prepare release

Author: stelzo

.github/workflows/tests.yml

@@ -21,8 +21,12 @@ jobs:
         with:
           components: clippy
       - name: Linting
-        run: cargo clippy --all-targets --features derive,nalgebra,rayon,serde -- -D warnings
+        run: cargo clippy --all-targets --features derive,nalgebra,rayon,serde,rkyv -- -D warnings
       - name: Build examples with features
-        run: cargo build --examples --features derive,nalgebra,rayon,serde,ros2-interfaces-jazzy-serde
+        run: cargo build --examples --features derive,nalgebra,rayon,serde,rkyv,ros2-interfaces-jazzy-serde
+      - name: Install cargo-msrv
+        run: cargo install cargo-msrv
+      - name: Verify MSRV
+        run: cd ros_pointcloud2 && cargo msrv verify
       - name: Test library
         run: cargo test --features derive,nalgebra,rayon,serde

CHANGELOG.md

@@ -1,7 +1,17 @@
 # Changelog
 
+## v0.6.0 - v1.0.0
+- `try_from_iter` and `try_into_iter` now accepts references to iterators.
+- `try_from_vec` is now `try_from_slice` to better reflect that it does not take ownership of the data.
+- Adds the `strict-type-check` feature that enforces strict validation of field datatypes during conversion; RGB <-> f32 compatibility is preserved for legacy packed RGB fields. This feature is enabled by default. When `strict-type-check` is enabled, reading a mismatched type returns a `MsgConversionError::TypeMismatch` at runtime to allow on-the-fly type matching for the user.
+- The `MsgConversionError` variants are the same now on `std` and `no_std` builds.
+- Fixed copying structured pointclouds from vec with same endianness.
+- New feature `rkyv` for (de)serialization of PointCloud2Msg using rkyv. This allows zero-copy deserialization in ROS-like systems that use rkyv for message (de)serialization.
+- Many internal optimizations for runtime speed and code maintainability. The main benefit is removed need for allocations in the hot path of conversions.
+- Bump msrv to 1.87.
+
 ## v0.5.2 -> v0.6.0
-- All derived points now require `Copy`. This allows `try_from_iter` and `try_from_vec` to not require ownership for the parameter.
+- All derived points now require `Copy`. This allows `try_from_iter` and `try_from_slice` to not require ownership for the parameter.
 - Renamed `rpcl2` derive attribute to `ros`. E.g. `#[rpcl2(rename("test"))]` -> `#[ros(rename("test"))]`.
 - Feature `ros2-interfaces-jazzy` moved to `ros2-interfaces-jazzy-serde` to keep up-to-date with the latest ros2-client.
 - Dropping rclrs support until their message generation strategy is finished and the integration can be made easier. The current implementation for is bad for long term maintenance. You can keep using `v0.5.2_rclrs` instead.

README.md

@@ -11,18 +11,27 @@ Get started with the example below, check out the other use cases in the `exampl
 
 ## Quickstart
 
+```toml
+[dependencies]
+ros_pointcloud2 = { version = "*", features = ["r2r_msg"]} # r2r
+# or
+ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]} # rosrust ros1
+# or
+ros_pointcloud2 = { version = "*", features = ["ros2-interfaces-jazzy-serde"]} # ros2-client
+```
+
 ```rust
 use ros_pointcloud2::prelude::*;
 
 // PointXYZ (and many others) are provided by the crate.
 let cloud_points = vec![
-  PointXYZI::new(91.486, -4.1, 42.0001, 0.1),
-  PointXYZI::new(f32::MAX, f32::MIN, f32::MAX, f32::MIN),
+  PointXYZI::new(9.6, 42.0, -6.2, 0.1),
+  PointXYZI::new(46.0, 5.47, 0.5, 0.1),
 ];
 
-let out_msg = PointCloud2Msg::try_from_vec(&cloud_points).unwrap();
+let out_msg = PointCloud2Msg::try_from_slice(&cloud_points).unwrap();
 
-// Convert the ROS crate message type, we will use r2r here.
+// Convert to your ROS crate message type.
 // let msg: r2r::sensor_msgs::msg::PointCloud2 = out_msg.into();
 // Publish ...
 
@@ -31,10 +40,9 @@ let out_msg = PointCloud2Msg::try_from_vec(&cloud_points).unwrap();
 let in_msg = out_msg;
 
 let processed_cloud = in_msg.try_into_iter().unwrap()
-  .map(|point: PointXYZ| { // Define the info you want to have from the Msg.
-      // Some logic here ...
-
-      point
+  .map(|point: PointXYZI| { // Define the type you want to map the data to.
+    // Access the data like a normal struct.
+    PointXYZI::new(point.x, point.y, point.z, 0.1)
   })
   .collect::<Vec<_>>();
 ```
@@ -57,18 +65,11 @@ There are currently 4 integrations for common ROS crates. We tested them on the
 
