Update ros2-client and rustdds dependencies to latest fork version

.github/workflows/ci.yml

@@ -152,7 +152,7 @@ jobs:
   ros2-bridge-examples:
     name: "ROS2 Bridge Examples"
     runs-on: ubuntu-latest
-    timeout-minutes: 30
+    timeout-minutes: 45
     steps:
       - uses: actions/checkout@v3
       - uses: r7kamura/[email protected]

examples/python-ros2-dataflow/random_turtle.py

@@ -39,6 +39,12 @@
 
 print("looping", flush=True)
 
+# take track of minimum and maximum coordinates of turtle
+min_x = 1000
+max_x = 0
+min_y = 1000
+max_y = 0
+
 for i in range(500):
     event = dora_node.next()
     if event is None:
@@ -55,8 +61,10 @@
         # ROS2 Event
     elif event_kind == "external":
         pose = event.inner()[0].as_py()
-        if i == CHECK_TICK:
-            assert (
-                pose["x"] != 5.544444561004639
-            ), "turtle should not be at initial x axis"
+        min_x = min([min_x, pose["x"]])
+        max_x = max([max_x, pose["x"]])
+        min_y = min([min_y, pose["y"]])
+        max_y = max([max_y, pose["y"]])
         dora_node.send_output("turtle_pose", event.inner())
+
+assert max_x - min_x > 1 or max_y - min_y > 1, "no turtle movement"

examples/rust-ros2-dataflow/node/src/main.rs

@@ -10,7 +10,7 @@ use dora_ros2_bridge::{
     rustdds::{self, policy},
     turtlesim::msg::Pose,
 };
-use eyre::Context;
+use eyre::{eyre, Context};
 
 fn main() -> eyre::Result<()> {
     let mut ros_node = init_ros_node()?;
@@ -79,8 +79,8 @@ fn init_ros_node() -> eyre::Result<ros2_client::Node> {
 
     ros_context
         .new_node(
-            "turtle_teleop", // name
-            "/ros2_demo",    // namespace
+            ros2_client::NodeName::new("/ros2_demo", "turtle_teleop")
+                .map_err(|e| eyre!("failed to create ROS2 node name: {e}"))?,
             NodeOptions::new().enable_rosout(true),
         )
         .context("failed to create ros2 node")
@@ -93,7 +93,7 @@ fn create_vel_publisher(
         rustdds::QosPolicyBuilder::new()
             .durability(policy::Durability::Volatile)
             .liveliness(policy::Liveliness::Automatic {
-                lease_duration: ros2::Duration::DURATION_INFINITE,
+                lease_duration: ros2::Duration::INFINITE,
             })
             .reliability(policy::Reliability::Reliable {
                 max_blocking_time: ros2::Duration::from_millis(100),
@@ -104,8 +104,9 @@ fn create_vel_publisher(
 
     let turtle_cmd_vel_topic = ros_node
         .create_topic(
-            "/turtle1/cmd_vel",
-            String::from("geometry_msgs::msg::dds_::Twist_"),
+            &ros2_client::Name::new("/turtle1", "cmd_vel")
+                .map_err(|e| eyre!("failed to create ROS2 name: {e}"))?,
+            ros2_client::MessageTypeName::new("geometry_msgs", "Twist"),
             &topic_qos,
         )
         .context("failed to create topic")?;
@@ -122,8 +123,9 @@ fn create_pose_reader(
 ) -> eyre::Result<ros2_client::Subscription<Pose>> {
     let turtle_pose_topic = ros_node
         .create_topic(
-            "/turtle1/pose",
-            String::from("turtlesim::msg::dds_::Pose_"),
+            &ros2_client::Name::new("/turtle1", "pose")
+                .map_err(|e| eyre!("failed to create ROS2 name: {e}"))?,
+            ros2_client::MessageTypeName::new("turtlesim", "Pose"),
             &Default::default(),
         )
         .context("failed to create topic")?;

libraries/extensions/ros2-bridge/Cargo.toml

@@ -17,8 +17,8 @@ dora-ros2-bridge-msg-gen-macro = { path = "msg-gen-macro", optional = true }
 serde = { version = "1.0.164", features = ["derive"] }
 serde-big-array = "0.5.1"
 widestring = "1.0.2"
-ros2-client = { git = "https://github.com/dora-rs/ros2-client.git", branch = "deserialize-seed" }
-rustdds = { git = "https://github.com/dora-rs/RustDDS.git", branch = "deserialize-seed" }
+ros2-client = { git = "https://github.com/dora-rs/ros2-client.git", branch = "deserialize-seed-2" }
+rustdds = { git = "https://github.com/dora-rs/RustDDS.git", branch = "deserialize-seed-2" }
 eyre = { version = "0.6.8", optional = true }
 tokio = { version = "1.29.1", features = ["full"], optional = true }
 dora-daemon = { path = "../../../binaries/daemon", optional = true }

libraries/extensions/ros2-bridge/python/src/lib.rs

@@ -76,8 +76,10 @@ impl Ros2Context {
         namespace: &str,
         options: Ros2NodeOptions,
     ) -> eyre::Result<Ros2Node> {
+        let name = ros2_client::NodeName::new(namespace, name)
+            .map_err(|err| eyre!("invalid node name: {err}"))?;
         Ok(Ros2Node {
-            node: self.context.new_node(name, namespace, options.into())?,
+            node: self.context.new_node(name, options.into())?,
             messages: self.messages.clone(),
         })
     }
@@ -103,12 +105,16 @@ impl Ros2Node {
                 message_type
             )
         })?;
-        let encoded_type_name = format!("{namespace_name}::msg::dds_::{message_name}_");
+        let message_type_name = ros2_client::MessageTypeName::new(namespace_name, message_name);
+        let topic_name = ros2_client::Name::parse(name)
+            .map_err(|err| eyre!("failed to parse ROS2 topic name: {err}"))?;
         let topic = self
             .node
-            .create_topic(name, encoded_type_name, &qos.into())?;
-        let type_info = for_message(&self.messages, namespace_name, message_name)
-            .context("failed to determine type info for message")?;
+            .create_topic(&topic_name, message_type_name, &qos.into())?;
+        let type_info =
+            for_message(&self.messages, namespace_name, message_name).with_context(|| {
+                format!("failed to determine type info for message {namespace_name}/{message_name}")
+            })?;
 
         Ok(Ros2Topic { topic, type_info })
     }

libraries/extensions/ros2-bridge/python/src/qos.rs

@@ -96,7 +96,7 @@ pub enum Ros2Liveliness {
 impl Ros2Liveliness {
     fn convert(self, lease_duration: f64) -> policy::Liveliness {
         let lease_duration = if lease_duration.is_infinite() {
-            rustdds::Duration::DURATION_INFINITE
+            rustdds::Duration::INFINITE
         } else {
             rustdds::Duration::from_frac_seconds(lease_duration)
         };