`colcon build` fails when creating a subscriber for `sensor_msgs::msg::PointCloud2` due to yanked `sensor_msgs` crate.

[Santoi]

Description:

When I attempt to build a ROS 2 Rust node that subscribes to a topic using sensor_msgs::msg::PointCloud2 messages, the colcon build process fails. The error message indicates that the sensor_msgs crate is yanked from crates.io, preventing the build from completing successfully.

Any help on how to make correct use of this message is appreciated.

Here is the forked repo branch: https://github.com/Santoi/ros2_rust/tree/slopez/rclrs_demo.

Error Message:

$ colcon build
. . .
Starting >>> rclrs
--- stderr: rclrs
error: failed to select a version for the requirement `sensor_msgs = "*"`
  version 4.2.3 is yanked
location searched: crates.io index
required by package `rclrs_demo v0.1.0 (/workspace/src/ros2_rust/rclrs_demo)`
---
Failed <<< rclrs [2.44s, exited with code 1]
. . .

Steps to Reproduce:

1. Create a new ROS2 Rust package within ros2_rust repository.
2. Add a dependency on sensor_msgs to the Cargo.toml file.
3. Create a subscriber for a topic using the sensor_msgs::msg::PointCloud2 message type.
4. Attempt to build the package using colcon build.

Additional Context:

• ros2_rust version: 0.5.1
• ROS 2 distribution: Humble
• Operating System: Ubuntu 22.04
• Cargo.toml dependencies:
  • rclrs = { path = "../rclrs" }
  • rerun = { version = "0.25" }
  • ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.2_rclrs" }
  • sensor_msgs = "*"

[romainreignier]

Check that you have built your ros2_rust workspace before and sourced install/setup.bash.
I had the same error message and sourcing the workspace solved it.

[Santoi]

Thanks for your suggestion @romainreignier! I can't build the whole ros2_rust workspace since I added my crate within it. How did you organized your dependency to ros2_rust?

[romainreignier]

I have used this repos file.

To build ros2_rust without your package you can touch COLCON_IGNORE in your package to prevent colcon to build it or pass a colcon arg to skip it first.