Fix ros2_rust build

examples/chatter/talker.rs

@@ -2,6 +2,8 @@ use std::env;
 use std::sync::atomic::{AtomicBool, Ordering};
 use std::sync::Arc;
 
+use rclrs::{log_info, ToLogParams};
+
 fn main() -> Result<(), Box<dyn std::error::Error>> {
     let shut_down = Arc::new(AtomicBool::new(false));
     signal_hook::flag::register(signal_hook::consts::SIGINT, Arc::clone(&shut_down))?;
@@ -19,7 +21,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
 
     while !shut_down.load(Ordering::Relaxed) && context.ok() {
         message.data = format!("Hello, world! {}", publish_count);
-        rclrs::log_info!(node.logger_name(), "Publishing: {}", message.data);
+        log_info!(node.logger(), "Publishing: {}", message.data);
         publisher.publish(&message)?;
         publish_count += 1;
         std::thread::sleep(std::time::Duration::from_millis(500));

examples/zero_copy/listener.rs

@@ -3,6 +3,8 @@ use std::sync::atomic::{AtomicBool, Ordering};
 use std::sync::Arc;
 use std::time::SystemTime;
 
+use rclrs::{log_info, ToLogParams};
+
 fn main() -> Result<(), Box<dyn std::error::Error>> {
     let shut_down = Arc::new(AtomicBool::new(false));
     for signal in [signal_hook::consts::SIGINT, signal_hook::consts::SIGTERM] {
@@ -24,7 +26,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
                 .as_micros() as u64;
             let delay_us = now - msg.timestamp;
             let data_length = msg.data_length as usize;
-            rclrs::log_info!(subscription_node.logger_name(),
+            log_info!(subscription_node.logger(),
                 "Delay {} us, I heard: '{:?}'",
                 delay_us,
                 String::from_utf8(msg.data[..data_length].to_vec()).unwrap()

examples/zero_copy/talker.rs

@@ -3,6 +3,8 @@ use std::sync::atomic::{AtomicBool, Ordering};
 use std::sync::Arc;
 use std::time::SystemTime;
 
+use rclrs::{log_info, ToLogParams};
+
 fn main() -> Result<(), Box<dyn std::error::Error>> {
     let shut_down = Arc::new(AtomicBool::new(false));
     for signal in [signal_hook::consts::SIGINT, signal_hook::consts::SIGTERM] {
@@ -37,7 +39,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
         let msg_len = msg.len();
         message.data_length = msg_len as u64;
         message.data[..msg_len].copy_from_slice(msg.as_bytes());
-        rclrs::log_info!(node.logger_name(), "Publishing: {}", msg);
+        log_info!(node.logger(), "Publishing: {}", msg);
         message.publish()?;
         publish_count += 1;
         std::thread::sleep(std::time::Duration::from_millis(callback_period_ms as u64));

repositories/patches/ros2_rust_fix_rosidl_generator.patch

@@ -1,5 +1,17 @@
+diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em
+index 5f463f3..56c3a03 100644
+--- a/rosidl_generator_rs/resource/action.rs.em
++++ b/rosidl_generator_rs/resource/action.rs.em
+@@ -75,7 +75,6 @@ TEMPLATE(
+ type_name = action_spec.namespaced_type.name
+ }@
+
+-#[link(name = "@(package_name)__rosidl_typesupport_c")]
+ extern "C" {
+     fn rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void;
+ }
 diff --git a/rosidl_generator_rs/resource/msg_rmw.rs.em b/rosidl_generator_rs/resource/msg_rmw.rs.em
-index c4420a6..d5d575c 100644
+index fbedd6d..3fb50c2 100644
 --- a/rosidl_generator_rs/resource/msg_rmw.rs.em
 +++ b/rosidl_generator_rs/resource/msg_rmw.rs.em
 @@ -17,12 +17,10 @@ use serde::{Deserialize, Serialize};
@@ -8,50 +20,42 @@ index c4420a6..d5d575c 100644
 
 -#[link(name = "@(package_name)__rosidl_typesupport_c")]
  extern "C" {
-     fn rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
+     fn rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void;
  }
 
