Cargo.toml

[package]
name = "ros2-client"
version = "0.7.6" 
edition = "2018"
authors = ["Juhana Helovuo <juhana.helovuo@atostek.com>"]
description = "ROS2 client library based on RustDDS"
readme = "README.md"
keywords = ["network","protocol","dds","rtps"]
license = "Apache-2.0"
homepage = "https://atostek.com/en/products/rustdds/"  
repository = "https://github.com/jhelovuo/ros2-client/"
categories = ["network-programming", "science::robotics"] 

# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

[features]
# declare the existence of "security" feature (Secure ROS 2 support)
security = [ 
  "rustdds/security" # Requires "security" in RustDDS also
]

# The ROS 2/RMW-defined Gid (global identifer) type (see src/gid.rs) has changed between
# ROS2 releases Humble and Iron. See
# https://github.com/ros2/rmw/commit/8995d9faa8ecb39f62cc4e2cb65abb63489ae4c6
# These are incompatible and apparently not run-time negotiable/detectable over the wire. 
#
# ros2-client now uses the newer Iron/Jazzy/... version as a default. 
# Use this feature to revert back to older version.
# There is no known easy and reliable way to talk to both Humble and Iron at the same time.
#
# Using a wrong Gid format prevents ROS2 seeing Nodes published by ros2-client
# so that `ros2 node list` or `rqt` Node Graph do not show nodes. 
# Topic communication may still work, but Services likely do not.
pre-iron-gid = []


[dependencies]

# rustdds = {  path = "../RustDDS" , version = "~0.11.1" } # dev setting
# rustdds = {   git = "https://github.com/jhelovuo/RustDDS.git" }
rustdds = {  version = "~0.11.1"  } # release setting

mio = "^0.6.23"
mio-extras = "2.0.6"
log = "0.4.11"
serde = { version = "1.0", features = ["derive"] }
serde_repr = "0.1"
cdr-encoding-size = { version="^0.5" }
lazy_static = "1.4.0"
uuid = { version = "1.3.1", features = ["v4", "fast-rng", "macro-diagnostics", "serde"] }
futures = "^0.3.28"
pin-utils = "0.1.0"
async-channel = "2.3"
bytes = { version = "1.5.0", features = ["serde", "std"]}
chrono = { version = ">=0.4.35" } # actions need timestamps


nom = {version = "7.1.3", features = ["alloc"] } # for msggen
clap = "4.4.3" # for msggen
itertools = "0.11.0" # for msggen
bstr = "1.6.2"
widestring = "1.0" # msggen
libc = "0.2.153"

[dev-dependencies]
log = "0.4"
termion = "1.5.5"
pretty_env_logger = "0.4.0"
# turle_teleop
log4rs = "1.2"
test-case = "1.2.0"
ctrlc = "3.1.6"

# async examples
smol = "1.3"
async-io = "2.2.0"