From f60bcd99267b45cc43c5723847043fee8623c469 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 2 Dec 2024 12:38:13 -0700
Subject: [PATCH 01/16] Working zenoh subscriber

---
 Cargo.lock                              | 1955 ++++++++++++++++++++++-
 Cargo.toml                              |    2 +-
 roslibrust_zenoh/Cargo.toml             |   17 +
 roslibrust_zenoh/README.md              |    7 +
 roslibrust_zenoh/examples/subscriber.rs |   35 +
 roslibrust_zenoh/src/lib.rs             |    4 +
 roslibrust_zenoh/src/zenoh_client.rs    |  129 ++
 7 files changed, 2073 insertions(+), 76 deletions(-)
 create mode 100644 roslibrust_zenoh/Cargo.toml
 create mode 100644 roslibrust_zenoh/README.md
 create mode 100644 roslibrust_zenoh/examples/subscriber.rs
 create mode 100644 roslibrust_zenoh/src/lib.rs
 create mode 100644 roslibrust_zenoh/src/zenoh_client.rs

diff --git a/Cargo.lock b/Cargo.lock
index 6d8217b3..4b7d1a73 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -26,6 +26,17 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
 
+[[package]]
+name = "aes"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0"
+dependencies = [
+ "cfg-if",
+ "cipher",
+ "cpufeatures",
+]
+
 [[package]]
 name = "ahash"
 version = "0.8.11"
@@ -48,6 +59,12 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "allocator-api2"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
+
 [[package]]
 name = "anes"
 version = "0.1.6"
@@ -105,9 +122,15 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.86"
+version = "1.0.93"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4c95c10ba0b00a02636238b814946408b1322d5ac4760326e6fb8ec956d85775"
+
+[[package]]
+name = "array-init"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3d1d046238990b9cf5bcde22a3fb3584ee5cf65fb2765f454ed428c7a0063da"
+checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc"
 
 [[package]]
 name = "arrayvec"
@@ -115,6 +138,56 @@ version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
 
+[[package]]
+name = "asn1-rs"
+version = "0.6.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5493c3bedbacf7fd7382c6346bbd66687d12bbaad3a89a2d2c303ee6cf20b048"
+dependencies = [
+ "asn1-rs-derive",
+ "asn1-rs-impl",
+ "displaydoc",
+ "nom",
+ "num-traits",
+ "rusticata-macros",
+ "thiserror 1.0.63",
+ "time",
+]
+
+[[package]]
+name = "asn1-rs-derive"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "965c2d33e53cb6b267e148a4cb0760bc01f4904c1cd4bb4002a085bb016d1490"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+ "synstructure",
+]
+
+[[package]]
+name = "asn1-rs-impl"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7b18050c2cd6fe86c3a76584ef5e0baf286d038cda203eb6223df2cc413565f7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
+[[package]]
+name = "async-trait"
+version = "0.1.83"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "721cae7de5c34fbb2acd27e21e6d2cf7b886dce0c27388d46c4e6c47ea4318dd"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
 [[package]]
 name = "atty"
 version = "0.2.14"
@@ -165,6 +238,12 @@ version = "0.22.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
+[[package]]
+name = "base64ct"
+version = "1.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8c3c1a368f70d6cf7302d78f8f7093da241fb8e8807c05cc9e51a125895a6d5b"
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
@@ -176,6 +255,9 @@ name = "bitflags"
 version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
+dependencies = [
+ "serde",
+]
 
 [[package]]
 name = "block-buffer"
@@ -210,6 +292,12 @@ version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8318a53db07bb3f8dca91a600466bdb3f2eaadeedfdbcf02e1accbad9271ba50"
 
+[[package]]
+name = "cache-padded"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "981520c98f422fcc584dc1a95c334e6953900b9106bc47a9839b81790009eb21"
+
 [[package]]
 name = "cargo-emit"
 version = "0.2.1"
@@ -228,12 +316,24 @@ version = "1.1.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "26a5c3fd7bfa1ce3897a3a3501d362b2d87b7f2583ebcb4a949ec25911025cbc"
 
+[[package]]
+name = "cesu8"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6d43a04d8753f35258c91f8ec639f792891f748a1edbd759cf1dcea3382ad83c"
+
 [[package]]
 name = "cfg-if"
 version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
+name = "cfg_aliases"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
+
 [[package]]
 name = "ciborium"
 version = "0.2.2"
@@ -261,6 +361,16 @@ dependencies = [
  "half",
 ]
 
+[[package]]
+name = "cipher"
+version = "0.4.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "773f3b9af64447d2ce9850330c473515014aa235e6a783b02db81ff39e4a3dad"
+dependencies = [
+ "crypto-common",
+ "inout",
+]
+
 [[package]]
 name = "clap"
 version = "3.2.25"
@@ -304,7 +414,7 @@ dependencies = [
  "heck",
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
 ]
 
 [[package]]
@@ -338,20 +448,45 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "combine"
+version = "4.6.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba5a308b75df32fe02788e748662718f03fde005016435c444eea572398219fd"
+dependencies = [
+ "bytes",
+ "memchr",
+]
+
+[[package]]
+name = "concurrent-queue"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ca0197aee26d1ae37445ee532fefce43251d24cc7c166799f4d46817f1d3973"
+dependencies = [
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "const-oid"
+version = "0.9.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2459377285ad874054d797f3ccebf984978aa39129f6eafde5cdc8315b612f8"
+
 [[package]]
 name = "const_format"
-version = "0.2.32"
+version = "0.2.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3a214c7af3d04997541b18d432afaff4c455e79e2029079647e72fc2bd27673"
+checksum = "50c655d81ff1114fb0dcdea9225ea9f0cc712a6f8d189378e82bdf62a473a64b"
 dependencies = [
  "const_format_proc_macros",
 ]
 
 [[package]]
 name = "const_format_proc_macros"
-version = "0.2.32"
+version = "0.2.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c7f6ff08fd20f4f299298a28e2dfa8a8ba1036e6cd2460ac1de7b425d76f2500"
+checksum = "eff1a44b93f47b1bac19a27932f5c591e43d1ba357ee4f61526c8a25603f0eb1"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -493,6 +628,12 @@ dependencies = [
  "parking_lot_core",
 ]
 
+[[package]]
+name = "data-encoding"
+version = "2.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e8566979429cf69b49a5c740c60791108e86440e8be149bbea4fe54d2c32d6e2"
+
 [[package]]
 name = "deadqueue"
 version = "0.2.4"
@@ -512,6 +653,31 @@ dependencies = [
  "uuid",
 ]
 
+[[package]]
+name = "der"
+version = "0.7.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f55bf8e7b65898637379c1b74eb1551107c8294ed26d855ceb9fd1a09cfc9bc0"
+dependencies = [
+ "const-oid",
+ "pem-rfc7468",
+ "zeroize",
+]
+
+[[package]]
+name = "der-parser"
+version = "9.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5cd0a5c643689626bec213c4d8bd4d96acc8ffdb4ad4bb6bc16abf27d5f4b553"
+dependencies = [
+ "asn1-rs",
+ "displaydoc",
+ "nom",
+ "num-bigint",
+ "num-traits",
+ "rusticata-macros",
+]
+
 [[package]]
 name = "deranged"
 version = "0.3.11"
@@ -537,9 +703,49 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9ed9a281f7bc9b7576e61468ba615a66a5c8cfdff42420a70aa82701a3b1e292"
 dependencies = [
  "block-buffer",
+ "const-oid",
  "crypto-common",
+ "subtle",
+]
+
+[[package]]
+name = "dirs"
+version = "5.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "44c45a9d03d6676652bcb5e724c7e988de1acad23a711b5217ab9cbecbec2225"
+dependencies = [
+ "dirs-sys",
+]
+
+[[package]]
+name = "dirs-sys"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "520f05a5cbd335fae5a99ff7a6ab8627577660ee5cfd6a94a6a929b52ff0321c"
+dependencies = [
+ "libc",
+ "option-ext",
+ "redox_users",
+ "windows-sys 0.48.0",
+]
+
+[[package]]
+name = "displaydoc"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
 ]
 
+[[package]]
+name = "dyn-clone"
+version = "1.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0d6ef0072f8a535281e4876be788938b528e9a1d43900b82c2569af7da799125"
+
 [[package]]
 name = "either"
 version = "1.13.0"
@@ -617,6 +823,17 @@ dependencies = [
  "version_check",
 ]
 
+[[package]]
+name = "event-listener"
+version = "5.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6032be9bd27023a771701cc49f9f053c751055f71efb2e0ae5c15809093675ba"
+dependencies = [
+ "concurrent-queue",
+ "parking",
+ "pin-project-lite",
+]
+
 [[package]]
 name = "example_package"
 version = "0.1.0"
@@ -651,6 +868,24 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "fixedbitset"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ce7134b9999ecaf8bcd65542e436736ef32ddca1b3e06094cb6ec5755203b80"
+
+[[package]]
+name = "flume"
+version = "0.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da0e4dd2a88388a1f4ccc7c9ce104604dab68d9f408dc34cd45823d5a9069095"
+dependencies = [
+ "futures-core",
+ "futures-sink",
+ "nanorand",
+ "spin",
+]
+
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -737,7 +972,7 @@ checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
 ]
 
