From 18bd941e262957c53306ac809b6e4a6d3bea4f74 Mon Sep 17 00:00:00 2001
From: Sam Privett <sam@privett.dev>
Date: Sun, 4 Jan 2026 19:45:39 -0800
Subject: [PATCH 1/2] Updated the examples repo to build with the messages
 changes.

---
 rclrs/logging_demo/Cargo.toml           | 1 -
 rclrs/message_demo/Cargo.toml           | 3 +--
 rclrs/minimal_client_service/Cargo.toml | 1 -
 rclrs/minimal_pub_sub/Cargo.toml        | 1 -
 rclrs/parameter_demo/Cargo.toml         | 1 -
 rclrs/rust_pubsub/Cargo.toml            | 1 -
 rclrs/worker_demo/Cargo.toml            | 1 -
 7 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/rclrs/logging_demo/Cargo.toml b/rclrs/logging_demo/Cargo.toml
index 79104f3..6e17523 100644
--- a/rclrs/logging_demo/Cargo.toml
+++ b/rclrs/logging_demo/Cargo.toml
@@ -5,4 +5,3 @@ edition = "2021"
 
 [dependencies]
 rclrs = "0.7"
-example_interfaces = "*"
diff --git a/rclrs/message_demo/Cargo.toml b/rclrs/message_demo/Cargo.toml
index 11888a6..41300f5 100644
--- a/rclrs/message_demo/Cargo.toml
+++ b/rclrs/message_demo/Cargo.toml
@@ -10,9 +10,8 @@ path = "src/message_demo.rs"
 
 [dependencies]
 anyhow = {version = "1", features = ["backtrace"]}
-rclrs = "0.7"
+rclrs = { version = "0.7", features = ["serde"] }
 rosidl_runtime_rs = "0.6"
-rclrs_example_msgs = { version = "0.5", features = ["serde"] }
 serde_json = "1.0"
 
 # This specific version is compatible with Rust 1.75
diff --git a/rclrs/minimal_client_service/Cargo.toml b/rclrs/minimal_client_service/Cargo.toml
index c595dc2..3f03366 100644
--- a/rclrs/minimal_client_service/Cargo.toml
+++ b/rclrs/minimal_client_service/Cargo.toml
@@ -20,7 +20,6 @@ path = "src/minimal_service.rs"
 anyhow = {version = "1", features = ["backtrace"]}
 tokio = { version = "1", features = ["macros", "rt", "rt-multi-thread", "time"] }
 rclrs = "0.7"
-example_interfaces = "*"
 
 # This specific version is compatible with Rust 1.75
 backtrace = "=0.3.74"
diff --git a/rclrs/minimal_pub_sub/Cargo.toml b/rclrs/minimal_pub_sub/Cargo.toml
index 71005fc..5444cae 100644
--- a/rclrs/minimal_pub_sub/Cargo.toml
+++ b/rclrs/minimal_pub_sub/Cargo.toml
@@ -28,7 +28,6 @@ path = "src/zero_copy_publisher.rs"
 [dependencies]
 anyhow = {version = "1", features = ["backtrace"]}
 rclrs = "0.7"
-example_interfaces = "*"
 
 # This specific version is compatible with Rust 1.75
 backtrace = "=0.3.74"
diff --git a/rclrs/parameter_demo/Cargo.toml b/rclrs/parameter_demo/Cargo.toml
index 9b89495..e7aa57f 100644
--- a/rclrs/parameter_demo/Cargo.toml
+++ b/rclrs/parameter_demo/Cargo.toml
@@ -5,4 +5,3 @@ edition = "2021"
 
 [dependencies]
 rclrs = "0.7"
-example_interfaces = "*"
diff --git a/rclrs/rust_pubsub/Cargo.toml b/rclrs/rust_pubsub/Cargo.toml
index 9200923..29c5e6a 100644
--- a/rclrs/rust_pubsub/Cargo.toml
+++ b/rclrs/rust_pubsub/Cargo.toml
@@ -13,4 +13,3 @@ path="src/simple_subscriber.rs"
 
 [dependencies]
 rclrs = "*"
-std_msgs = "*"
diff --git a/rclrs/worker_demo/Cargo.toml b/rclrs/worker_demo/Cargo.toml
index a1c5228..1811830 100644
--- a/rclrs/worker_demo/Cargo.toml
+++ b/rclrs/worker_demo/Cargo.toml
@@ -5,4 +5,3 @@ edition = "2021"
 
 [dependencies]
 rclrs = "0.7"
-example_interfaces = "*"

From 703ecaad8e2eb07ca3203cd4a9572eab1e95be80 Mon Sep 17 00:00:00 2001
From: Sam Privett <sam@privett.dev>
Date: Sun, 15 Mar 2026 10:34:25 -0700
Subject: [PATCH 2/2] Move re-export logic from rclrs, to the new ros-env
 crate.

