build(vendor): gate test interfaces to tests and doctests

rclrs/Cargo.toml

@@ -35,7 +35,7 @@ async-std = "1.13"
 # Needed for dynamic messages
 libloading = "0.8"
 
-ros-env = "0.2"
+ros-env = { version = "0.2", default-features = false, features = ["rclrs_core"] }
 
 # Needed for the Message trait, among others
 rosidl_runtime_rs = "0.6"
@@ -63,6 +63,8 @@ paste = { version = "1", optional = true}
 tempfile = "3.3.0"
 # Needed for parameter service tests
 tokio = { version = "1", features = ["rt", "time", "macros"] }
+# Needed for docs/tests that exercise generated interfaces without enabling them in normal builds
+ros-env = { version = "0.2", default-features = false, features = ["rclrs_core", "example_interfaces", "test_msgs"] }
 
 [build-dependencies]
 # Needed for uploading documentation to docs.rs

rclrs/src/action.rs

@@ -9,8 +9,8 @@ pub use action_goal_receiver::*;
 pub(crate) mod action_server;
 pub use action_server::*;
 
+use crate::builtin_interfaces::msg::Time;
 use crate::{log_error, rcl_bindings::*, DropGuard};
-use ros_env::builtin_interfaces::msg::Time;
 use std::fmt;
 
 #[cfg(feature = "serde")]

rclrs/src/action/action_client.rs

@@ -1,11 +1,11 @@
 use super::empty_goal_status_array;
+use crate::{action_msgs::srv::CancelGoal_Response, builtin_interfaces::msg::Time};
 use crate::{
     log_warn, rcl_bindings::*, CancelResponse, CancelResponseCode, DropGuard, GoalStatus,
     GoalStatusCode, GoalUuid, MultiCancelResponse, Node, NodeHandle, QoSProfile, RclPrimitive,
     RclPrimitiveHandle, RclPrimitiveKind, RclrsError, ReadyKind, TakeFailedAsNone, ToResult,
     Waitable, WaitableLifecycle, ENTITY_LIFECYCLE_MUTEX,
 };
-use ros_env::{action_msgs::srv::CancelGoal_Response, builtin_interfaces::msg::Time};
 use rosidl_runtime_rs::{Action, Message, RmwFeedbackMessage, RmwGoalResponse, RmwResultResponse};
 use std::{
     any::Any,

rclrs/src/action/action_client/goal_client.rs

@@ -1,7 +1,7 @@
+use crate::builtin_interfaces::msg::Time;
 use crate::{
     CancellationClient, FeedbackClient, GoalStatus, GoalStatusCode, ResultClient, StatusWatcher,
 };
-use ros_env::builtin_interfaces::msg::Time;
 use rosidl_runtime_rs::Action;
 use std::{
     pin::Pin,
@@ -95,6 +95,8 @@ impl<A: Action> GoalClient<A> {
 /// # Example
 ///
 /// ```
+/// # #[cfg(doctest)]
+/// # {
 /// use rclrs::*;
 /// use ros_env::example_interfaces::action::Fibonacci;
 /// use futures::StreamExt;
@@ -118,6 +120,7 @@ impl<A: Action> GoalClient<A> {
 ///         }
 ///     }
 /// }
+/// # }
 /// ```
 pub struct GoalClientStream<A: Action> {
     stream_map: StreamMap<i32, Pin<Box<dyn Stream<Item = GoalEvent<A>> + Send>>>,

rclrs/src/action/action_server.rs

@@ -1,12 +1,12 @@
 use super::empty_goal_status_array;
+use crate::action_msgs::srv::CancelGoal_Response;
 use crate::{
     action::GoalUuid, error::ToResult, rcl_bindings::*, ActionGoalReceiver, CancelResponseCode,
     DropGuard, GoalStatusCode, Node, NodeHandle, QoSProfile, RclPrimitive, RclPrimitiveHandle,
     RclPrimitiveKind, RclrsError, ReadyKind, TakeFailedAsNone, Waitable, WaitableLifecycle,
     ENTITY_LIFECYCLE_MUTEX,
 };
 use futures::future::BoxFuture;
-use ros_env::action_msgs::srv::CancelGoal_Response;
 use rosidl_runtime_rs::{Action, Message, RmwGoalRequest, RmwResultRequest};
 use std::{
     any::Any,

rclrs/src/action/action_server/cancellation_state.rs

@@ -1,4 +1,8 @@
 use super::ActionServerHandle;
+use crate::{
+    action_msgs::{msg::GoalInfo, srv::CancelGoal_Response},
+    unique_identifier_msgs::msg::UUID,
+};
 use crate::{
     log_error, rcl_bindings::*, CancelResponseCode, GoalUuid, Node, RclrsErrorFilter, ToResult,
 };
@@ -7,10 +11,6 @@ use futures::{
     pin_mut,
 };
 use futures_lite::future::race;
-use ros_env::{
-    action_msgs::{msg::GoalInfo, srv::CancelGoal_Response},
-    unique_identifier_msgs::msg::UUID,
-};
 use rosidl_runtime_rs::{Action, Message};
 use std::{
     borrow::Cow,