 [[package]]
@@ -797,8 +1032,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c4567c8db10ae91089c99af84c68c38da3ec2f087c3f82960bcdbf3656b6f4d7"
 dependencies = [
  "cfg-if",
+ "js-sys",
  "libc",
  "wasi",
+ "wasm-bindgen",
 ]
 
 [[package]]
@@ -807,6 +1044,26 @@ version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "40ecd4077b5ae9fd2e9e169b102c6c330d0605168eb0e8bf79952b256dbefffd"
 
+[[package]]
+name = "git-version"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ad568aa3db0fcbc81f2f116137f263d7304f512a1209b35b85150d3ef88ad19"
+dependencies = [
+ "git-version-macro",
+]
+
+[[package]]
+name = "git-version-macro"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "53010ccb100b96a67bc32c0175f0ed1426b31b655d562898e57325f81c023ac0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
 [[package]]
 name = "h2"
 version = "0.3.26"
@@ -818,7 +1075,7 @@ dependencies = [
  "futures-core",
  "futures-sink",
  "futures-util",
- "http",
+ "http 0.2.12",
  "indexmap 2.3.0",
  "slab",
  "tokio",
@@ -847,6 +1104,10 @@ name = "hashbrown"
 version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
+dependencies = [
+ "ahash",
+ "allocator-api2",
+]
 
 [[package]]
 name = "heck"
@@ -869,6 +1130,30 @@ version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
 
+[[package]]
+name = "hex"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f24254aa9a54b5c858eaee2f5bccdb46aaf0e486a595ed5fd8f86ba55232a70"
+
+[[package]]
+name = "hmac"
+version = "0.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c49c37c09c17a53d937dfbb742eb3a961d65a994e6bcdcf37e7399d0cc8ab5e"
+dependencies = [
+ "digest",
+]
+
+[[package]]
+name = "home"
+version = "0.5.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3d1354bf6b7235cb4a0576c2619fd4ed18183f689b12b006a0ee7329eeff9a5"
+dependencies = [
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "http"
 version = "0.2.12"
@@ -880,6 +1165,17 @@ dependencies = [
  "itoa",
 ]
 
+[[package]]
+name = "http"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "21b9ddb458710bc376481b842f5da65cdf31522de232c1ca8146abce2a358258"
+dependencies = [
+ "bytes",
+ "fnv",
+ "itoa",
+]
+
 [[package]]
 name = "http-body"
 version = "0.4.6"
@@ -887,7 +1183,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7ceab25649e9960c0311ea418d17bee82c0dcec1bd053b5f9a66e265a693bed2"
 dependencies = [
  "bytes",
- "http",
+ "http 0.2.12",
  "pin-project-lite",
 ]
 
@@ -920,7 +1216,7 @@ dependencies = [
  "futures-core",
  "futures-util",
  "h2",
- "http",
+ "http 0.2.12",
  "http-body",
  "httparse",
  "httpdate",
@@ -994,12 +1290,30 @@ dependencies = [
  "str_stack",
 ]
 
+[[package]]
+name = "inout"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a0c10553d664a4d0bcff9f4215d0aac67a639cc68ef660840afe309b807bc9f5"
+dependencies = [
+ "generic-array",
+]
+
 [[package]]
 name = "ipnet"
 version = "2.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f518f335dce6725a761382244631d86cf0ccb2863413590b31338feb467f9c3"
 
+[[package]]
+name = "ipnetwork"
+version = "0.20.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bf466541e9d546596ee94f9f69590f89473455f88372423e0008fc1a7daf100e"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "is-terminal"
 version = "0.4.12"
@@ -1044,12 +1358,41 @@ dependencies = [
  "either",
 ]
 
+[[package]]
+name = "itertools"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "413ee7dfc52ee1a4949ceeb7dbc8a33f2d6c088194d9f922fb8318faf1f01186"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "itoa"
 version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
 
+[[package]]
+name = "jni"
+version = "0.19.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c6df18c2e3db7e453d3c6ac5b3e9d5182664d28788126d39b91f2d1e22b017ec"
+dependencies = [
+ "cesu8",
+ "combine",
+ "jni-sys",
+ "log",
+ "thiserror 1.0.63",
+ "walkdir",
+]
+
+[[package]]
+name = "jni-sys"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8eaf4bc02d17cbdd7ff4c7438cafcdf7fb9a4613313ad11b4f8fefe7d3fa0130"
+
 [[package]]
 name = "js-sys"
 version = "0.3.69"
@@ -1060,50 +1403,117 @@ dependencies = [
 ]
 
 [[package]]
-name = "lazy_static"
-version = "1.5.0"
+name = "json5"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
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+ "pest",
+ "pest_derive",
+ "serde",
+]
 
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+dependencies = [
+ "cpufeatures",
+]
 
 [[package]]
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+checksum = "0a3ec39d2dc17953a1540d63906a112088f79b2e46833b4ed65bc9de3904ae34"
+dependencies = [
+ "hashbrown 0.14.5",
+]
 
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+checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 dependencies = [
- "autocfg",
- "scopeguard",
+ "spin",
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 [[package]]
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+name = "libc"
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 [[package]]
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-checksum = "8263075bb86c5a1b1427b5ae862e8889656f126e9f77c484496e8b47cf5c5558"
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 dependencies = [
- "regex-automata 0.1.10",
+ "cfg-if",
+ "windows-targets 0.52.6",
 ]
 
 [[package]]
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+checksum = "8355be11b20d696c8f18f6cc018c4e372165b1fa8126cef092399c9951984ffa"
+
+[[package]]
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+checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d"
+dependencies = [
+ "bitflags 2.6.0",
+ "libc",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89"
+
+[[package]]
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+checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
+dependencies = [
+ "autocfg",
+ "scopeguard",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
+
+[[package]]
+name = "lz4_flex"
+version = "0.11.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75761162ae2b0e580d7e7c390558127e5f01b4194debd6221fd8c207fc80e3f5"
+dependencies = [
+ "twox-hash",
+]
+
+[[package]]
+name = "matchers"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8263075bb86c5a1b1427b5ae862e8889656f126e9f77c484496e8b47cf5c5558"
+dependencies = [
+ "regex-automata 0.1.10",
+]
+
+[[package]]
+name = "md5"
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 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "490cc448043f947bae3cbee9c203358d62dbee0db12107a74be5c30ccfd09771"
@@ -1165,6 +1575,15 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
+[[package]]
+name = "nanorand"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a51313c5820b0b02bd422f4b44776fbf47961755c74ce64afc73bfad10226c3"
+dependencies = [
+ "getrandom",
+]
+
 [[package]]
 name = "native-tls"
 version = "0.2.12"
@@ -1193,6 +1612,24 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "nix"
+version = "0.29.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
+dependencies = [
+ "bitflags 2.6.0",
+ "cfg-if",
+ "cfg_aliases",
+ "libc",
+]
+
+[[package]]
+name = "no-std-net"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "43794a0ace135be66a25d3ae77d41b91615fb68ae937f904090203e81f755b65"
+
 [[package]]
 name = "nom"
 version = "7.1.3"
@@ -1213,6 +1650,33 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "num-bigint"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
+[[package]]
+name = "num-bigint-dig"
+version = "0.8.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc84195820f291c7697304f3cbdadd1cb7199c0efc917ff5eafd71225c136151"
+dependencies = [
+ "byteorder",
+ "lazy_static",
+ "libm",
+ "num-integer",
+ "num-iter",
+ "num-traits",
+ "rand",
+ "smallvec",
+ "zeroize",
+]
+
 [[package]]
 name = "num-conv"
 version = "0.1.0"
@@ -1229,6 +1693,26 @@ dependencies = [
  "itoa",
 ]
 
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-iter"
+version = "0.1.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1429034a0490724d0075ebb2bc9e875d6503c3cf69e235a8941aa757d83ef5bf"
+dependencies = [
+ "autocfg",
+ "num-integer",
+ "num-traits",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -1236,6 +1720,17 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
+ "libm",
+]
+
+[[package]]
+name = "num_cpus"
+version = "1.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4161fcb6d602d4d2081af7c3a45852d875a03dd337a6bfdd6e06407b61342a43"
+dependencies = [
+ "hermit-abi 0.3.9",
+ "libc",
 ]
 
 [[package]]
@@ -1256,6 +1751,15 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "oid-registry"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8d8034d9489cdaf79228eb9f6a3b8d7bb32ba00d6645ebd48eef4077ceb5bd9"
+dependencies = [
+ "asn1-rs",
+]
+
 [[package]]
 name = "once_cell"
 version = "1.19.0"
@@ -1291,7 +1795,7 @@ checksum = "a948666b637a0f465e8564c73e89d4dde00d72d4d473cc972f390fc3dcee7d9c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
 ]
 