---
 rclrs/logging_demo/Cargo.toml                       |  1 +
 rclrs/logging_demo/src/main.rs                      |  1 +
 rclrs/message_demo/Cargo.toml                       |  5 ++---
 rclrs/message_demo/src/message_demo.rs              |  1 +
 rclrs/minimal_client_service/Cargo.toml             |  4 +---
 rclrs/minimal_client_service/src/minimal_client.rs  |  2 +-
 .../src/minimal_client_async.rs                     |  2 +-
 rclrs/minimal_client_service/src/minimal_service.rs |  2 +-
 rclrs/minimal_pub_sub/Cargo.toml                    |  4 +---
 rclrs/minimal_pub_sub/src/minimal_publisher.rs      |  1 +
 rclrs/minimal_pub_sub/src/minimal_subscriber.rs     |  1 +
 rclrs/minimal_pub_sub/src/minimal_two_nodes.rs      |  1 +
 rclrs/minimal_pub_sub/src/zero_copy_publisher.rs    |  1 +
 rclrs/minimal_pub_sub/src/zero_copy_subscriber.rs   |  1 +
 rclrs/parameter_demo/Cargo.toml                     |  1 +
 rclrs/parameter_demo/src/main.rs                    |  1 +
 rclrs/rust_pubsub/Cargo.toml                        |  3 ++-
 rclrs/rust_pubsub/src/simple_publisher.rs           |  2 +-
 rclrs/rust_pubsub/src/simple_subscriber.rs          |  2 +-
 rclrs/worker_demo/Cargo.toml                        |  1 +
 rclrs/worker_demo/src/main.rs                       | 13 +++++--------
 21 files changed, 27 insertions(+), 23 deletions(-)

diff --git a/rclrs/logging_demo/Cargo.toml b/rclrs/logging_demo/Cargo.toml
index 6e17523..88413cd 100644
--- a/rclrs/logging_demo/Cargo.toml
+++ b/rclrs/logging_demo/Cargo.toml
@@ -5,3 +5,4 @@ edition = "2021"
 
 [dependencies]
 rclrs = "0.7"
+ros-env = "0.1"
diff --git a/rclrs/logging_demo/src/main.rs b/rclrs/logging_demo/src/main.rs
index 789a93e..251e615 100644
--- a/rclrs/logging_demo/src/main.rs
+++ b/rclrs/logging_demo/src/main.rs
@@ -1,4 +1,5 @@
 use rclrs::*;
+use ros_env::*;
 use std::time::Duration;
 
 fn main() -> Result<(), RclrsError> {
diff --git a/rclrs/message_demo/Cargo.toml b/rclrs/message_demo/Cargo.toml
index 41300f5..388fcbf 100644
--- a/rclrs/message_demo/Cargo.toml
+++ b/rclrs/message_demo/Cargo.toml
@@ -11,8 +11,7 @@ path = "src/message_demo.rs"
 [dependencies]
 anyhow = {version = "1", features = ["backtrace"]}
 rclrs = { version = "0.7", features = ["serde"] }
+# TODO (SP) This shouldn't need the serde feature once the next version of rclrs is released
+ros-env = {path = "/home/sam/rust_ws/src/ros-env", features = ["serde"]}
 rosidl_runtime_rs = "0.6"
 serde_json = "1.0"
-
-# This specific version is compatible with Rust 1.75
-backtrace = "=0.3.74"
diff --git a/rclrs/message_demo/src/message_demo.rs b/rclrs/message_demo/src/message_demo.rs
index e66d6ef..a30dfaf 100644
--- a/rclrs/message_demo/src/message_demo.rs
+++ b/rclrs/message_demo/src/message_demo.rs
@@ -4,6 +4,7 @@ use anyhow::{Error, Result};
 use rosidl_runtime_rs::{seq, BoundedSequence, Message, Sequence};
 
 use rclrs::*;
+use ros_env::*;
 
 fn check_default_values() {
     let msg = rclrs_example_msgs::msg::rmw::VariousTypes::default();
diff --git a/rclrs/minimal_client_service/Cargo.toml b/rclrs/minimal_client_service/Cargo.toml
index 3f03366..0eb421f 100644
--- a/rclrs/minimal_client_service/Cargo.toml
+++ b/rclrs/minimal_client_service/Cargo.toml
@@ -20,6 +20,4 @@ path = "src/minimal_service.rs"
 anyhow = {version = "1", features = ["backtrace"]}
 tokio = { version = "1", features = ["macros", "rt", "rt-multi-thread", "time"] }
 rclrs = "0.7"
-
-# This specific version is compatible with Rust 1.75
-backtrace = "=0.3.74"
+ros-env = "0.1"
diff --git a/rclrs/minimal_client_service/src/minimal_client.rs b/rclrs/minimal_client_service/src/minimal_client.rs
index da287a6..b618ee9 100644
--- a/rclrs/minimal_client_service/src/minimal_client.rs
+++ b/rclrs/minimal_client_service/src/minimal_client.rs
@@ -1,6 +1,6 @@
 use anyhow::{Error, Result};
-use example_interfaces::srv::*;
 use rclrs::*;
+use ros_env::example_interfaces::srv::*;
 