rclrs/src/client.rs

@@ -161,7 +161,9 @@ where
     ///
     /// Define an `async fn` whose arguments are compatible with one of the above
     /// signatures and which returns a `()` (a.k.a. nothing).
-    /// ```
+    /// ```no_run
+    /// # #[cfg(doctest)]
+    /// # {
     /// # use rclrs::*;
     /// # use ros_env::test_msgs;
     /// # let node = Context::default()
@@ -176,6 +178,7 @@ where
     /// let request = test_msgs::srv::Empty_Request::default();
     /// let promise = client.call_then_async(&request, print_hello)?;
     /// # Ok::<(), RclrsError>(())
+    /// # }
     /// ```
     ///
     /// ## 2. Function that returns an `async { ... }`
@@ -189,7 +192,9 @@ where
     ///
     /// ### `fn`
     ///
-    /// ```
+    /// ```no_run
+    /// # #[cfg(doctest)]
+    /// # {
     /// # use rclrs::*;
     /// # use ros_env::test_msgs;
     /// # use std::future::Future;
@@ -210,6 +215,7 @@ where
     ///     &request,
     ///     print_greeting)?;
     /// # Ok::<(), RclrsError>(())
+    /// # }
     /// ```
     ///
     /// ### Closure
@@ -218,7 +224,9 @@ where
     /// surrounding context. While the syntax for this is more complicated, it
     /// is also the most powerful option.
     ///
-    /// ```
+    /// ```no_run
+    /// # #[cfg(doctest)]
+    /// # {
     /// # use rclrs::*;
     /// # use ros_env::test_msgs;
     /// # let node = Context::default()
@@ -236,6 +244,7 @@ where
     ///         }
     ///     })?;
     /// # Ok::<(), RclrsError>(())
+    /// # }
     /// ```
     pub fn call_then_async<'a, Req, Args>(
         &self,

rclrs/src/lib.rs

@@ -31,6 +31,8 @@
 //! then tell the [`Executor`] to spin:
 //!
 //! ```no_run
+//! # #[cfg(doctest)]
+//! # {
 //! use rclrs::*;
 //! # use ros_env::example_interfaces;
 //!
@@ -47,13 +49,16 @@
 //!
 //! executor.spin(SpinOptions::default()).first_error()?;
 //! # Ok::<(), RclrsError>(())
+//! # }
 //! ```
 //!
 //! If your callback needs to interact with some state data, consider using a
 //! [`Worker`], especially if that state data needs to be shared with other
 //! callbacks:
 //!
 //! ```no_run
+//! # #[cfg(doctest)]
+//! # {
 //! # use rclrs::*;
 //! #
 //! # let context = Context::default_from_env()?;
@@ -84,6 +89,7 @@
 //!
 //! # executor.spin(SpinOptions::default()).first_error()?;
 //! # Ok::<(), RclrsError>(())
+//! # }
 //! ```
 //!
 //! # Parameters
@@ -98,6 +104,8 @@
 //!
 //! The following is a simple example of using a mandatory parameter:
 //! ```no_run
+//! # #[cfg(doctest)]
+//! # {
 //! use rclrs::*;
 //! # use ros_env::example_interfaces;
 //! use std::sync::Arc;
@@ -119,6 +127,7 @@
 //!
 //! executor.spin(SpinOptions::default()).first_error()?;
 //! # Ok::<(), RclrsError>(())
+//! # }
 //! ```
 //!
 //! # Logging
@@ -128,6 +137,8 @@
 //! performed.
 //!
 //! ```no_run
+//! # #[cfg(doctest)]
+//! # {
 //! use rclrs::*;
 //! # use ros_env::example_interfaces;
 //! use std::time::Duration;
@@ -176,6 +187,7 @@
 //! );
 //! executor.spin(SpinOptions::default()).first_error()?;
 //! # Ok::<(), RclrsError>(())
+//! # }
 //! ```
 
 mod action;
@@ -205,12 +217,18 @@ mod test_helpers;
 
 mod rcl_bindings;
 
-#[cfg(feature = "use_ros_shim")]
-#[allow(missing_docs)]
-pub mod vendor;
+cfg_if::cfg_if! {
+    if #[cfg(feature = "use_ros_shim")] {
+        #[allow(missing_docs)]
+        pub mod vendor;
 
-#[cfg(feature = "use_ros_shim")]
-pub use vendor::*;
+        pub use vendor::*;
+    } else {
+        pub use ros_env::{
+            action_msgs, builtin_interfaces, rcl_interfaces, rosgraph_msgs, unique_identifier_msgs,
+        };
+    }
+}
 
 pub use action::*;
 pub use arguments::*;

rclrs/src/logging.rs

@@ -671,7 +671,7 @@ mod tests {
     #[test]
     fn test_rosout_publishing_default() -> Result<(), RclrsError> {
         use crate::rcl_bindings::rcl_logging_rosout_enabled;
-        use ros_env::rcl_interfaces::msg::rmw::Log;
+        use crate::rcl_interfaces::msg::rmw::Log;
         use std::sync::{Arc, Mutex};
 
         let namespace = format!("/test_rosout_publishing_default_{}", line!());
@@ -794,7 +794,7 @@ mod tests {
 
     #[test]
     fn test_rosout_disabled() -> Result<(), RclrsError> {
-        use ros_env::rcl_interfaces::msg::rmw::Log;
+        use crate::rcl_interfaces::msg::rmw::Log;
         use std::sync::{
             atomic::{AtomicBool, Ordering},
             Arc,