 [[package]]
@@ -1312,6 +1816,12 @@ dependencies = [
  "vcpkg",
 ]
 
+[[package]]
+name = "option-ext"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "04744f49eae99ab78e0d5c0b603ab218f515ea8cfe5a456d7629ad883a3b6e7d"
+
 [[package]]
 name = "os_str_bytes"
 version = "6.6.1"
@@ -1324,6 +1834,12 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
 
+[[package]]
+name = "parking"
+version = "2.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f38d5652c16fde515bb1ecef450ab0f6a219d619a7274976324d5e377f7dceba"
+
 [[package]]
 name = "parking_lot"
 version = "0.12.3"
@@ -1347,12 +1863,124 @@ dependencies = [
  "windows-targets 0.52.6",
 ]
 
+[[package]]
+name = "paste"
+version = "1.0.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "88b39c9bfcfc231068454382784bb460aae594343fb030d46e9f50a645418412"
+dependencies = [
+ "base64ct",
+]
+
 [[package]]
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 checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
+[[package]]
+name = "pest"
+version = "2.7.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "879952a81a83930934cbf1786752d6dedc3b1f29e8f8fb2ad1d0a36f377cf442"
+dependencies = [
+ "memchr",
+ "thiserror 1.0.63",
+ "ucd-trie",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d214365f632b123a47fd913301e14c946c61d1c183ee245fa76eb752e59a02dd"
+dependencies = [
+ "pest",
+ "pest_generator",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eb55586734301717aea2ac313f50b2eb8f60d2fc3dc01d190eefa2e625f60c4e"
+dependencies = [
+ "pest",
+ "pest_meta",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
+[[package]]
+name = "pest_meta"
+version = "2.7.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b75da2a70cf4d9cb76833c990ac9cd3923c9a8905a8929789ce347c84564d03d"
+dependencies = [
+ "once_cell",
+ "pest",
+ "sha2",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4c5cc86750666a3ed20bdaf5ca2a0344f9c67674cae0515bec2da16fbaa47db"
+dependencies = [
+ "fixedbitset",
+ "indexmap 2.3.0",
+]
+
+[[package]]
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+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ade2d8b8f33c7333b51bcf0428d37e217e9f32192ae4772156f65063b8ce03dc"
+dependencies = [
+ "phf_macros",
+ "phf_shared",
+]
+
+[[package]]
+name = "phf_generator"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "48e4cc64c2ad9ebe670cb8fd69dd50ae301650392e81c05f9bfcb2d5bdbc24b0"
+dependencies = [
+ "phf_shared",
+ "rand",
+]
+
+[[package]]
+name = "phf_macros"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3444646e286606587e49f3bcf1679b8cef1dc2c5ecc29ddacaffc305180d464b"
+dependencies = [
+ "phf_generator",
+ "phf_shared",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
+[[package]]
+name = "phf_shared"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "90fcb95eef784c2ac79119d1dd819e162b5da872ce6f3c3abe1e8ca1c082f72b"
+dependencies = [
+ "siphasher",
+]
+
 [[package]]
 name = "pin-project-lite"
 version = "0.2.14"
@@ -1365,6 +1993,27 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
+[[package]]
+name = "pkcs1"
+version = "0.7.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8ffb9f10fa047879315e6625af03c164b16962a5368d724ed16323b68ace47f"
+dependencies = [
+ "der",
+ "pkcs8",
+ "spki",
+]
+
+[[package]]
+name = "pkcs8"
+version = "0.10.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f950b2377845cebe5cf8b5165cb3cc1a5e0fa5cfa3e1f7f55707d8fd82e0a7b7"
+dependencies = [
+ "der",
+ "spki",
+]
+
 [[package]]
 name = "pkg-config"
 version = "0.3.30"
@@ -1399,6 +2048,38 @@ dependencies = [
  "plotters-backend",
 ]
 
+[[package]]
+name = "pnet_base"
+version = "0.35.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ffc190d4067df16af3aba49b3b74c469e611cad6314676eaf1157f31aa0fb2f7"
+dependencies = [
+ "no-std-net",
+]
+
+[[package]]
+name = "pnet_datalink"
+version = "0.35.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e79e70ec0be163102a332e1d2d5586d362ad76b01cec86f830241f2b6452a7b7"
+dependencies = [
+ "ipnetwork",
+ "libc",
+ "pnet_base",
+ "pnet_sys",
+ "winapi",
+]
+
+[[package]]
+name = "pnet_sys"
+version = "0.35.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7d4643d3d4db6b08741050c2f3afa9a892c4244c085a72fcda93c9c2c9a00f4b"
+dependencies = [
+ "libc",
+ "winapi",
+]
+
 [[package]]
 name = "powerfmt"
 version = "0.2.0"
@@ -1418,13 +2099,13 @@ dependencies = [
  "inferno",
  "libc",
  "log",
- "nix",
+ "nix 0.26.4",
  "once_cell",
  "parking_lot",
  "smallvec",
  "symbolic-demangle",
  "tempfile",
- "thiserror",
+ "thiserror 1.0.63",
 ]
 
 [[package]]
@@ -1438,9 +2119,9 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.86"
+version = "1.0.92"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e719e8df665df0d1c8fbfd238015744736151d4445ec0836b8e628aae103b77"
+checksum = "37d3544b3f2748c54e147655edb5025752e2303145b5aefb3c3ea2c78b973bb0"
 dependencies = [
  "unicode-ident",
 ]
@@ -1463,11 +2144,64 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "quinn"
+version = "0.11.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "62e96808277ec6f97351a2380e6c25114bc9e67037775464979f3037c92d05ef"
+dependencies = [
+ "bytes",
+ "pin-project-lite",
+ "quinn-proto",
+ "quinn-udp",
+ "rustc-hash",
+ "rustls",
+ "socket2",
+ "thiserror 2.0.3",
+ "tokio",
+ "tracing",
+]
+
+[[package]]
+name = "quinn-proto"
+version = "0.11.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a2fe5ef3495d7d2e377ff17b1a8ce2ee2ec2a18cde8b6ad6619d65d0701c135d"
+dependencies = [
+ "bytes",
+ "getrandom",
+ "rand",
+ "ring",
+ "rustc-hash",
+ "rustls",
+ "rustls-pki-types",
+ "rustls-platform-verifier",
+ "slab",
+ "thiserror 2.0.3",
+ "tinyvec",
+ "tracing",
+ "web-time",
+]
+
+[[package]]
+name = "quinn-udp"
+version = "0.5.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7d5a626c6807713b15cac82a6acaccd6043c9a5408c24baae07611fec3f243da"
+dependencies = [
+ "cfg_aliases",
+ "libc",
+ "once_cell",
+ "socket2",
+ "tracing",
+ "windows-sys 0.59.0",
+]
+
 [[package]]
 name = "quote"
-version = "1.0.36"
+version = "1.0.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
+checksum = "b5b9d34b8991d19d98081b46eacdd8eb58c6f2b201139f7c5f643cc155a633af"
 dependencies = [
  "proc-macro2",
 ]
@@ -1531,6 +2265,17 @@ dependencies = [
  "bitflags 2.6.0",
 ]
 
+[[package]]
+name = "redox_users"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba009ff324d1fc1b900bd1fdb31564febe58a8ccc8a6fdbb93b543d33b13ca43"
+dependencies = [
+ "getrandom",
+ "libredox",
+ "thiserror 1.0.63",
+]
+
 [[package]]
 name = "regex"
 version = "1.10.6"
@@ -1587,7 +2332,7 @@ dependencies = [
  "futures-core",
  "futures-util",
  "h2",
- "http",
+ "http 0.2.12",
  "http-body",
  "hyper",
  "hyper-tls",
@@ -1599,7 +2344,7 @@ dependencies = [
  "once_cell",
  "percent-encoding",
  "pin-project-lite",
- "rustls-pemfile",
+ "rustls-pemfile 1.0.4",
  "serde",
  "serde_json",
  "serde_urlencoded",
@@ -1625,12 +2370,49 @@ dependencies = [
 ]
 