 -#[link(name = "@(package_name)__rosidl_generator_c")]
  extern "C" {
      fn @(package_name)__@(subfolder)__@(type_name)__init(msg: *mut @(type_name)) -> bool;
      fn @(package_name)__@(subfolder)__@(type_name)__Sequence__init(seq: *mut rosidl_runtime_rs::Sequence<@(type_name)>, size: usize) -> bool;
-diff --git a/rosidl_generator_rs/resource/srv.rs.em b/rosidl_generator_rs/resource/srv.rs.em
-index 369696f..503be91 100644
---- a/rosidl_generator_rs/resource/srv.rs.em
-+++ b/rosidl_generator_rs/resource/srv.rs.em
+diff --git a/rosidl_generator_rs/resource/srv_idiomatic.rs.em b/rosidl_generator_rs/resource/srv_idiomatic.rs.em
+index 660f1a6..0a7cce5 100644
+--- a/rosidl_generator_rs/resource/srv_idiomatic.rs.em
++++ b/rosidl_generator_rs/resource/srv_idiomatic.rs.em
 @@ -23,7 +23,6 @@ TEMPLATE(
  type_name = srv_spec.namespaced_type.name
  }@
 
 -#[link(name = "@(package_name)__rosidl_typesupport_c")]
  extern "C" {
-     fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
+     fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void;
  }
-@@ -61,7 +60,6 @@ TEMPLATE(
+diff --git a/rosidl_generator_rs/resource/srv_rmw.rs.em b/rosidl_generator_rs/resource/srv_rmw.rs.em
+index 6ba55f1..b44e633 100644
+--- a/rosidl_generator_rs/resource/srv_rmw.rs.em
++++ b/rosidl_generator_rs/resource/srv_rmw.rs.em
+@@ -23,7 +23,6 @@ TEMPLATE(
  type_name = srv_spec.namespaced_type.name
  }@
 
 -  #[link(name = "@(package_name)__rosidl_typesupport_c")]
    extern "C" {
-       fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
+       fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void;
    }
 diff --git a/rosidl_generator_rs/rosidl_generator_rs/__init__.py b/rosidl_generator_rs/rosidl_generator_rs/__init__.py
-index 502d1d3..33a9645 100644
+index b7850a6..a5661f0 100644
 --- a/rosidl_generator_rs/rosidl_generator_rs/__init__.py
 +++ b/rosidl_generator_rs/rosidl_generator_rs/__init__.py
-@@ -17,10 +17,7 @@ import pathlib
-
- from pathlib import Path
-
--if os.environ['ROS_DISTRO'] <= 'humble':
--    import rosidl_cmake as rosidl_pycommon
--else:
--    import rosidl_pycommon
-+import rosidl_cmake as rosidl_pycommon
-
- from rosidl_parser.definition import AbstractGenericString
- from rosidl_parser.definition import Array
-@@ -127,7 +124,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
+@@ -143,7 +143,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
                  generated_file = os.path.join(args['output_dir'],
                                                generated_filename % 'msg')
                  rosidl_pycommon.expand_template(
@@ -60,7 +64,7 @@ index 502d1d3..33a9645 100644
                      data.copy(),
                      generated_file,
                      minimum_timestamp=latest_target_timestamp)
-@@ -138,7 +135,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
+@@ -154,7 +154,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
                  generated_file = os.path.join(args['output_dir'],
                                                generated_filename % 'srv')
                  rosidl_pycommon.expand_template(
@@ -69,7 +73,16 @@ index 502d1d3..33a9645 100644
                      data.copy(),
                      generated_file,
                      minimum_timestamp=latest_target_timestamp)
-@@ -152,7 +149,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
+@@ -165,7 +165,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
+                 generated_file = os.path.join(args['output_dir'],
+                                               generated_filename % 'action')
+                 rosidl_pycommon.expand_template(
+-                    os.path.join(template_dir, template_file),
++                    template_file,
+                     data.copy(),
+                     generated_file,
+                     minimum_timestamp=latest_target_timestamp)
+@@ -179,7 +179,7 @@ def generate_rs(generator_arguments_file, typesupport_impls):
      cargo_toml_data = {
          'dependency_packages': dependency_packages,
          'package_name': args['package_name'],