fix: add kilted to support list

.github/workflows/rust_and_ros2.yml

@@ -17,6 +17,25 @@ jobs:
     - run: docker build . --file ./tests/Dockerfile_no_ros --tag r2r_no_ros
     - run: docker run r2r_no_ros cargo build --features doc-only
 
+  minimal_workspace_kilted:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - name: Checkout tools repo
+      uses: actions/checkout@v4
+      with:
+        repository: m-dahl/r2r_minimal_node
+        path: r2r_minimal_node
+    - run: docker build . --file ./tests/Dockerfile_kilted --tag r2r_kilted
+    - run: docker run r2r_kilted /r2r/tests/build_minimal_node.bash
+
+  tests_kilted:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - run: docker build . --file ./tests/Dockerfile_kilted --tag r2r_kilted
+    - run: docker run r2r_kilted cargo test
+
   minimal_workspace_jazzy:
     runs-on: ubuntu-latest
     steps:

README.md

@@ -34,7 +34,7 @@ Since the default behavior is to build all sourced message types, build time can
 
 What works?
 --------------------
-- Up to date with ROS2 ~Dashing~ ~Eloquent~ Foxy Galactic Humble Iron Jazzy
+- Up to date with ROS2 ~Dashing~ ~Eloquent~ Foxy Galactic Humble Iron Jazzy Kilted
 - Building Rust types
 - Publish/subscribe
 - Services
@@ -46,6 +46,7 @@ What works?
 Changelog
 --------------------
 #### [Unreleased]
+- Update to support Kilted
 
 #### [0.9.5] - 2025-04-22
 - Add `/set_parameters_atomically` <https://github.com/sequenceplanner/r2r/pull/120>, <https://github.com/sequenceplanner/r2r/pull/121>. Fixes `ros2 param ...` on Jazzy.

r2r/src/error.rs

@@ -1,5 +1,10 @@
 #![allow(non_camel_case_types)]
-use r2r_actions::*;
+use r2r_actions::{
+    RCL_RET_ACTION_CLIENT_INVALID, RCL_RET_ACTION_CLIENT_TAKE_FAILED, RCL_RET_ACTION_GOAL_ACCEPTED,
+    RCL_RET_ACTION_GOAL_EVENT_INVALID, RCL_RET_ACTION_GOAL_HANDLE_INVALID,
+    RCL_RET_ACTION_GOAL_REJECTED, RCL_RET_ACTION_NAME_INVALID, RCL_RET_ACTION_SERVER_INVALID,
+    RCL_RET_ACTION_SERVER_TAKE_FAILED,
+};
 use r2r_rcl::*;
 use thiserror::Error;
 

r2r/src/lib.rs

@@ -145,6 +145,8 @@ pub const ROS_DISTRO: &str = "humble";
 pub const ROS_DISTRO: &str = "iron";
 #[cfg(r2r__ros__distro__jazzy)]
 pub const ROS_DISTRO: &str = "jazzy";
+#[cfg(r2r__ros__distro__kilted)]
+pub const ROS_DISTRO: &str = "kilted";
 
 #[cfg(r2r__ros__distro__rolling)]
 pub const ROS_DISTRO: &str = "rolling";
@@ -155,6 +157,7 @@ pub const ROS_DISTRO: &str = "rolling";
     r2r__ros__distro__humble,
     r2r__ros__distro__iron,
     r2r__ros__distro__jazzy,
+    r2r__ros__distro__kilted,
 
     r2r__ros__distro__rolling
 )))]

r2r/src/nodes.rs

@@ -1482,13 +1482,15 @@ impl Node {
 
         let mut ctx = self.context.context_handle.lock().unwrap();
         let ret = unsafe {
-            rcl_timer_init(
+            // TODO: conditionally call rcl_timer_init on older releases where rcl_timer_init2 is not available
+            rcl_timer_init2(
                 &mut timer_handle.as_mut().get_unchecked_mut().handle,
                 clock.clock_handle.as_mut(),
                 ctx.as_mut(),
                 period.as_nanos() as i64,
                 None,
                 rcutils_get_default_allocator(),
+                true,
             )
         };
 