 [[package]]
-name = "roslibrust"
-version = "0.11.1"
+name = "ring"
+version = "0.17.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c17fa4cb658e3583423e915b9f3acc01cceaee1860e33d59ebae66adc3a2dc0d"
 dependencies = [
- "abort-on-drop",
- "anyhow",
- "byteorder",
+ "cc",
+ "cfg-if",
+ "getrandom",
+ "libc",
+ "spin",
+ "untrusted",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "ringbuffer-spsc"
+version = "0.1.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2fd1938faa63a2362ee1747afb2d10567d0fb1413b9cbd6198a8541485c4f773"
+dependencies = [
+ "array-init",
+ "cache-padded",
+]
+
+[[package]]
+name = "ron"
+version = "0.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b91f7eff05f748767f183df4320a63d6936e9c6107d97c9e6bdd9784f4289c94"
+dependencies = [
+ "base64 0.21.7",
+ "bitflags 2.6.0",
+ "serde",
+ "serde_derive",
+]
+
+[[package]]
+name = "roslibrust"
+version = "0.11.1"
+dependencies = [
+ "abort-on-drop",
+ "anyhow",
+ "byteorder",
  "dashmap",
  "deadqueue",
  "env_logger 0.10.2",
@@ -1654,9 +2436,9 @@ dependencies = [
  "simple_logger",
  "smart-default 0.6.0",
  "test-log",
- "thiserror",
+ "thiserror 1.0.63",
  "tokio",
- "tokio-tungstenite",
+ "tokio-tungstenite 0.17.2",
  "uuid",
 ]
 
@@ -1736,12 +2518,70 @@ dependencies = [
  "tokio",
 ]
 
+[[package]]
+name = "roslibrust_zenoh"
+version = "0.1.0"
+dependencies = [
+ "anyhow",
+ "hex",
+ "roslibrust",
+ "roslibrust_codegen",
+ "roslibrust_codegen_macro",
+ "roslibrust_serde_rosmsg",
+ "tokio",
+ "zenoh",
+]
+
+[[package]]
+name = "rsa"
+version = "0.9.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47c75d7c5c6b673e58bf54d8544a9f432e3a925b0e80f7cd3602ab5c50c55519"
+dependencies = [
+ "const-oid",
+ "digest",
+ "num-bigint-dig",
+ "num-integer",
+ "num-traits",
+ "pkcs1",
+ "pkcs8",
+ "rand_core",
+ "signature",
+ "spki",
+ "subtle",
+ "zeroize",
+]
+
 [[package]]
 name = "rustc-demangle"
 version = "0.1.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
 
+[[package]]
+name = "rustc-hash"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7fb8039b3032c191086b10f11f319a6e99e1e82889c5cc6046f515c9db1d497"
+
+[[package]]
+name = "rustc_version"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
+dependencies = [
+ "semver",
+]
+
+[[package]]
+name = "rusticata-macros"
+version = "4.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "faf0c4a6ece9950b9abdb62b1cfcf2a68b3b67a10ba445b3bb85be2a293d0632"
+dependencies = [
+ "nom",
+]
+
 [[package]]
 name = "rustix"
 version = "0.38.34"
@@ -1755,6 +2595,34 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
+[[package]]
+name = "rustls"
+version = "0.23.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "934b404430bb06b3fae2cba809eb45a1ab1aecd64491213d7c3301b88393f8d1"
+dependencies = [
+ "log",
+ "once_cell",
+ "ring",
+ "rustls-pki-types",
+ "rustls-webpki",
+ "subtle",
+ "zeroize",
+]
+
+[[package]]
+name = "rustls-native-certs"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5bfb394eeed242e909609f56089eecfe5fda225042e8b171791b9c95f5931e5"
+dependencies = [
+ "openssl-probe",
+ "rustls-pemfile 2.2.0",
+ "rustls-pki-types",
+ "schannel",
+ "security-framework",
+]
+
 [[package]]
 name = "rustls-pemfile"
 version = "1.0.4"
@@ -1764,6 +2632,62 @@ dependencies = [
  "base64 0.21.7",
 ]
 
+[[package]]
+name = "rustls-pemfile"
+version = "2.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dce314e5fee3f39953d46bb63bb8a46d40c2f8fb7cc5a3b6cab2bde9721d6e50"
+dependencies = [
+ "rustls-pki-types",
+]
+
+[[package]]
+name = "rustls-pki-types"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "16f1201b3c9a7ee8039bcadc17b7e605e2945b27eee7631788c1bd2b0643674b"
+dependencies = [
+ "web-time",
+]
+
+[[package]]
+name = "rustls-platform-verifier"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a4c7dc240fec5517e6c4eab3310438636cfe6391dfc345ba013109909a90d136"
+dependencies = [
+ "core-foundation",
+ "core-foundation-sys",
+ "jni",
+ "log",
+ "once_cell",
+ "rustls",
+ "rustls-native-certs",
+ "rustls-platform-verifier-android",
+ "rustls-webpki",
+ "security-framework",
+ "security-framework-sys",
+ "webpki-root-certs",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "rustls-platform-verifier-android"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f87165f0995f63a9fbeea62b64d10b4d9d8e78ec6d7d51fb2125fda7bb36788f"
+
+[[package]]
+name = "rustls-webpki"
+version = "0.102.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "64ca1bc8749bd4cf37b5ce386cc146580777b4e8572c7b97baf22c83f444bee9"
+dependencies = [
+ "ring",
+ "rustls-pki-types",
+ "untrusted",
+]
+
 [[package]]
 name = "ryu"
 version = "1.0.18"
@@ -1788,12 +2712,47 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
+[[package]]
+name = "schemars"
+version = "0.8.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09c024468a378b7e36765cd36702b7a90cc3cba11654f6685c8f233408e89e92"
+dependencies = [
+ "dyn-clone",
+ "either",
+ "schemars_derive",
+ "serde",
+ "serde_json",
+]
+
+[[package]]
+name = "schemars_derive"
+version = "0.8.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b1eee588578aff73f856ab961cd2f79e36bc45d7ded33a7562adba4667aecc0e"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "serde_derive_internals",
+ "syn 2.0.90",
+]
+
 [[package]]
 name = "scopeguard"
 version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
+[[package]]
+name = "secrecy"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9bd1c54ea06cfd2f6b63219704de0b9b4f72dcc2b8fdef820be6cd799780e91e"
+dependencies = [
+ "serde",
+ "zeroize",
+]
+
 [[package]]
 name = "security-framework"
 version = "2.11.1"
@@ -1804,6 +2763,7 @@ dependencies = [
  "core-foundation",
  "core-foundation-sys",
  "libc",
+ "num-bigint",
  "security-framework-sys",
 ]
 
@@ -1817,11 +2777,17 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+
 [[package]]
 name = "serde"
-version = "1.0.204"
+version = "1.0.215"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc76f558e0cbb2a839d37354c575f1dc3fdc6546b5be373ba43d95f231bf7c12"
+checksum = "6513c1ad0b11a9376da888e3e0baa0077f1aed55c17f50e7b2397136129fb88f"
 dependencies = [
  "serde_derive",
 ]
@@ -1855,20 +2821,31 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.204"
+version = "1.0.215"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ad1e866f866923f252f05c889987993144fb74e722403468a4ebd70c3cd756c0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
+[[package]]
+name = "serde_derive_internals"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e0cd7e117be63d3c3678776753929474f3b04a43a080c744d6b0ae2a8c28e222"
+checksum = "18d26a20a969b9e3fdf2fc2d9f21eda6c40e2de84c9408bb5d3b05d499aae711"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.122"
+version = "1.0.133"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "784b6203951c57ff748476b126ccb5e8e2959a5c19e5c617ab1956be3dbc68da"
+checksum = "c7fceb2473b9166b2294ef05efcb65a3db80803f0b03ef86a5fc88a2b85ee377"
 dependencies = [
  "itoa",
  "memchr",
@@ -1900,7 +2877,20 @@ dependencies = [
  "quick-xml 0.31.0",
  "serde",
  "serde-transcode",
- "thiserror",
+ "thiserror 1.0.63",
+]
+
+[[package]]
+name = "serde_yaml"
+version = "0.9.34+deprecated"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a8b1a1a2ebf674015cc02edccce75287f1a0130d394307b36743c2f5d504b47"
+dependencies = [
+ "indexmap 2.3.0",
+ "itoa",
+ "ryu",
+ "serde",
+ "unsafe-libyaml",
 ]
 
 [[package]]
@@ -1914,6 +2904,38 @@ dependencies = [
  "digest",
 ]
 
+[[package]]
+name = "sha1"
+version = "0.10.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3bf829a2d51ab4a5ddf1352d8470c140cadc8301b2ae1789db023f01cedd6ba"
+dependencies = [
+ "cfg-if",
+ "cpufeatures",
+ "digest",
+]
+
+[[package]]
+name = "sha2"
+version = "0.10.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "793db75ad2bcafc3ffa7c68b215fee268f537982cd901d132f89c6343f3a3dc8"
+dependencies = [
+ "cfg-if",
+ "cpufeatures",
+ "digest",
+]
+
+[[package]]
+name = "sha3"
+version = "0.10.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75872d278a8f37ef87fa0ddbda7802605cb18344497949862c0d4dcb291eba60"
+dependencies = [
+ "digest",
+ "keccak",
+]
+
 [[package]]
 name = "sharded-slab"
 version = "0.1.7"
@@ -1923,6 +2945,15 @@ dependencies = [
  "lazy_static",
 ]
 
