Major re-org to crate / repository structure #215
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Carter12s
changed the title
Carter12s
changed the title
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@lucasw / @ssnover this is ready for a review now. It is a pretty big change to overall crate structure, but I think aligns things much more where I want development to head. I think it sets things up well to eventually include a ros2 backend with either zenoh or dds, and I think it sets us up very well to start making the generic traits for TopicProvider and ServiceProvider the a first class API that both allows folks to swap backends around and to use MockRos for testing. |
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Reading on mobile right now, but just going to ask clarifying questions and I'll review later:
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For users the intended entrypoint is still roslibrust The "standard" usage would be to depend on roslibrust with at least one backend enabled via a feature flag. Depending on roslibrust with no backends enabled can be done (see rosapi) to implement generic behaviors without a particular backend specified as well. Not expecting anyone outside of roslibrust development to depend on roslibrust_common and I'm super happy to rename that to roslibrust_core or potentially |
| @@ -197,7 +194,7 @@ impl NodeServerHandle { | |||
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| let md5sum; | |||
| let md5sum_res = | |||
| roslibrust_codegen::message_definition_to_md5sum(topic_type, msg_definition); | |||
| roslibrust_common::md5sum::message_definition_to_md5sum(topic_type, msg_definition); | |||
| match md5sum_res { | |||
There was a problem hiding this comment.
This is an aside, but perhaps:
let md5sum = roslibrust_common::md5sum::message_definition_to_md5sum(
topic_type,
msg_definition
).map_err(|err| {
log::error!("{err:?}");
Err(NodeError::IoError(io::ErrorKind::ConnectionAborted.into()))
})?;There was a problem hiding this comment.
It might be nice to change the name of message_definition_to_md5sum to from_message_definition since it's already namespaced under md5sum module.
Description
A major re-organization of the components of roslibrust per: https://github.com/orgs/RosLibRust/discussions/214
Some facets of this:
Fixes
Closes:
numberChecklist