 You can use `rosrust`, `r2r` or `ros2-client` by enabling the respective feature:
 
-```toml
-[dependencies]
-ros_pointcloud2 = { version = "*", features = ["r2r_msg"]} # r2r
-# or
-ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]} # rosrust ros1
-# or
-ros_pointcloud2 = { version = "*", features = ["ros2-interfaces-jazzy-serde"]} # ros2-client
-```
-
 ### rclrs (ros2_rust)
 
-Features do not work properly with `rcrls` because the messages are linked externally. You need to use tags instead:
+Features do not work properly with `rcrls` because the messages are linked externally. You need to use tags instead.
+
+Mind that this integration is deprecated until rclrs has a better message generation strategy.
 
 ```toml
 [dependencies]

ros_pointcloud2/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.6.0"
+version = "1.0.0-rc1"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -28,7 +28,7 @@ exclude = [
   "**/doc/**",
   "**/ensure_no_std/**",
 ]
-rust-version = "1.77"
+rust-version = "1.87"
 
 [dependencies]
 rosrust_msg = { version = "0.1.8", optional = true }
@@ -39,6 +39,7 @@ rayon = { version = "1", optional = true }
 nalgebra = { version = "0.34", optional = true, default-features = false }
 rpcl2-derive = { version = "0.5", optional = true, path = "../rpcl2-derive" }
 serde = { version = "1.0", features = ["derive"], optional = true }
+rkyv = { version = "0.8", optional = true }
 ros2-interfaces-jazzy-serde = { version = "0.0.4", features = [
   "sensor_msgs",
 ], optional = true }
@@ -62,13 +63,15 @@ rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
 # safe_drive_msg = ["dep:safe_drive"]
 ros2-interfaces-jazzy-rkyv = ["dep:ros2-interfaces-jazzy-rkyv"]
+rkyv = ["dep:rkyv", "std"]
 ros2-interfaces-jazzy-serde = ["dep:ros2-interfaces-jazzy-serde"]
 rayon = ["dep:rayon"]
 derive = ["dep:rpcl2-derive"]
 nalgebra = ["dep:nalgebra"]
 std = ["nalgebra/std"]
+strict-type-check = []
 
-default = ["std"]
+default = ["std", "strict-type-check"]
 
 [package.metadata.docs.rs]
 features = ["derive", "nalgebra", "rayon", "serde"]

ros_pointcloud2/benches/roundtrip.rs

@@ -164,7 +164,7 @@ pub fn heavy_computing(point: &PointXYZ, iterations: u32) -> f32 {
 
 fn roundtrip_vec(cloud: Vec<PointXYZB>) -> bool {
     let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_vec(&cloud).unwrap();
+    let internal_msg = PointCloud2Msg::try_from_slice(&cloud).unwrap();
     let total: Vec<PointXYZ> = internal_msg.try_into_vec().unwrap();
     orig_len == total.len()
 }
@@ -181,7 +181,7 @@ fn roundtrip(cloud: Vec<PointXYZB>) -> bool {
 
 fn roundtrip_filter_vec(cloud: Vec<PointXYZB>) -> bool {
     let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_vec(&cloud).unwrap();
+    let internal_msg = PointCloud2Msg::try_from_slice(&cloud).unwrap();
     let total = internal_msg
         .try_into_iter()
         .unwrap()
@@ -242,7 +242,7 @@ fn roundtrip_computing_par_par(cloud: Vec<PointXYZB>) -> bool {
 }
 
 fn roundtrip_computing_vec(cloud: Vec<PointXYZB>) -> bool {
-    let internal_msg = PointCloud2Msg::try_from_vec(&cloud).unwrap();
+    let internal_msg = PointCloud2Msg::try_from_slice(&cloud).unwrap();
     let total: f32 = internal_msg
         .try_into_vec()
         .unwrap()