+[[package]]
+name = "shellexpand"
+version = "3.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da03fa3b94cc19e3ebfc88c4229c49d8f08cdbd1228870a45f0ffdf84988e14b"
+dependencies = [
+ "dirs",
+]
+
 [[package]]
 name = "signal-hook-registry"
 version = "1.4.2"
@@ -1932,6 +2963,16 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "signature"
+version = "2.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77549399552de45a898a580c1b41d445bf730df867cc44e6c0233bbc4b8329de"
+dependencies = [
+ "digest",
+ "rand_core",
+]
+
 [[package]]
 name = "simple-error"
 version = "0.3.1"
@@ -1950,6 +2991,12 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "siphasher"
+version = "0.3.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38b58827f4464d87d377d175e90bf58eb00fd8716ff0a62f80356b5e61555d0d"
+
 [[package]]
 name = "slab"
 version = "0.4.9"
@@ -1984,7 +3031,7 @@ checksum = "0eb01866308440fc64d6c44d9e86c5cc17adfe33c4d6eed55da9145044d0ffc1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
 ]
 
 [[package]]
@@ -1997,12 +3044,37 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+dependencies = [
+ "lock_api",
+]
+
+[[package]]
+name = "spki"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d91ed6c858b01f942cd56b37a94b3e0a1798290327d1236e4d9cf4eaca44d29d"
+dependencies = [
+ "base64ct",
+ "der",
+]
+
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
 
+[[package]]
+name = "static_assertions"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
+
 [[package]]
 name = "str_stack"
 version = "0.1.0"
@@ -2015,6 +3087,12 @@ version = "0.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
 
+[[package]]
+name = "subtle"
+version = "2.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "13c2bddecc57b384dee18652358fb23172facb8a2c51ccc10d74c157bdea3292"
+
 [[package]]
 name = "symbolic-common"
 version = "10.2.1"
@@ -2051,9 +3129,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.72"
+version = "2.0.90"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dc4b9b9bf2add8093d3f2c0204471e951b2285580335de42f9d2534f3ae7a8af"
+checksum = "919d3b74a5dd0ccd15aeb8f93e7006bd9e14c295087c9896a110f490752bcf31"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2066,6 +3144,17 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2047c6ded9c721764247e62cd3b03c09ffc529b2ba5b10ec482ae507a4a70160"
 
+[[package]]
+name = "synstructure"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c8af7666ab7b6390ab78131fb5b0fce11d6b7a6951602017c35fa82800708971"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
 [[package]]
 name = "system-configuration"
 version = "0.5.1"
@@ -2128,7 +3217,7 @@ checksum = "5999e24eaa32083191ba4e425deb75cdf25efefabe5aaccb7446dd0d4122a3f5"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
 ]
 
 [[package]]
@@ -2143,7 +3232,16 @@ version = "1.0.63"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c0342370b38b6a11b6cc11d6a805569958d54cfa061a29969c3b5ce2ea405724"
 dependencies = [
- "thiserror-impl",
+ "thiserror-impl 1.0.63",
+]
+
+[[package]]
+name = "thiserror"
+version = "2.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c006c85c7651b3cf2ada4584faa36773bd07bac24acfb39f3c431b36d7e667aa"
+dependencies = [
+ "thiserror-impl 2.0.3",
 ]
 
 [[package]]
@@ -2154,7 +3252,18 @@ checksum = "a4558b58466b9ad7ca0f102865eccc95938dca1a74a856f2b57b6629050da261"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "2.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f077553d607adc1caf65430528a576c757a71ed73944b66ebb58ef2bbd243568"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
 ]
 
 [[package]]
@@ -2225,11 +3334,33 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
+[[package]]
+name = "tls-listener"
+version = "0.10.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0f1d8809f604e448c7bc53a5a0e4c2a0a20ba44cb1fb407314c8eeccb92127f9"
+dependencies = [
+ "futures-util",
+ "pin-project-lite",
+ "thiserror 1.0.63",
+ "tokio",
+ "tokio-rustls",
+]
+
+[[package]]
+name = "token-cell"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f4a2b964fdb303b08a4eab04d7c1bad2bca33f8eee334ccd28802f1041c6eb87"
+dependencies = [
+ "paste",
+]
+
 [[package]]
 name = "tokio"
-version = "1.39.2"
+version = "1.41.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "daa4fb1bc778bd6f04cbfc4bb2d06a7396a8f299dc33ea1900cedaa316f467b1"
+checksum = "22cfb5bee7a6a52939ca9224d6ac897bb669134078daa8735560897f69de4d33"
 dependencies = [
  "backtrace",
  "bytes",
@@ -2251,7 +3382,7 @@ checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
 ]
 
 [[package]]
@@ -2264,6 +3395,17 @@ dependencies = [
  "tokio",
 ]
 
+[[package]]
+name = "tokio-rustls"
+version = "0.26.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c7bc40d0e5a97695bb96e27995cd3a08538541b0a846f65bba7a359f36700d4"
+dependencies = [
+ "rustls",
+ "rustls-pki-types",
+ "tokio",
+]
+
 [[package]]
 name = "tokio-tungstenite"
 version = "0.17.2"
@@ -2273,18 +3415,32 @@ dependencies = [
  "futures-util",
  "log",
  "tokio",
- "tungstenite",
+ "tungstenite 0.17.3",
 ]
 
 [[package]]
-name = "tokio-util"
-version = "0.7.11"
+name = "tokio-tungstenite"
+version = "0.24.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cf6b47b3771c49ac75ad09a6162f53ad4b8088b76ac60e8ec1455b31a189fe1"
+checksum = "edc5f74e248dc973e0dbb7b74c7e0d6fcc301c694ff50049504004ef4d0cdcd9"
+dependencies = [
+ "futures-util",
+ "log",
+ "tokio",
+ "tungstenite 0.24.0",
+]
+
+[[package]]
+name = "tokio-util"
+version = "0.7.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61e7c3654c13bcd040d4a03abee2c75b1d14a37b423cf5a813ceae1cc903ec6a"
 dependencies = [
  "bytes",
  "futures-core",
  "futures-sink",
+ "futures-util",
+ "hashbrown 0.14.5",
  "pin-project-lite",
  "tokio",
 ]
@@ -2301,10 +3457,23 @@ version = "0.1.40"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
 dependencies = [
+ "log",
  "pin-project-lite",
+ "tracing-attributes",
  "tracing-core",
 ]
 
+[[package]]
+name = "tracing-attributes"
+version = "0.1.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "395ae124c09f9e6918a2310af6038fba074bcf474ac352496d5910dd59a2226d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.90",
+]
+
 [[package]]
 name = "tracing-core"
 version = "0.1.32"
@@ -2326,6 +3495,16 @@ dependencies = [
  "tracing-core",
 ]
 
+[[package]]
+name = "tracing-serde"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bc6b213177105856957181934e4920de57730fc69bf42c37ee5bb664d406d9e1"
+dependencies = [
+ "serde",
+ "tracing-core",
+]
+
 [[package]]
 name = "tracing-subscriber"
 version = "0.3.18"
@@ -2336,11 +3515,15 @@ dependencies = [
  "nu-ansi-term",
  "once_cell",
  "regex",
+ "serde",
+ "serde_json",
  "sharded-slab",
+ "smallvec",
  "thread_local",
  "tracing",
  "tracing-core",
  "tracing-log",
+ "tracing-serde",
 ]
 
 [[package]]
@@ -2358,22 +3541,70 @@ dependencies = [
  "base64 0.13.1",
  "byteorder",
  "bytes",
- "http",
+ "http 0.2.12",
  "httparse",
  "log",
  "rand",
  "sha-1",
- "thiserror",
+ "thiserror 1.0.63",
  "url",
  "utf-8",
 ]
 
+[[package]]
+name = "tungstenite"
+version = "0.24.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "18e5b8366ee7a95b16d32197d0b2604b43a0be89dc5fac9f8e96ccafbaedda8a"
+dependencies = [
+ "byteorder",
+ "bytes",
+ "data-encoding",
+ "http 1.1.0",
+ "httparse",
+ "log",
+ "rand",
+ "sha1",
+ "thiserror 1.0.63",
+ "utf-8",
+]
+
+[[package]]
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+version = "1.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "97fee6b57c6a41524a810daee9286c02d7752c4253064d0b05472833a438f675"
+dependencies = [
+ "cfg-if",
+ "static_assertions",
+]
+
 [[package]]
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 checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
+[[package]]
+name = "ucd-trie"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2896d95c02a80c6d6a5d6e953d479f5ddf2dfdb6a244441010e373ac0fb88971"
+
+[[package]]
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+checksum = "79ac3c37bd9506595768f0387bd39d644525728b4a1d783218acabfb56356db7"
+dependencies = [
+ "humantime",
+ "lazy_static",
+ "log",
+ "rand",
+ "serde",
+ "spin",
+]
+
 [[package]]
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 version = "0.3.15"
@@ -2401,6 +3632,29 @@ version = "0.2.4"
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 checksum = "f962df74c8c05a667b5ee8bcf162993134c104e96440b663c8daa176dc772d8c"
 
