feat(tf): add hiroz-tf crate with TF2 listener, broadcaster, and buffer

Cargo.toml

@@ -17,6 +17,7 @@ members = [
   "crates/hiroz-schema",
   "crates/hiroz-msgs",
   "crates/hiroz-tests",
+  "crates/hiroz-tf",
   "crates/hiroz-console",
   "crates/hiroz-bridge",
   "crates/hiroz/examples/protobuf_demo",

crates/hiroz-codegen/assets/jazzy/dependencies.json

@@ -28,6 +28,11 @@
         "std_msgs"
       ]
     },
+    "tf2_msgs": {
+      "dependencies": [
+        "geometry_msgs"
+      ]
+    },
     "sensor_msgs": {
       "dependencies": [
         "builtin_interfaces",

crates/hiroz-codegen/assets/jazzy/tf2_msgs/msg/TFMessage.msg

@@ -0,0 +1 @@
+geometry_msgs/TransformStamped[] transforms

crates/hiroz-codegen/src/bin/export_json.rs

@@ -116,6 +116,7 @@ fn main() -> Result<()> {
         external_crate: None,
         local_packages: std::collections::HashSet::new(),
         json_out: Some(json_path.clone()),
+        protobuf_excluded_packages: std::collections::HashSet::new(),
     };
 
     let generator = hiroz_codegen::MessageGenerator::new(config);

crates/hiroz-codegen/src/lib.rs

@@ -44,6 +44,10 @@ pub struct GeneratorConfig {
 
     /// Output JSON definitions for external generators (Go, Python, etc.)
     pub json_out: Option<PathBuf>,
+
+    /// Packages to skip during protobuf generation (CDR generation is unaffected).
+    /// Useful when a package's message types are intentionally not exposed via protobuf.
+    pub protobuf_excluded_packages: std::collections::HashSet<String>,
 }
 
 /// Message generator that orchestrates parsing, resolution, and code generation
@@ -507,6 +511,18 @@ impl MessageGenerator {
     fn generate_protobuf_types(&self, messages: &[ResolvedMessage]) -> Result<()> {
         use crate::protobuf_generator::ProtobufMessageGenerator;
 
+        let filtered: Vec<ResolvedMessage> = messages
+            .iter()
+            .filter(|m| {
+                !self
+                    .config
+                    .protobuf_excluded_packages
+                    .contains(&m.parsed.package)
+            })
+            .cloned()
+            .collect();
+        let messages = filtered.as_slice();
+
         let proto_dir = self.config.output_dir.join("proto");
         let generator = ProtobufMessageGenerator::new(&proto_dir);
 
@@ -704,6 +720,7 @@ pub fn generate_user_messages(output_dir: &Path, is_humble: bool) -> Result<()>
         external_crate: Some("hiroz_msgs".to_string()),
         local_packages,
         json_out: None,
+        protobuf_excluded_packages: std::collections::HashSet::new(),
     };
 
     let generator = MessageGenerator::new(config);

crates/hiroz-codegen/src/protobuf_generator.rs

@@ -322,15 +322,53 @@ impl ::hiroz::msg::ZMessage for {proto_type} {{
         Ok(impls)
     }
 
-    /// Convert ROS message name to prost naming convention
+    /// Convert a ROS PascalCase message name to prost's UpperCamelCase convention.
+    ///
+    /// Prost (via heck) splits words at:
+    /// - lowercase → uppercase transitions  ("fooBar" → ["foo","Bar"])
+    /// - uppercase-run boundary before a lowercase letter
+    ///   ("TFMessage" → ["TF","Message"], "ColorRGBA" → ["Color","RGBA"])
+    ///
+    /// Each word is then title-cased (first char upper, rest lower).
     fn convert_to_prost_naming(&self, name: &str) -> String {
-        // Handle specific known cases where prost naming differs
-        match name {
-            "MultiDOFJointState" => "MultiDofJointState".to_string(),
-            "ColorRGBA" => "ColorRgba".to_string(),
-            "UUID" => "Uuid".to_string(),
-            // Add more mappings as needed
-            _ => name.to_string(),
+        let chars: Vec<char> = name.chars().collect();
+        let mut words: Vec<String> = Vec::new();
+        let mut current = String::new();
+
+        for (i, &c) in chars.iter().enumerate() {
+            let is_word_start = if c.is_uppercase() {
+                let prev = if i > 0 { Some(chars[i - 1]) } else { None };
+                let next = chars.get(i + 1).copied();
+                match (prev, next) {
+                    (None, _) => false,                         // first char: never a boundary
+                    (Some(p), _) if p.is_lowercase() => true,   // lower→upper
+                    (Some(p), _) if p.is_ascii_digit() => true, // digit→upper
+                    (Some(p), Some(n)) if p.is_uppercase() && n.is_lowercase() => true, // run→lower
+                    _ => false,
+                }
+            } else {
+                false
+            };
+
+            if is_word_start && !current.is_empty() {
+                words.push(current.clone());
+                current = String::new();
+            }
+            current.push(c);
         }
+        if !current.is_empty() {
+            words.push(current);
+        }
+
+        words
+            .iter()
+            .map(|w| {
+                let mut cs = w.chars();
+                match cs.next() {
+                    None => String::new(),
+                    Some(first) => first.to_uppercase().to_string() + &cs.as_str().to_lowercase(),
+                }
+            })
+            .collect()
     }
 }

