Update package discovery to try to resolve ROS2 paths

CHANGELOG.md

@@ -20,6 +20,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 - ~20% performance improvement on large images and strings with ROS1 and ROS1-zenoh backends by removing copies, and improving pre-allocation
+- The macro for code generation will now search BOTH ROS1 and ROS2 package paths by default.
+- Added code generation proc macros with shorter names: `generate_ros_types!` searches only explicit paths, `generate_ros_types_with_env!` searches explicit paths plus ROS environment paths, and the original macro names are deprecated aliases.
 
 ## 0.20.0 - March 2nd, 2026
 

README.md

@@ -74,8 +74,8 @@ All of this is backed by common traits for ROS messages, topics, and services. `
 `roslibrust_codegen_macro` provides a convenient macro for generating these types:
 
 ```rust,ignore
-// Will generate types from all packages in ROS_PACKAGE_PATH
-roslibrust_codegen_macro::find_and_generate_ros_messages!();
+// Will generate types from all packages in ROS_PACKAGE_PATH, AMENT_PREFIX_PATH, and COLCON_PREFIX_PATH
+roslibrust_codegen_macro::generate_ros_types_with_env!();
 ```
 
 If you want to see what the generated code looks like checkout [our generated messages in our test crate](https://github.com/RosLibRust/roslibrust/blob/master/roslibrust_test/src/ros1.rs).

example_package_macro/src/main.rs

@@ -3,12 +3,9 @@
 use roslibrust::Publish;
 
 // We're using the macro to generate our types
-// We provide the macro with additional search paths beyond the ROS_PACKAGE_PATH
+// We provide the macro with the exact paths to search, skipping environment discovery.
 // The paths are assumed to be relative to the crate (or workspace) root
-roslibrust::find_and_generate_ros_messages!(
-    "assets/ros1_test_msgs",
-    "assets/ros1_common_interfaces"
-);
+roslibrust::generate_ros_types!("assets/ros1_test_msgs", "assets/ros1_common_interfaces");
 
 // Writing a simple behavior that uses the generic traits from roslibrust
 // and the generated types from the macro above.

roslibrust/examples/generic_client.rs

@@ -4,7 +4,7 @@
 // Important to bring these traits into scope so we can use them
 
 #[cfg(all(feature = "rosbridge", feature = "ros1"))]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces/std_msgs");
 
 #[cfg(all(feature = "rosbridge", feature = "ros1"))]
 #[tokio::main]

roslibrust/examples/generic_client_services.rs

@@ -2,7 +2,7 @@
 //! to create code that is generic of which communication backend it will use.
 
 #[cfg(all(feature = "rosbridge", feature = "ros1"))]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 
 #[cfg(all(feature = "rosbridge", feature = "ros1"))]
 #[tokio::main]

roslibrust/examples/generic_message.rs

@@ -5,11 +5,11 @@ use roslibrust_common::RosMessageType;
 /// We place the ros1 generated code into a module to prevent name collisions with the identically
 /// named ros2 types.
 mod ros1 {
-    roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+    roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 }
 
 mod ros2 {
-    roslibrust_codegen_macro::find_and_generate_ros_messages_without_ros_package_path!(
+    roslibrust_codegen_macro::generate_ros_types!(
         "assets/ros2_common_interfaces",
         "assets/ros2_required_msgs/rcl_interfaces/builtin_interfaces"
     );

roslibrust/examples/ros1_async_service_server.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "ros1")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 
 /// This example shows how to perform async actions correctly in a service callback.
 ///

roslibrust/examples/ros1_listener.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "ros1")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces/std_msgs");
 
 #[cfg(feature = "ros1")]
 #[tokio::main]

roslibrust/examples/ros1_publish_any.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "ros1")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 
 /// This example demonstrates ths usage of the .advertise_any() function
 ///

roslibrust/examples/ros1_service_client.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "ros1")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 
 #[cfg(feature = "ros1")]
 #[tokio::main]

roslibrust/examples/ros1_service_server.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "ros1")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 
 #[cfg(feature = "ros1")]
 #[tokio::main]

roslibrust/examples/ros1_talker.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "ros1")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 
 #[cfg(feature = "ros1")]
 #[tokio::main]

roslibrust/examples/rosbridge_basic_publisher.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "rosbridge")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces/std_msgs");
 
