Switch generic examples to being generic over Ros trait

example_package/src/main.rs

@@ -11,7 +11,7 @@ use roslibrust::Publish;
 
 // Writing a simple behavior that uses the generic traits from roslibrust
 // and the generated types from the macro above.
-async fn pub_counter(ros: impl roslibrust::TopicProvider) {
+async fn pub_counter(ros: impl roslibrust::Ros) {
     let publisher = ros
         .advertise::<std_msgs::Int16>("example_counter")
         .await

example_package_macro/src/main.rs

@@ -12,7 +12,7 @@ roslibrust::find_and_generate_ros_messages!(
 
 // Writing a simple behavior that uses the generic traits from roslibrust
 // and the generated types from the macro above.
-async fn pub_counter(ros: impl roslibrust::TopicProvider) {
+async fn pub_counter(ros: impl roslibrust::Ros) {
     let publisher = ros
         .advertise::<std_msgs::Int16>("example_counter")
         .await

roslibrust/examples/generic_client.rs

@@ -9,7 +9,7 @@ roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_in
 #[cfg(all(feature = "rosbridge", feature = "ros1"))]
 #[tokio::main]
 async fn main() {
-    use roslibrust::{Publish, Subscribe, TopicProvider};
+    use roslibrust::{Publish, Ros, Subscribe};
     env_logger::init();
 
     // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters
@@ -21,13 +21,13 @@ async fn main() {
     // single application. The critical part is to make TopicProvider a
     // generic type on you Node.
 
-    struct MyNode<T: TopicProvider> {
+    struct MyNode<T: Ros> {
         ros: T,
         name: String,
     }
 
     // Basic example of a node that publishes and subscribes to itself
-    impl<T: TopicProvider> MyNode<T> {
+    impl<T: Ros> MyNode<T> {
         async fn run(self) {
             let publisher = self
                 .ros

roslibrust/examples/generic_client_services.rs

@@ -8,7 +8,7 @@ roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_in
 #[tokio::main]
 async fn main() {
     // Important to bring these traits into scope so we can use them
-    use roslibrust::{Service, ServiceProvider};
+    use roslibrust::{Ros, Service};
     env_logger::init();
 
     // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters
@@ -20,13 +20,13 @@ async fn main() {
     // single application. The critical part is to make TopicProvider a
     // generic type on you Node.
 
-    struct MyNode<T: ServiceProvider + 'static> {
+    struct MyNode<T: Ros> {
         ros: T,
     }
 
     // Basic example of a node that publishes and subscribes to itself
     // This node will work with any backend
-    impl<T: ServiceProvider> MyNode<T> {
+    impl<T: Ros> MyNode<T> {
         fn handle_service(
             _request: std_srvs::SetBoolRequest,
         ) -> Result<std_srvs::SetBoolResponse, Box<dyn std::error::Error + Send + Sync>> {

roslibrust/examples/generic_message.rs

@@ -38,6 +38,7 @@ impl RosMessageType for GenericHeader {
 }
 
 /// Sets up a subscriber that could get either of two versions of a message
+/// Note this is currently only supported by the rosbridge backend as this behavior relies on serde_json's fallback capabilities
 #[cfg(feature = "rosbridge")]
 #[tokio::main]
 async fn main() -> Result<(), Box<dyn std::error::Error>> {