Add RosLibRust Mcap

.github/workflows/ros2.yml

@@ -22,23 +22,23 @@ jobs:
       matrix:
         include:
           - distro: galactic
-            container: carter12s/roslibrust-ci-galactic:rust_1_90
+            container: carter12s/roslibrust-ci-galactic:rust_1_94_mcap
             features: ros2_test
             zenoh: false
           - distro: humble
-            container: carter12s/roslibrust-ci-humble:rust_1_90
+            container: carter12s/roslibrust-ci-humble:rust_1_94_mcap
             features: ros2_test
             zenoh: false
           - distro: iron
-            container: carter12s/roslibrust-ci-iron:rust_1_90
+            container: carter12s/roslibrust-ci-iron:rust_1_94_mcap
             features: ros2_test
             zenoh: false
           - distro: kilted
-            container: carter12s/roslibrust-ci-kilted:rust_1_90
+            container: carter12s/roslibrust-ci-kilted:rust_1_94
             features: ros2_zenoh_test,ros2_test
             zenoh: true
           - distro: rolling
-            container: carter12s/roslibrust-ci-rolling:rust_1_91
+            container: carter12s/roslibrust-ci-rolling:rust_1_94
             features: ros2_zenoh_test,ros2_test
             zenoh: true
 
@@ -74,6 +74,7 @@ jobs:
 
       - name: Integration Tests
         run: |
+          source /opt/ros/${{ matrix.distro }}/setup.bash
           source /root/.cargo/env
           cargo test --features ${{ matrix.features }} -- --test-threads 1
 

CHANGELOG.md

@@ -9,6 +9,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+- Added the roslibrust_mcap crate which provides utilities for reading and writing MCAP files compatible ROS2 bag tools with ROS message support.
+
 ### Fixed
 
 ### Changed

Cargo.toml

@@ -9,6 +9,7 @@ members = [
     "roslibrust_codegen",
     "roslibrust_common",
     "roslibrust_genmsg",
+    "roslibrust_mcap",
     "roslibrust_mock",
     "roslibrust_ros1",
     "roslibrust_rosbridge",

docker/galactic/Dockerfile

@@ -6,6 +6,10 @@ RUN apt update && apt install -y git
 
 RUN apt update && apt install -y ros-galactic-rosbridge-suite
 
+# Install rosbag2 and MCAP storage plugin for MCAP integration testing
+# Note: MCAP is not the default storage format in Galactic, so we need the plugin
+RUN apt update && apt install -y ros-galactic-rosbag2 ros-galactic-rosbag2-storage-mcap
+
 # Curl required to install rust, build-essential required to build quote & proc-macro2
 RUN apt update && apt install -y --fix-missing curl build-essential libssl-dev pkg-config
 # Install latest stable rust

docker/galactic_compose.yaml

@@ -1,6 +1,6 @@
 services:
   rosbridge_galactic:
-    image: carter12s/roslibrust-ci-galactic:rust_1_90
+    image: carter12s/roslibrust-ci-galactic:rust_1_94
     ports:
       - "9090:9090"
     command: bash -c "source /opt/ros/galactic/setup.bash; ros2 launch rosbridge_server rosbridge_websocket_launch.xml & disown; ros2 run rosapi rosapi_node --ros-args --log-level debug"

docker/humble/Dockerfile

@@ -6,6 +6,10 @@ RUN apt update && apt install -y git
 
 RUN apt update && apt install -y ros-humble-rosbridge-suite
 
+# Install rosbag2 and MCAP storage plugin for MCAP integration testing
+# Note: MCAP is not the default storage format in Humble, so we need the plugin
+RUN apt update && apt install -y ros-humble-rosbag2 ros-humble-rosbag2-storage-mcap
+
 # Curl required to install rust, build-essential required to build quote & proc-macro2
 RUN apt update && apt install -y --fix-missing curl build-essential libssl-dev pkg-config
 # Install latest stable rust

docker/humble_compose.yaml

@@ -1,6 +1,6 @@
 services:
   rosbridge_humble:
-    image: carter12s/roslibrust-ci-humble:rust_1_90
+    image: carter12s/roslibrust-ci-humble:rust_1_94
     ports:
       - "9090:9090"
     command: bash -c "source /opt/ros/humble/setup.bash; ros2 launch rosbridge_server rosbridge_websocket_launch.xml & disown; ros2 run rosapi rosapi_node --ros-args --log-level debug"

docker/iron/Dockerfile

@@ -6,6 +6,10 @@ RUN apt update && apt install -y git
 
 RUN apt update && apt install -y ros-iron-rosbridge-suite
 
+# Install rosbag2 and MCAP storage plugin for MCAP integration testing
+# Note: MCAP is not the default storage format in Iron, so we need the plugin
+RUN apt update && apt install -y ros-iron-rosbag2 ros-iron-rosbag2-storage-mcap
+
 # Curl required to install rust, build-essential required to build quote & proc-macro2
 RUN apt update && apt install -y --fix-missing curl build-essential
 # Install latest stable rust

docker/iron_compose.yaml

@@ -1,6 +1,6 @@
 services:
   rosbridge_iron:
-    image: carter12s/roslibrust-ci-iron:rust_1_90
+    image: carter12s/roslibrust-ci-iron:rust_1_94
     # ports:
     #   - "9090:9090"
     network_mode: host # For developing ros2 backend

docker/kilted/Dockerfile

@@ -7,6 +7,9 @@ RUN apt update && apt install -y git
 # Install rosbridge suite for rosbridge backend testing
 RUN apt update && apt install -y ros-kilted-rosbridge-suite
 
+# Install rosbag2 for MCAP integration testing
+RUN apt update && apt install -y ros-kilted-rosbag2
+
 # Install rmw_zenoh for zenoh backend testing
 RUN apt update && apt install -y ros-kilted-rmw-zenoh-cpp
 # Set RMW_IMPLEMENTATION to rmw_zenoh_cpp for zenoh backend testing