 /// This example creates a client, and publishes a message to the topic "talker"
 /// Running this example at the same time as subscribe_and_log will have the two examples

roslibrust/examples/rosbridge_calling_service.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "rosbridge")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/rosapi");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces/rosapi");
 
 /// This example shows calling a service
 /// To run this example rosbridge and a roscore should be running

roslibrust/examples/rosbridge_ros1_ros2_bridge_example.rs

@@ -5,13 +5,11 @@
 /// We place the ros1 generate code into a module to prevent name collisions with the identically
 /// named ros2 types.
 mod ros1 {
-    roslibrust_codegen_macro::find_and_generate_ros_messages!(
-        "assets/ros1_common_interfaces/std_msgs"
-    );
+    roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces/std_msgs");
 }
 
 mod ros2 {
-    roslibrust_codegen_macro::find_and_generate_ros_messages_without_ros_package_path!(
+    roslibrust_codegen_macro::generate_ros_types!(
         "assets/ros2_common_interfaces/std_msgs",
         "assets/ros2_required_msgs/rcl_interfaces/builtin_interfaces"
     );

roslibrust/examples/rosbridge_service_server.rs

@@ -1,6 +1,6 @@
 // One way to import message definitions:
 #[cfg(feature = "rosbridge")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 
 // A basic service server exampple, that logs the request is recieves and returns
 // a canned response.

roslibrust/examples/rosbridge_subscribe_and_log.rs

@@ -1,5 +1,5 @@
 #[cfg(feature = "rosbridge")]
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 
 /// A basic example of connecting and subscribing to data.
 /// This example will log received messages if run at the same time as "basic_publisher".

roslibrust/examples/tokio_stream_operations.rs

@@ -2,7 +2,7 @@
 use roslibrust_common::traits::*;
 use tokio_stream::StreamExt;
 
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+roslibrust_codegen_macro::generate_ros_types!("assets/ros1_common_interfaces");
 
 async fn example_publisher_task(publisher: impl roslibrust::Publish<std_msgs::Header>) {
     for seq in 0..50 {

roslibrust/src/lib.rs

@@ -29,3 +29,7 @@ pub use roslibrust_codegen as codegen;
 pub use roslibrust_codegen_macro::find_and_generate_ros_messages;
 #[cfg(feature = "macro")]
 pub use roslibrust_codegen_macro::find_and_generate_ros_messages_without_ros_package_path;
+#[cfg(feature = "macro")]
+pub use roslibrust_codegen_macro::generate_ros_types;
+#[cfg(feature = "macro")]
+pub use roslibrust_codegen_macro::generate_ros_types_with_env;

roslibrust_codegen/src/lib.rs

@@ -533,11 +533,12 @@ impl PartialEq for ConstantInfo {
 /// modified would trigger re-generation of the source. This function is designed to
 /// be used either in a build.rs file or via the roslibrust_codegen_macro crate.
 /// * `additional_search_paths` - A list of additional paths to search beyond those
-///   found in ROS_PACKAGE_PATH environment variable.
+///   found in ROS_PACKAGE_PATH, AMENT_PREFIX_PATH, and COLCON_PREFIX_PATH environment variables.
 pub fn find_and_generate_ros_messages(
     additional_search_paths: Vec<PathBuf>,
 ) -> Result<(TokenStream, Vec<PathBuf>), Error> {
     let mut ros_package_paths = utils::get_search_paths();
+    ros_package_paths.extend(utils::get_ros2_search_paths());
     ros_package_paths.extend(additional_search_paths);
     find_and_generate_ros_messages_without_ros_package_path(ros_package_paths)
 }