+[[package]]
+name = "unsafe-libyaml"
+version = "0.2.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "673aac59facbab8a9007c7f6108d11f63b603f7cabff99fabf650fea5c32b861"
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ecb6da28b8a351d773b68d5825ac39017e680750f980f3a1a85cd8dd28a47c1"
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2e7e85a0596447f0f2ac090e16bc4c516c6fe91771fb0c0ccf7fa3dae896b9c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "url"
 version = "2.5.2"
@@ -2433,6 +3687,30 @@ dependencies = [
  "getrandom",
 ]
 
+[[package]]
+name = "validated_struct"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "feef04c049b4beae3037a2a31b8da40d8cebec0b97456f24c7de0ede4ed9efed"
+dependencies = [
+ "json5",
+ "serde",
+ "serde_json",
+ "validated_struct_macros",
+]
+
+[[package]]
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+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9d4444a980afa9ef0d29c2a3f4d952ec0495a7a996a9c78b52698b71bc21edb4"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+ "unzip-n",
+]
+
 [[package]]
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 version = "0.1.0"
@@ -2445,6 +3723,12 @@ version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426"
 
+[[package]]
+name = "vec_map"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191"
+
 [[package]]
 name = "version_check"
 version = "0.9.5"
@@ -2497,7 +3781,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
  "wasm-bindgen-shared",
 ]
 
@@ -2531,7 +3815,7 @@ checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
@@ -2552,6 +3836,34 @@ dependencies = [
  "wasm-bindgen",
 ]
 
+[[package]]
+name = "web-time"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a6580f308b1fad9207618087a65c04e7a10bc77e02c8e84e9b00dd4b12fa0bb"
+dependencies = [
+ "js-sys",
+ "wasm-bindgen",
+]
+
+[[package]]
+name = "webpki-root-certs"
+version = "0.26.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9cd5da49bdf1f30054cfe0b8ce2958b8fbeb67c4d82c8967a598af481bef255c"
+dependencies = [
+ "rustls-pki-types",
+]
+
+[[package]]
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+checksum = "5d642ff16b7e79272ae451b7322067cdc17cadf68c23264be9d94a32319efe7e"
+dependencies = [
+ "rustls-pki-types",
+]
+
 [[package]]
 name = "winapi"
 version = "0.3.9"
@@ -2741,12 +4053,499 @@ dependencies = [
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 ]
 
+[[package]]
+name = "x509-parser"
+version = "0.16.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fcbc162f30700d6f3f82a24bf7cc62ffe7caea42c0b2cba8bf7f3ae50cf51f69"
+dependencies = [
+ "asn1-rs",
+ "data-encoding",
+ "der-parser",
+ "lazy_static",
+ "nom",
+ "oid-registry",
+ "rusticata-macros",
+ "thiserror 1.0.63",
+ "time",
+]
+
 [[package]]
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 checksum = "539a77ee7c0de333dcc6da69b177380a0b81e0dacfa4f7344c465a36871ee601"
 
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+ "phf",
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+ "event-listener",
+ "futures",
+ "tokio",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+]
+
+[[package]]
+name = "zenoh-task"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e83661218a1e7376de6c7d0ecf308b74f10eb4713771e94b4646c54b9b139ed2"
+dependencies = [
+ "futures",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-core",
+ "zenoh-runtime",
+]
+
+[[package]]
+name = "zenoh-transport"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6d4be84994418dad55efebfd31eb4942278bccbe9bfdda3241d418154de5bca6"
+dependencies = [
+ "async-trait",
+ "crossbeam-utils",
+ "flume",
+ "lazy_static",
+ "lz4_flex",
+ "paste",
+ "rand",
+ "ringbuffer-spsc",
+ "rsa",
+ "serde",
+ "sha3",
+ "tokio",
+ "tokio-util",
+ "tracing",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-runtime",
+ "zenoh-sync",
+ "zenoh-task",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-util"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "237b18361bc2db1c35d188d84eec65166477b156ac91908709ec70285fcfd201"
+dependencies = [
+ "async-trait",
+ "const_format",
+ "flume",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading",
+ "pnet_datalink",
+ "serde",
+ "serde_json",
+ "shellexpand",
+ "tokio",
+ "tracing",
+ "tracing-subscriber",
+ "winapi",
+ "zenoh-core",
+ "zenoh-result",
+]
+
 [[package]]
 name = "zerocopy"
 version = "0.7.35"
@@ -2765,5 +4564,11 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.90",
 ]
+
+[[package]]
+name = "zeroize"
+version = "1.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ced3678a2879b30306d323f4542626697a464a97c0a07c9aebf7ebca65cd4dde"
diff --git a/Cargo.toml b/Cargo.toml
index ebfd533d..95abe3e1 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -7,6 +7,6 @@ members = [
     "roslibrust_codegen",
     "roslibrust_codegen_macro",
     "roslibrust_genmsg",
-    "roslibrust_test",
+    "roslibrust_test", "roslibrust_zenoh",
 ]
 resolver = "2"
diff --git a/roslibrust_zenoh/Cargo.toml b/roslibrust_zenoh/Cargo.toml
new file mode 100644
index 00000000..9c7e526f
--- /dev/null
+++ b/roslibrust_zenoh/Cargo.toml
@@ -0,0 +1,17 @@
+[package]
+name = "roslibrust_zenoh"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+tokio = { version = "1.41", features = ["rt-multi-thread", "sync", "macros"] }
+roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro" }
+roslibrust_codegen = { path = "../roslibrust_codegen" }
+roslibrust = { path = "../roslibrust", features = ["topic_provider"] }
+zenoh = "1.0"
+hex = "0.4"
+anyhow = "1.0"
+roslibrust_serde_rosmsg = "0.3"
+
diff --git a/roslibrust_zenoh/README.md b/roslibrust_zenoh/README.md
new file mode 100644
index 00000000..7bbe76f5
--- /dev/null
+++ b/roslibrust_zenoh/README.md
@@ -0,0 +1,7 @@
+# RosLibRust Zenoh
+
+This crate provides a Zenoh client that is compatible with the zenoh-ros1-plugin / zenoh-ros1-bridge.
+
+The plugin / bridge performs "topic mangling" that makes it challenging to directly subscribe to the bridged topics from zenoh.
+
+The goal of this crate is to provide an effective intermediary between ros1 and zenoh, and eventually unify this behind the single TopicProvider trait.
\ No newline at end of file
diff --git a/roslibrust_zenoh/examples/subscriber.rs b/roslibrust_zenoh/examples/subscriber.rs
new file mode 100644
index 00000000..dae0ab25
--- /dev/null
+++ b/roslibrust_zenoh/examples/subscriber.rs
@@ -0,0 +1,35 @@
+use roslibrust_zenoh::ZenohClient;
+
+// IMPORTANT to bring this trait into scope so we can access the functions it provides
+// This trait provides the [subscribe] and [advertise] functions on ZenohCilent
+use roslibrust::topic_provider::TopicProvider;
+// IMPORTANT to bring this trait into scope so we can access the functions it provides
+// This trait provides the [next] function on ZenohSubscriber
+use roslibrust::topic_provider::Subscribe;
+
+// Generate rust definitions for our messages
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
+
+// The example expects a zenoh-ros1-bridge to be running see [here](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
+// for details on running the bridge.
+
+// While the bridge is running (with a rosmaster either internally or externally), the following command can be used
+// to test the functionality: `rostopic pub /chatter std_msgs/String "data: 'hello world'"`
+#[tokio::main]
+async fn main() {
+
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
+    let client = ZenohClient::new(session);
+
+    // Create a zenoh subscriber to the ros topic /chatter
+    // Internally this handles the "topic mangling" that zenoh-ros1-plugin / zenoh-ros1-bridge performs
+    // and sets up deserialization of the ROS1 type into our Rust type
+    let mut subscriber = client.subscribe::<std_msgs::String>("/chatter").await.unwrap();
+
+    loop {
+        // Get the next message
+        let msg = subscriber.next().await.unwrap();
+        // Publish
+        println!("Got message: {}", msg.data);
+    }
+}
diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
new file mode 100644
index 00000000..e3203b23
--- /dev/null
+++ b/roslibrust_zenoh/src/lib.rs
@@ -0,0 +1,4 @@
+//! A crate for interfacing to ROS1 via the [zenoh-ros1-plugin / zenoh-ros1-bridge](https://github.com/eclipse-zenoh/zenoh-plugin-ros1).
+
+mod zenoh_client;
+pub use zenoh_client::*;
\ No newline at end of file
diff --git a/roslibrust_zenoh/src/zenoh_client.rs b/roslibrust_zenoh/src/zenoh_client.rs
new file mode 100644
index 00000000..8174f3b5
--- /dev/null
+++ b/roslibrust_zenoh/src/zenoh_client.rs
@@ -0,0 +1,129 @@
+use anyhow::bail;
+use roslibrust::topic_provider::{Publish, Subscribe, TopicProvider};
+use roslibrust::{RosLibRustError, RosLibRustResult};
+use roslibrust_codegen::RosMessageType;
+use zenoh::handlers::FifoChannelHandler;
+use zenoh::key_expr::OwnedKeyExpr;
+
+pub struct ZenohClient {
+    session: zenoh::Session,
+}
+
+impl ZenohClient {
+    /// Creates a new client wrapped around a Zenoh session
+    pub fn new(session: zenoh::Session) -> Self {
+        Self { session }
+    }
+}
+
+pub struct ZenohPublisher<T> {
+    topic: String,
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T: RosMessageType> Publish<T> for ZenohPublisher<T> {
+    async fn publish(&self, data: &T) -> RosLibRustResult<()> {
+        todo!()
+    }
+}
+
+// Using type alias here, I have no idea why zenoh has this type so deep
+type ZenohSubInner =
+    zenoh::pubsub::Subscriber<zenoh::handlers::FifoChannelHandler<zenoh::sample::Sample>>;
+pub struct ZenohSubscriber<T> {
+    sub: ZenohSubInner,
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T: RosMessageType> Subscribe<T> for ZenohSubscriber<T> {
+    async fn next(&mut self) -> RosLibRustResult<T> {
+        let next = self.sub.recv_async().await;
+
+        let sample = match next {
+            Ok(sample) => sample,
+            Err(e) => {
+                // TODO errors still suck with this API
+                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to receive next sample: {e:?}"
+                )));
+            }
+        };
+
+        let bytes = sample.payload().to_bytes();
+        
+        // This is messy roslibrust expects the starting bytes to be total message size
+        // which Zenoh or the bridge is stripping somewhere, so I'm just manually sticking them back for now
+        // This is very inefficient, but it works for now.
+        let starting_bytes = (bytes.len() as u32).to_le_bytes();
+        let bytes = [&starting_bytes, &bytes[..]].concat();
+
+        let msg = roslibrust_serde_rosmsg::from_slice(&bytes).map_err(|e| {
+            RosLibRustError::SerializationError(format!("Failed to deserialize sample: {e:?}"))
+        })?;
+        Ok(msg)
+    }
+}
+
+impl TopicProvider for ZenohClient {
+    type Publisher<T: RosMessageType> = ZenohPublisher<T>;
+
+    type Subscriber<T: RosMessageType> = ZenohSubscriber<T>;
+
+    async fn advertise<T: RosMessageType>(
+        &self,
+        topic: &str,
+    ) -> RosLibRustResult<Self::Publisher<T>> {
+        todo!()
+    }
+
+    async fn subscribe<T: RosMessageType>(
+        &self,
+        topic: &str,
+    ) -> RosLibRustResult<Self::Subscriber<T>> {
+        let mangled_topic = mangle_topic(topic, T::ROS_TYPE_NAME, T::MD5SUM);
+        let sub = match self.session.declare_subscriber(mangled_topic).await {
+            Ok(sub) => sub,
+            Err(e) => {
+                // TODO errors still suck with this API...
+                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to declare subscriber: {e:?}"
+                )));
+            }
+        };
+        Ok(ZenohSubscriber {
+            sub,
+            _marker: std::marker::PhantomData,
+        })
+    }
+}
+
+/// Takes in a regular ros topic and type and returns a zenoh topic mangled in the way the zenoh-ros1-plugin does
+fn mangle_topic(topic: &str, type_str: &str, md5sum: &str) -> String {
+    // Name mangling stuff!
+    // See: https://github.com/eclipse-zenoh/zenoh-plugin-ros1/issues/131
+    // Explicit implementation at: https://github.com/eclipse-zenoh/zenoh-plugin-ros1/blob/main/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_utilities.rs
+    // Note: the implementation inside of the bridge uses unstable zenoh, duplicating implementation here with stable zenoh instead.
+
+    // Remove leading and trailing slashes in the topic
+    let topic = topic.trim_start_matches('/').trim_end_matches("/");
+    // Encode the type as hex
+    let type_str = hex::encode(type_str.as_bytes());
+    format!("{type_str}/{md5sum}/{topic}")
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_mangle_topic() {
+        assert_eq!(
+            mangle_topic(
+                "/chatter",
+                "std_msgs/String",
+                "992ce8a1687cec8c8bd883ec73ca41d1"
+            ),
+            "7374645f6d7367732f537472696e67/992ce8a1687cec8c8bd883ec73ca41d1/chatter"
+        );
+    }
+}