crates/hiroz-msgs/Cargo.toml

@@ -51,6 +51,7 @@ std_msgs = []
 geometry_msgs = ["std_msgs"]
 sensor_msgs = ["std_msgs", "geometry_msgs"]
 nav_msgs = ["std_msgs", "geometry_msgs"]
+tf2_msgs = ["geometry_msgs"]
 example_interfaces = []
 action_tutorials_interfaces = []
 test_msgs = []
@@ -63,6 +64,7 @@ all_msgs = [
   "geometry_msgs",
   "sensor_msgs",
   "nav_msgs",
+  "tf2_msgs",
   "example_interfaces",
   "action_tutorials_interfaces",
   "rcl_interfaces",

crates/hiroz-msgs/build.rs

@@ -14,6 +14,7 @@ fn main() -> Result<()> {
     println!("cargo::rustc-check-cfg=cfg(has_example_interfaces)");
     println!("cargo::rustc-check-cfg=cfg(has_test_msgs)");
     println!("cargo::rustc-check-cfg=cfg(has_rcl_interfaces)");
+    println!("cargo::rustc-check-cfg=cfg(has_tf2_msgs)");
 
     // Detect ROS version and emit cfg
     let is_humble = detect_ros_version();
@@ -38,6 +39,7 @@ fn main() -> Result<()> {
             external_crate: None, // All packages are local in hiroz-msgs
             local_packages: std::collections::HashSet::new(), // All packages are local
             json_out: None,       // Not needed for Rust codegen
+            protobuf_excluded_packages: std::collections::HashSet::new(),
         };
 
         let generator = hiroz_codegen::MessageGenerator::new(config);
@@ -255,6 +257,10 @@ fn get_all_packages(is_humble: bool) -> Vec<&'static str> {
         names.push("nav_msgs");
     }
 
+    if env::var("CARGO_FEATURE_TF2_MSGS").is_ok() {
+        names.push("tf2_msgs");
+    }
+
     if env::var("CARGO_FEATURE_EXAMPLE_INTERFACES").is_ok() {
         names.push("example_interfaces");
     }

crates/hiroz-tests/Cargo.toml

@@ -11,6 +11,7 @@ publish = false
 [dependencies]
 hiroz = { path = "../hiroz", default-features = false, features = ["protobuf"] }
 hiroz-msgs = { path = "../hiroz-msgs", default-features = false, optional = true }
+hiroz-tf = { path = "../hiroz-tf", default-features = false, optional = true }
 hiroz-cdr = { path = "../hiroz-cdr" }
 hiroz-schema = { path = "../hiroz-schema" }
 protobuf_demo = { path = "../hiroz/examples/protobuf_demo" }
@@ -58,8 +59,16 @@ humble-jazzy-bridge-tests = [
 # This enables testing hiroz with DDS-based ROS 2 nodes via zenoh-bridge-ros2dds
 ros2dds-interop = ["ros-msgs", "hiroz/ros2dds", "hiroz/rmw-zenoh"]
 
-# ROS 2 distro compatibility - propagate to hiroz and hiroz-msgs
-humble = ["hiroz/humble", "hiroz-msgs/humble"]
-jazzy = ["hiroz/jazzy", "hiroz-msgs/jazzy"]
-rolling = ["hiroz/rolling", "hiroz-msgs/rolling"]
-kilted = ["hiroz/kilted", "hiroz-msgs/kilted"]
+# TF integration tests
+tf-tests = [
+  "dep:hiroz-tf",
+  "dep:hiroz-msgs",
+  "hiroz-msgs/tf2_msgs",
+  "hiroz-msgs/geometry_msgs",
+]
+
+# ROS 2 distro compatibility - propagate to hiroz, hiroz-msgs, and hiroz-tf
+humble = ["hiroz/humble", "hiroz-msgs/humble", "hiroz-tf?/humble"]
+jazzy = ["hiroz/jazzy", "hiroz-msgs/jazzy", "hiroz-tf?/jazzy"]
+rolling = ["hiroz/rolling", "hiroz-msgs/rolling", "hiroz-tf?/rolling"]
+kilted = ["hiroz/kilted", "hiroz-msgs/kilted", "hiroz-tf?/kilted"]