40 lines
1.9 KiB
TOML
40 lines
1.9 KiB
TOML
[package]
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name = "tines-ros2"
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version.workspace = true
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edition.workspace = true
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license.workspace = true
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description = "Self-contained ROS2 node for tines: bridges tines topics to ROS2 topics with a /tines/receipts channel for confidence events. rclrs is an optional feature (off by default) so the crate builds without a ROS2 toolchain."
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authors.workspace = true
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repository.workspace = true
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readme.workspace = true
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documentation = "https://docs.rs/tines-ros2"
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keywords = ["robotics", "ros2", "gossip", "delay-tolerant"]
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categories = ["science::robotics", "network-programming"]
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[features]
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# rclrs (the ROS2 client library) is optional and off by default: the crate's
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# pure tines-side pieces (topic naming, the Node/Store/Transport wiring) build
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# and are tested without a ROS2 toolchain. Enable `--features ros2` to compile
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# the rclrs-backed `TinesNode`.
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default = []
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ros2 = ["dep:rclrs", "dep:ros-env", "dep:tines"]
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[dependencies]
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tines-core = { path = "../tines-core", version = "1" }
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tines-store = { path = "../tines-store", version = "0.4.0" }
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tines-bt = { path = "../tines-bt", version = "0.4.0" }
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# The host's wall-clock abstraction (`HostClock`) and the trusted-time state
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# machine it drives. Only needed behind the `ros2` feature — `TinesNode` is the
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# only consumer and that is compiled only with `ros2` — so keep it optional.
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tines = { path = "../tines", version = "0.4.0", optional = true }
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rclrs = { version = "0.8", optional = true }
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# ros_env provides the ROS 2 message types (std_msgs, including
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# UInt8MultiArray) by include!()ing the generated crates from
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# AMENT_PREFIX_PATH; only needed behind the `ros2` feature alongside rclrs.
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# Pinned to 0.3 so it shares rclrs 0.8's rosidl_runtime_rs 0.7 rather than the
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# 0.6 that ros_env 0.1 pulls in. (The crates.io package is `ros-env`; Cargo maps
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# it to the `ros_env` crate id.)
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ros-env = { version = "0.3", optional = true }
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[dev-dependencies]
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