From ea62db04e8ca0c496c784b767b71c374c0dad660 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 2 Dec 2024 12:38:39 -0700
Subject: [PATCH 02/16] lint

---
 roslibrust_zenoh/examples/subscriber.rs | 6 ++++--
 roslibrust_zenoh/src/lib.rs             | 2 +-
 roslibrust_zenoh/src/zenoh_client.rs    | 2 +-
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/roslibrust_zenoh/examples/subscriber.rs b/roslibrust_zenoh/examples/subscriber.rs
index dae0ab25..a96a253c 100644
--- a/roslibrust_zenoh/examples/subscriber.rs
+++ b/roslibrust_zenoh/examples/subscriber.rs
@@ -17,14 +17,16 @@ roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_in
 // to test the functionality: `rostopic pub /chatter std_msgs/String "data: 'hello world'"`
 #[tokio::main]
 async fn main() {
-
     let session = zenoh::open(zenoh::Config::default()).await.unwrap();
     let client = ZenohClient::new(session);
 
     // Create a zenoh subscriber to the ros topic /chatter
     // Internally this handles the "topic mangling" that zenoh-ros1-plugin / zenoh-ros1-bridge performs
     // and sets up deserialization of the ROS1 type into our Rust type
-    let mut subscriber = client.subscribe::<std_msgs::String>("/chatter").await.unwrap();
+    let mut subscriber = client
+        .subscribe::<std_msgs::String>("/chatter")
+        .await
+        .unwrap();
 
     loop {
         // Get the next message
diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
index e3203b23..7ca38c39 100644
--- a/roslibrust_zenoh/src/lib.rs
+++ b/roslibrust_zenoh/src/lib.rs
@@ -1,4 +1,4 @@
 //! A crate for interfacing to ROS1 via the [zenoh-ros1-plugin / zenoh-ros1-bridge](https://github.com/eclipse-zenoh/zenoh-plugin-ros1).
 
 mod zenoh_client;
-pub use zenoh_client::*;
\ No newline at end of file
+pub use zenoh_client::*;
diff --git a/roslibrust_zenoh/src/zenoh_client.rs b/roslibrust_zenoh/src/zenoh_client.rs
index 8174f3b5..3586ea94 100644
--- a/roslibrust_zenoh/src/zenoh_client.rs
+++ b/roslibrust_zenoh/src/zenoh_client.rs
@@ -50,7 +50,7 @@ impl<T: RosMessageType> Subscribe<T> for ZenohSubscriber<T> {
         };
 
         let bytes = sample.payload().to_bytes();
-        
+
         // This is messy roslibrust expects the starting bytes to be total message size
         // which Zenoh or the bridge is stripping somewhere, so I'm just manually sticking them back for now
         // This is very inefficient, but it works for now.

From 44785a01a7e264b1868348a72f38144a8e43803b Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 2 Dec 2024 12:57:59 -0700
Subject: [PATCH 03/16] Working publisher too!

---
 roslibrust_zenoh/examples/publisher.rs  | 43 +++++++++++++++++++++++++
 roslibrust_zenoh/examples/subscriber.rs |  3 +-
 roslibrust_zenoh/src/zenoh_client.rs    | 38 ++++++++++++++++++----
 3 files changed, 77 insertions(+), 7 deletions(-)
 create mode 100644 roslibrust_zenoh/examples/publisher.rs

diff --git a/roslibrust_zenoh/examples/publisher.rs b/roslibrust_zenoh/examples/publisher.rs
new file mode 100644
index 00000000..05a4a148
--- /dev/null
+++ b/roslibrust_zenoh/examples/publisher.rs
@@ -0,0 +1,43 @@
+use roslibrust_zenoh::ZenohClient;
+
+// IMPORTANT to bring this trait into scope so we can access the functions it provides
+// This trait provides the [subscribe] and [advertise] functions on ZenohCilent
+use roslibrust::topic_provider::TopicProvider;
+// IMPORTANT to bring this trait into scope so we can access the functions it provides
+// This trait provides the [next] function on ZenohSubscriber
+use roslibrust::topic_provider::Publish;
+
+// Generate rust definitions for our messages
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
+
+// The example expects a zenoh-ros1-bridge to be running see [here](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
+// for details on running the bridge.
+
+// While the bridge is running (with a rosmaster either internally or externally), the following command can be used
+// to test the functionality: `rostopic echo /chatter`
+// Or run the subscriber example `cargo run --example subscriber`
+#[tokio::main]
+async fn main() {
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
+    let client = ZenohClient::new(session);
+
+    // Create a zenoh subscriber to the ros topic /chatter
+    // Internally this handles the "topic mangling" that zenoh-ros1-plugin / zenoh-ros1-bridge performs
+    // and sets up deserialization of the ROS1 type into our Rust type
+    let publisher = client
+        .advertise::<std_msgs::String>("/chatter")
+        .await
+        .unwrap();
+
+    // Run at 1Hz
+    let mut interval = tokio::time::interval(std::time::Duration::from_secs(1));
+
+    loop {
+        let msg = std_msgs::String {
+            data: "Hello world".to_string(),
+        };
+        publisher.publish(&msg).await.unwrap();
+        println!("Published!");
+        interval.tick().await;
+    }
+}
diff --git a/roslibrust_zenoh/examples/subscriber.rs b/roslibrust_zenoh/examples/subscriber.rs
index a96a253c..8fcd02a8 100644
--- a/roslibrust_zenoh/examples/subscriber.rs
+++ b/roslibrust_zenoh/examples/subscriber.rs
@@ -14,7 +14,8 @@ roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_in
 // for details on running the bridge.
 