 fn main() -> Result<(), Error> {
     let mut executor = Context::default_from_env()?.create_basic_executor();
diff --git a/rclrs/minimal_client_service/src/minimal_client_async.rs b/rclrs/minimal_client_service/src/minimal_client_async.rs
index 7feb462..2f3d25e 100644
--- a/rclrs/minimal_client_service/src/minimal_client_async.rs
+++ b/rclrs/minimal_client_service/src/minimal_client_async.rs
@@ -1,6 +1,6 @@
 use anyhow::{Error, Result};
-use example_interfaces::srv::*;
 use rclrs::*;
+use ros_env::example_interfaces::srv::*;
 
 #[tokio::main]
 async fn main() -> Result<(), Error> {
diff --git a/rclrs/minimal_client_service/src/minimal_service.rs b/rclrs/minimal_client_service/src/minimal_service.rs
index 8142012..f6530d4 100644
--- a/rclrs/minimal_client_service/src/minimal_service.rs
+++ b/rclrs/minimal_client_service/src/minimal_service.rs
@@ -1,6 +1,6 @@
 use anyhow::{Error, Result};
-use example_interfaces::srv::*;
 use rclrs::*;
+use ros_env::example_interfaces::srv::*;
 
 fn handle_service(request: AddTwoInts_Request, info: ServiceInfo) -> AddTwoInts_Response {
     let timestamp = info
diff --git a/rclrs/minimal_pub_sub/Cargo.toml b/rclrs/minimal_pub_sub/Cargo.toml
index 5444cae..17a35fa 100644
--- a/rclrs/minimal_pub_sub/Cargo.toml
+++ b/rclrs/minimal_pub_sub/Cargo.toml
@@ -28,9 +28,7 @@ path = "src/zero_copy_publisher.rs"
 [dependencies]
 anyhow = {version = "1", features = ["backtrace"]}
 rclrs = "0.7"
-
-# This specific version is compatible with Rust 1.75
-backtrace = "=0.3.74"
+ros-env = "0.1"
 
 [package.metadata.ros]
 install_to_share = ["launch"]
diff --git a/rclrs/minimal_pub_sub/src/minimal_publisher.rs b/rclrs/minimal_pub_sub/src/minimal_publisher.rs
index 2eaf409..5a2bf93 100644
--- a/rclrs/minimal_pub_sub/src/minimal_publisher.rs
+++ b/rclrs/minimal_pub_sub/src/minimal_publisher.rs
@@ -1,5 +1,6 @@
 use anyhow::{Error, Result};
 use rclrs::*;
+use ros_env::*;
 
 fn main() -> Result<(), Error> {
     let context = Context::default_from_env()?;
diff --git a/rclrs/minimal_pub_sub/src/minimal_subscriber.rs b/rclrs/minimal_pub_sub/src/minimal_subscriber.rs
index 7750c60..3aa99bc 100644
--- a/rclrs/minimal_pub_sub/src/minimal_subscriber.rs
+++ b/rclrs/minimal_pub_sub/src/minimal_subscriber.rs
@@ -1,5 +1,6 @@
 use anyhow::{Error, Result};
 use rclrs::*;
+use ros_env::*;
 
 fn main() -> Result<(), Error> {
     let context = Context::default_from_env()?;
diff --git a/rclrs/minimal_pub_sub/src/minimal_two_nodes.rs b/rclrs/minimal_pub_sub/src/minimal_two_nodes.rs
index b349476..7ec2c45 100644
--- a/rclrs/minimal_pub_sub/src/minimal_two_nodes.rs
+++ b/rclrs/minimal_pub_sub/src/minimal_two_nodes.rs
@@ -1,4 +1,5 @@
 use rclrs::*;
+use ros_env::*;
 use std::sync::Arc;
 
 use anyhow::{Error, Result};
diff --git a/rclrs/minimal_pub_sub/src/zero_copy_publisher.rs b/rclrs/minimal_pub_sub/src/zero_copy_publisher.rs
index 68d3700..f5f7106 100644
--- a/rclrs/minimal_pub_sub/src/zero_copy_publisher.rs
+++ b/rclrs/minimal_pub_sub/src/zero_copy_publisher.rs
@@ -1,5 +1,6 @@
 use anyhow::{Error, Result};
 use rclrs::*;
+use ros_env::*;
 
