs that have not associated constants
  • Significant improvement to documentation with expanded examples

Fixed

  • advertise_service no longer panics if multiple advertise attempts made to same topic

0.5.1 - September 18, 2022

Fix to docs.rs build.

0.5.0 - September 18, 2022

Added

  • Service server example

Changed

  • Client is now ClientHandle
  • All identifiers in generated code are now escaped with r#
  • advertise_service now returns a ServiceHandle which controls the lifetime of the service

Fixed

  • Fixed issue where the spin and reconnect context would never drop even if there were no more ClientHandles
  • Fixed parsing issue with triple dashes in comments of service files
  • Fixed bug in generation where message properties or constants had names conflicting with Rust reserved keywords

0.4.0 - September 18, 2022

Yanked version due to failed publish

0.3.0 - September 18, 2022

Yanked version due to failed publish

0.2.0 - September 1, 2022

Added

  • Support for service servers
  • Into<> helpers for Time and Duration for tokio and std

Fixed

  • Failure in message generation caused by files without extensions
  • Failure in message generation caused by failing to quote around string constants
  • Failure in message generation caused by bad design of integral types TimeI and DurationI

0.1.0 - August 28, 2022

Initial public release

0.0.3 - Unreleased

0.0.2 - Unreleased

0.0.1 - Unreleased