r2r/src/qos.rs

@@ -251,7 +251,7 @@ pub enum ReliabilityPolicy {
     BestEffort,
     Reliable,
     SystemDefault,
-    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
+    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__kilted, r2r__ros__distro__rolling))]
     BestAvailable,
     Unknown,
 }
@@ -267,7 +267,7 @@ impl From<ReliabilityPolicy> for rmw_qos_reliability_policy_t {
             ReliabilityPolicy::SystemDefault => {
                 rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT
             }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__kilted, r2r__ros__distro__rolling))]
             ReliabilityPolicy::BestAvailable => {
                 rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE
             }
@@ -290,7 +290,7 @@ impl From<rmw_qos_reliability_policy_t> for ReliabilityPolicy {
             rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT => {
                 ReliabilityPolicy::SystemDefault
             }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__kilted, r2r__ros__distro__rolling))]
             rmw_qos_reliability_policy_t::RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE => {
                 ReliabilityPolicy::BestAvailable
             }
@@ -306,7 +306,7 @@ pub enum DurabilityPolicy {
     TransientLocal,
     Volatile,
     SystemDefault,
-    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
+    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__kilted, r2r__ros__distro__rolling))]
     BestAvailable,
     Unknown,
 }
@@ -323,7 +323,7 @@ impl From<DurabilityPolicy> for rmw_qos_durability_policy_t {
             DurabilityPolicy::SystemDefault => {
                 rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT
             }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__kilted, r2r__ros__distro__rolling))]
             DurabilityPolicy::BestAvailable => {
                 rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE
             }
@@ -346,7 +346,7 @@ impl From<rmw_qos_durability_policy_t> for DurabilityPolicy {
             rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT => {
                 DurabilityPolicy::SystemDefault
             }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__kilted, r2r__ros__distro__rolling))]
             rmw_qos_durability_policy_t::RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE => {
                 DurabilityPolicy::BestAvailable
             }
@@ -363,7 +363,7 @@ pub enum LivelinessPolicy {
     ManualByNode,
     ManualByTopic,
     SystemDefault,
-    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
+    #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__kilted, r2r__ros__distro__rolling))]
     BestAvailable,
     Unknown,
 }
@@ -383,7 +383,7 @@ impl From<LivelinessPolicy> for rmw_qos_liveliness_policy_t {
             LivelinessPolicy::SystemDefault => {
                 rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT
             }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__kilted, r2r__ros__distro__rolling))]
             LivelinessPolicy::BestAvailable => {
                 rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE
             }
@@ -409,7 +409,7 @@ impl From<rmw_qos_liveliness_policy_t> for LivelinessPolicy {
             rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT => {
                 LivelinessPolicy::SystemDefault
             }
-            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__rolling))]
+            #[cfg(any(r2r__ros__distro__iron, r2r__ros__distro__jazzy, r2r__ros__distro__kilted, r2r__ros__distro__rolling))]
             rmw_qos_liveliness_policy_t::RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE => {
                 LivelinessPolicy::BestAvailable
             }

r2r_common/src/lib.rs

@@ -10,7 +10,7 @@ use std::{
 };
 
 #[cfg(not(feature = "doc-only"))]
-const SUPPORTED_ROS_DISTROS: &[&str] = &["foxy", "galactic", "humble", "iron", "jazzy", "rolling"];
+const SUPPORTED_ROS_DISTROS: &[&str] = &["foxy", "galactic", "humble", "iron", "jazzy", "kilted", "rolling"];
 
 const WATCHED_ENV_VARS: &[&str] = &[
     "AMENT_PREFIX_PATH",

tests/Dockerfile_kilted

@@ -0,0 +1,22 @@
+# syntax=docker/dockerfile:1
+FROM ros:kilted
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get ros test messages
+RUN apt-get install -y ros-kilted-test-msgs ros-kilted-example-interfaces
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+
+COPY . /r2r
+RUN chmod +x /r2r/tests/test.bash
+ENTRYPOINT [ "/r2r/tests/test.bash" ]

tests/test.bash

@@ -5,7 +5,9 @@
 # run rustup to test with latest rust version
 rustup update
 
-if [ -e "/opt/ros/jazzy/setup.bash" ]; then
+if [ -e "/opt/ros/kilted/setup.bash" ]; then
+    source "/opt/ros/kilted/setup.bash"
+elif [ -e "/opt/ros/jazzy/setup.bash" ]; then
     source "/opt/ros/jazzy/setup.bash"
 elif [ -e "/opt/ros/iron/setup.bash" ]; then
     source "/opt/ros/iron/setup.bash"