From 52cd5d99746c52af91efe5c7cb19d6d74b1a9865 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 6 Jan 2025 14:51:12 -0700
Subject: [PATCH] Continuing to reorg and cleanup, reducing internal message
 generation

---
 Cargo.lock                                    |  3 +--
 roslibrust_ros1/Cargo.toml                    |  7 ++-----
 roslibrust_ros1/src/publisher.rs              |  2 +-
 roslibrust_ros1/tests/ros1_xmlrpc.rs          |  2 +-
 roslibrust_rosapi/src/lib.rs                  |  2 +-
 roslibrust_rosbridge/src/integration_tests.rs | 10 ++--------
 6 files changed, 8 insertions(+), 18 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index c994c3a..dc8e9a3 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2654,10 +2654,9 @@ dependencies = [
  "log",
  "regex",
  "reqwest",
- "roslibrust_codegen",
- "roslibrust_codegen_macro",
  "roslibrust_common",
  "roslibrust_serde_rosmsg",
+ "roslibrust_test",
  "serde",
  "serde_xmlrpc",
  "test-log",
diff --git a/roslibrust_ros1/Cargo.toml b/roslibrust_ros1/Cargo.toml
index defcc53..445690e 100644
--- a/roslibrust_ros1/Cargo.toml
+++ b/roslibrust_ros1/Cargo.toml
@@ -29,11 +29,8 @@ thiserror = "2.0"
 anyhow = "1.0"
 
 [dev-dependencies]
-# Used to provide message types for the examples
-# TODO generate a roslibrust_std_msgs crate we can depend on instead of this
-roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro" }
-# Relied on by generate types in the macro this should be cleaned up
-roslibrust_codegen = { path = "../roslibrust_codegen" }
+# Used for message definitions in tests
+roslibrust_test = { path = "../roslibrust_test" }
 
 [features]
 # Used for enabling tests that rely on a running ros1 master
diff --git a/roslibrust_ros1/src/publisher.rs b/roslibrust_ros1/src/publisher.rs
index 1f35af2..8657087 100644
--- a/roslibrust_ros1/src/publisher.rs
+++ b/roslibrust_ros1/src/publisher.rs
@@ -16,7 +16,7 @@ use tokio::{
 
 use super::actor::NodeServerHandle;
 
-/// The regular Publisher representation returned by calling advertise on a [crate::ros1::NodeHandle].
+/// The regular Publisher representation returned by calling advertise on a [crate::NodeHandle].
 pub struct Publisher<T> {
     // Name of the topic this publisher is publishing on
     topic_name: String,
diff --git a/roslibrust_ros1/tests/ros1_xmlrpc.rs b/roslibrust_ros1/tests/ros1_xmlrpc.rs
index 56ca47c..606b776 100644
--- a/roslibrust_ros1/tests/ros1_xmlrpc.rs
+++ b/roslibrust_ros1/tests/ros1_xmlrpc.rs
@@ -2,9 +2,9 @@
 mod tests {
     use roslibrust_common::RosMessageType;
     use roslibrust_ros1::NodeHandle;
+    use roslibrust_test::ros1::*;
     use serde::de::DeserializeOwned;
     use serde_xmlrpc::Value;
-    roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
 
     async fn call_node_api_raw(uri: &str, endpoint: &str, args: Vec<Value>) -> String {
         let client = reqwest::Client::new();
diff --git a/roslibrust_rosapi/src/lib.rs b/roslibrust_rosapi/src/lib.rs
index ee85512..4aaec40 100644
--- a/roslibrust_rosapi/src/lib.rs
+++ b/roslibrust_rosapi/src/lib.rs
@@ -391,7 +391,7 @@ impl<T: ServiceProvider + Send + Sync> RosApi for T {
 #[cfg(feature = "ros1_test")]
 mod test {
     use super::RosApi;
-    use roslibrust_rosbridge::{ClientHandle, ClientHandleOptions};
+    use roslibrust::rosbridge::{ClientHandle, ClientHandleOptions};
 
     async fn fixture_client() -> ClientHandle {
         // Tiny sleep to throttle rate at which tests are run to try to make CI more consistent
diff --git a/roslibrust_rosbridge/src/integration_tests.rs b/roslibrust_rosbridge/src/integration_tests.rs
index 761cc59..75f6a19 100644
--- a/roslibrust_rosbridge/src/integration_tests.rs
+++ b/roslibrust_rosbridge/src/integration_tests.rs
@@ -20,16 +20,10 @@ mod integration_tests {
     const LOCAL_WS: &str = "ws://localhost:9090";
 
     #[cfg(feature = "ros1_test")]
-    roslibrust_codegen_macro::find_and_generate_ros_messages!(
-        "assets/ros1_common_interfaces/ros_comm_msgs",
-        "assets/ros1_common_interfaces/std_msgs",
-    );
+    use roslibrust_test::ros1::*;
 
     #[cfg(feature = "ros2_test")]
-    roslibrust_codegen_macro::find_and_generate_ros_messages!(
-        "assets/ros2_common_interfaces/std_msgs",
-        "assets/ros2_common_interfaces/std_srvs"
-    );
+    use roslibrust_test::ros2::*;
     // This replaces the fact that Time.msg is no longer in std_msgs in ROS2
     #[cfg(feature = "ros2_test")]
     use roslibrust_codegen::integral_types::Time;