 fn main() -> Result<(), Error> {
     let context = Context::default_from_env()?;
diff --git a/rclrs/minimal_pub_sub/src/zero_copy_subscriber.rs b/rclrs/minimal_pub_sub/src/zero_copy_subscriber.rs
index ce6c5a8..629573e 100644
--- a/rclrs/minimal_pub_sub/src/zero_copy_subscriber.rs
+++ b/rclrs/minimal_pub_sub/src/zero_copy_subscriber.rs
@@ -1,5 +1,6 @@
 use anyhow::{Error, Result};
 use rclrs::*;
+use ros_env::*;
 
 fn main() -> Result<(), Error> {
     let mut executor = Context::default_from_env()?.create_basic_executor();
diff --git a/rclrs/parameter_demo/Cargo.toml b/rclrs/parameter_demo/Cargo.toml
index e7aa57f..b69bd5b 100644
--- a/rclrs/parameter_demo/Cargo.toml
+++ b/rclrs/parameter_demo/Cargo.toml
@@ -5,3 +5,4 @@ edition = "2021"
 
 [dependencies]
 rclrs = "0.7"
+ros-env = "0.1"
diff --git a/rclrs/parameter_demo/src/main.rs b/rclrs/parameter_demo/src/main.rs
index 7b9daa6..1c40edf 100644
--- a/rclrs/parameter_demo/src/main.rs
+++ b/rclrs/parameter_demo/src/main.rs
@@ -1,4 +1,5 @@
 use rclrs::*;
+use ros_env::*;
 use std::sync::Arc;
 
 fn main() -> Result<(), RclrsError> {
diff --git a/rclrs/rust_pubsub/Cargo.toml b/rclrs/rust_pubsub/Cargo.toml
index 29c5e6a..437e022 100644
--- a/rclrs/rust_pubsub/Cargo.toml
+++ b/rclrs/rust_pubsub/Cargo.toml
@@ -12,4 +12,5 @@ name="simple_subscriber"
 path="src/simple_subscriber.rs"
 
 [dependencies]
-rclrs = "*"
+rclrs = "0.7.0"
+ros-env = "0.1"
diff --git a/rclrs/rust_pubsub/src/simple_publisher.rs b/rclrs/rust_pubsub/src/simple_publisher.rs
index ff211f0..068b501 100644
--- a/rclrs/rust_pubsub/src/simple_publisher.rs
+++ b/rclrs/rust_pubsub/src/simple_publisher.rs
@@ -1,6 +1,6 @@
 use rclrs::*;
+use ros_env::std_msgs::msg::String as StringMsg;
 use std::{thread, time::Duration};
-use std_msgs::msg::String as StringMsg;
 
 struct SimplePublisherNode {
     publisher: Publisher<StringMsg>,
diff --git a/rclrs/rust_pubsub/src/simple_subscriber.rs b/rclrs/rust_pubsub/src/simple_subscriber.rs
index 3ebbb4d..0d23082 100644
--- a/rclrs/rust_pubsub/src/simple_subscriber.rs
+++ b/rclrs/rust_pubsub/src/simple_subscriber.rs
@@ -1,6 +1,6 @@
 use rclrs::*;
+use ros_env::std_msgs::msg::String as StringMsg;
 use std::{thread, time::Duration};
-use std_msgs::msg::String as StringMsg;
 
 pub struct SimpleSubscriptionNode {
     #[allow(unused)]
diff --git a/rclrs/worker_demo/Cargo.toml b/rclrs/worker_demo/Cargo.toml
index 1811830..d3516b0 100644
--- a/rclrs/worker_demo/Cargo.toml
+++ b/rclrs/worker_demo/Cargo.toml
@@ -5,3 +5,4 @@ edition = "2021"
 
 [dependencies]
 rclrs = "0.7"
+ros-env = "0.1"
diff --git a/rclrs/worker_demo/src/main.rs b/rclrs/worker_demo/src/main.rs
index e931c14..40d85d6 100644
--- a/rclrs/worker_demo/src/main.rs
+++ b/rclrs/worker_demo/src/main.rs
@@ -1,4 +1,5 @@
 use rclrs::*;
+use ros_env::*;
 use std::time::Duration;
 
 fn main() -> Result<(), RclrsError> {
@@ -17,16 +18,12 @@ fn main() -> Result<(), RclrsError> {
 
     // Use this timer-based implementation when timers are available instead
     // of using std::thread::spawn.
-    let _timer = worker.create_timer_repeating(
-        Duration::from_secs(1),
-        move |data: &mut String| {
-            let msg = example_interfaces::msg::String {
-                data: data.clone()
-            };
+    let _timer =
+        worker.create_timer_repeating(Duration::from_secs(1), move |data: &mut String| {
+            let msg = example_interfaces::msg::String { data: data.clone() };
 
             publisher.publish(msg).ok();
-        }
-    )?;
+        })?;
 
     println!(
         "Beginning repeater... \n >> \