Jazzy: following new rclrs install instructions — examples + my ament_cargo package fail (crates.io resolution + rosidl_runtime_rs mismatch)

[olingo99]

Hello,

I tried to follow the new installation/build instructions for rclrs v0.7 on ROS 2 Jazzy, but I’m hitting build failures both for the examples and for my own minimal package.

1) Examples workspace failure

In a fresh workspace following the Jazzy instructions:

git clone https://github.com/ros2-rust/rosidl_rust.git src/rosidl_rust
git clone -b jazzy https://github.com/ros2/common_interfaces.git src/common_interfaces
git clone -b jazzy https://github.com/ros2/example_interfaces.git src/example_interfaces
git clone -b jazzy https://github.com/ros2/rcl_interfaces.git src/rcl_interfaces
git clone -b jazzy https://github.com/ros2/unique_identifier_msgs.git src/unique_identifier_msgs
git clone https://github.com/ros2-rust/examples.git src/examples

colcon build fails with:

--- stderr: examples_rclrs_message_demo
error: no matching package named `rclrs_example_msgs` found
location searched: crates.io index
required by package `examples_rclrs_message_demo v0.5.0 (.../src/examples/rclrs/message_demo)`
---
Failed   <<< examples_rclrs_message_demo

2) Minimal package failure (std_msgs::msg::String subscriber)

In my minimal workspace (same packages as before but without the examples repo), colcon build fails with:

--- stderr: rust
error: failed to select a version for the requirement `std_msgs = "*"`
  version 4.2.3 is yanked
location searched: crates.io index
required by package `rust v0.1.0 (.../src/rust)`
---

In both cases .cargo/config.toml is effectively empty and only contains:

[patch.crates-io]

3) After adding rosidl_core & rosidl_defaults

Additionally, if I add rosidl_core and rosidl_defaults (Jazzy branches), then .cargo/config.toml gets populated and message crates are resolved locally (e.g., install/std_msgs/share/std_msgs/rust). However, my node then fails to compile due to a rosidl_runtime_rs version mismatch:

error[E0277]: the trait bound `std_msgs::msg::String: MessageIDL` is not satisfied
    --> src/timer_pub_count.rs:8:11
     |
   8 |     _pub: Publisher<std_msgs::msg::String>,
     |           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ the trait `MessageIDL` is not implemented for `std_msgs::msg::String`
     |
note: there are multiple different versions of crate `rosidl_runtime_rs` in the dependency graph
    --> /home/theo/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/rosidl_runtime_rs-0.6.0/src/traits.rs:132:1
     |
 132 | pub trait Message: Clone + Debug + Default + 'static + Send + Sync {
     | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ this is the required trait
     |
    ::: src/timer_pub_count.rs:3:5
     |
   3 | use rclrs::*;
     |     ----- one version of crate `rosidl_runtime_rs` used here, as a dependency of crate `rclrs`
...
   8 |     _pub: Publisher<std_msgs::msg::String>,
     |                     -------- one version of crate `rosidl_runtime_rs` used here, as a dependency of crate `std_msgs`
     |
    ::: /home/theo/rclrs07/workspace_minimal/install/std_msgs/share/std_msgs/rust/src/msg.rs:2817:1
     |
2817 | pub struct String {
     | ----------------- this type doesn't implement the required trait
     |
    ::: /home/theo/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/rosidl_runtime_rs-0.5.0/src/traits.rs:24:1
     |
  24 | pub trait SequenceAlloc: Sized {
     | ------------------------------ this is the found trait
     = help: you can use `cargo tree` to explore your dependency tree
note: required by a bound in `PublisherState`
    --> /home/theo/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/rclrs-0.7.0/src/publisher.rs:106:8
     |
 104 | pub struct PublisherState<T>
     |            -------------- required by a bound in this struct
 105 | where
 106 |     T: Message,
     |        ^^^^^^^ required by this bound in `PublisherState`

Has anyone managed to make rclrs v0.7 work on Jazzy using the current installation steps?

Thanks.

[esteve]

@olingo99 thank you so much for such a thorough bug report, I've created #588 to track this issue. It is indeed a bug in the documentation, but also caused by the generator not being updated to depend on the latest version of rosidl_runtime_rs (see ros2-rust/rosidl_rust#14)

[esteve]

@olingo99 I've submitted #589, could you have a look at it and see if this solves the issues you're having? Thanks.

[olingo99]

Yes that fixes it, it works correctly now! Thanks