 // While the bridge is running (with a rosmaster either internally or externally), the following command can be used
-// to test the functionality: `rostopic pub /chatter std_msgs/String "data: 'hello world'"`
+// to test the functionality: `rostopic pub -r 1 /chatter std_msgs/String "data: 'hello world'"`
+// Or run the publisher example `cargo run --example publisher`
 #[tokio::main]
 async fn main() {
     let session = zenoh::open(zenoh::Config::default()).await.unwrap();
diff --git a/roslibrust_zenoh/src/zenoh_client.rs b/roslibrust_zenoh/src/zenoh_client.rs
index 3586ea94..ee286a97 100644
--- a/roslibrust_zenoh/src/zenoh_client.rs
+++ b/roslibrust_zenoh/src/zenoh_client.rs
@@ -17,13 +17,24 @@ impl ZenohClient {
 }
 
 pub struct ZenohPublisher<T> {
-    topic: String,
+    publisher: zenoh::pubsub::Publisher<'static>,
     _marker: std::marker::PhantomData<T>,
 }
 
 impl<T: RosMessageType> Publish<T> for ZenohPublisher<T> {
     async fn publish(&self, data: &T) -> RosLibRustResult<()> {
-        todo!()
+        let bytes = roslibrust_serde_rosmsg::to_vec(data).map_err(|e| {
+            RosLibRustError::SerializationError(format!("Failed to serialize message: {e:?}"))
+        })?;
+
+        // Note: serde_rosmsg places the length of the message as the first four bytes
+        // Which zenoh ros1 bridge does not expect, so we need to strip it off.
+        match self.publisher.put(&bytes[4..]).await {
+            Ok(()) => Ok(()),
+            Err(e) => Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                "Failed to publish message to zenoh: {e:?}"
+            ))),
+        }
     }
 }
 
@@ -31,13 +42,13 @@ impl<T: RosMessageType> Publish<T> for ZenohPublisher<T> {
 type ZenohSubInner =
     zenoh::pubsub::Subscriber<zenoh::handlers::FifoChannelHandler<zenoh::sample::Sample>>;
 pub struct ZenohSubscriber<T> {
-    sub: ZenohSubInner,
+    subscriber: ZenohSubInner,
     _marker: std::marker::PhantomData<T>,
 }
 
 impl<T: RosMessageType> Subscribe<T> for ZenohSubscriber<T> {
     async fn next(&mut self) -> RosLibRustResult<T> {
-        let next = self.sub.recv_async().await;
+        let next = self.subscriber.recv_async().await;
 
         let sample = match next {
             Ok(sample) => sample,
@@ -73,7 +84,22 @@ impl TopicProvider for ZenohClient {
         &self,
         topic: &str,
     ) -> RosLibRustResult<Self::Publisher<T>> {
-        todo!()
+        let mangled_topic = mangle_topic(topic, T::ROS_TYPE_NAME, T::MD5SUM);
+        let publisher = match self.session.declare_publisher(mangled_topic).await {
+            Ok(publisher) => publisher,
+            Err(e) => {
+                // TODO errors still suck with this API...
+                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to declare publisher: {e:?}"
+                )));
+            }
+        };
+
+        println!("type of pub: {:?}", std::any::type_name_of_val(&publisher));
+        Ok(ZenohPublisher {
+            publisher,
+            _marker: std::marker::PhantomData,
+        })
     }
 
     async fn subscribe<T: RosMessageType>(
@@ -91,7 +117,7 @@ impl TopicProvider for ZenohClient {
             }
         };
         Ok(ZenohSubscriber {
-            sub,
+            subscriber: sub,
             _marker: std::marker::PhantomData,
         })
     }

From e2e3998531d4132ae7654c15cbf2fcbf4876c279 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 2 Dec 2024 13:21:03 -0700
Subject: [PATCH 04/16] Removed debug print, fix Ci, fix warnings

---
 roslibrust_zenoh/examples/publisher.rs  | 4 +++-
 roslibrust_zenoh/examples/subscriber.rs | 4 +++-
 roslibrust_zenoh/src/zenoh_client.rs    | 4 ----
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/roslibrust_zenoh/examples/publisher.rs b/roslibrust_zenoh/examples/publisher.rs
index 05a4a148..e252316e 100644
--- a/roslibrust_zenoh/examples/publisher.rs
+++ b/roslibrust_zenoh/examples/publisher.rs
@@ -8,7 +8,9 @@ use roslibrust::topic_provider::TopicProvider;
 use roslibrust::topic_provider::Publish;
 
 // Generate rust definitions for our messages
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
+roslibrust_codegen_macro::find_and_generate_ros_messages!(
+    "../assets/ros1_common_interfaces/std_msgs"
+);
 
 // The example expects a zenoh-ros1-bridge to be running see [here](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
 // for details on running the bridge.
diff --git a/roslibrust_zenoh/examples/subscriber.rs b/roslibrust_zenoh/examples/subscriber.rs
index 8fcd02a8..f6d4fd19 100644
--- a/roslibrust_zenoh/examples/subscriber.rs
+++ b/roslibrust_zenoh/examples/subscriber.rs
@@ -8,7 +8,9 @@ use roslibrust::topic_provider::TopicProvider;
 use roslibrust::topic_provider::Subscribe;
 
 // Generate rust definitions for our messages
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
+roslibrust_codegen_macro::find_and_generate_ros_messages!(
+    "../assets/ros1_common_interfaces/std_msgs"
+);
 
 // The example expects a zenoh-ros1-bridge to be running see [here](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
 // for details on running the bridge.
diff --git a/roslibrust_zenoh/src/zenoh_client.rs b/roslibrust_zenoh/src/zenoh_client.rs
index ee286a97..b7c6c454 100644
--- a/roslibrust_zenoh/src/zenoh_client.rs
+++ b/roslibrust_zenoh/src/zenoh_client.rs
@@ -1,9 +1,6 @@
-use anyhow::bail;
 use roslibrust::topic_provider::{Publish, Subscribe, TopicProvider};
 use roslibrust::{RosLibRustError, RosLibRustResult};
 use roslibrust_codegen::RosMessageType;
-use zenoh::handlers::FifoChannelHandler;
-use zenoh::key_expr::OwnedKeyExpr;
 
 pub struct ZenohClient {
     session: zenoh::Session,
@@ -95,7 +92,6 @@ impl TopicProvider for ZenohClient {
             }
         };
 
-        println!("type of pub: {:?}", std::any::type_name_of_val(&publisher));
         Ok(ZenohPublisher {
             publisher,
             _marker: std::marker::PhantomData,

From 08c7584141d502f41ac041c7a95b2e55dbe3c970 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 2 Dec 2024 13:27:10 -0700
Subject: [PATCH 05/16] CI fix attempt, update changelog

---
 CHANGELOG.md                            | 2 ++
 roslibrust_zenoh/examples/publisher.rs  | 4 +---
 roslibrust_zenoh/examples/subscriber.rs | 4 +---
 3 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 547687ac..90c41faa 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -23,6 +23,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+- roslibrust_zenoh now proivides a Zenoh client that is compatible with the zenoh-ros1-plugin / zenoh-ros1-bridge
+
 ### Fixed
 
 - Keeping a ros1::ServiceServer alive no longer keeps the underlying node alive past the last ros1::NodeHandle being dropped.
diff --git a/roslibrust_zenoh/examples/publisher.rs b/roslibrust_zenoh/examples/publisher.rs
index e252316e..05a4a148 100644
--- a/roslibrust_zenoh/examples/publisher.rs
+++ b/roslibrust_zenoh/examples/publisher.rs
@@ -8,9 +8,7 @@ use roslibrust::topic_provider::TopicProvider;
 use roslibrust::topic_provider::Publish;
 
 // Generate rust definitions for our messages
-roslibrust_codegen_macro::find_and_generate_ros_messages!(
-    "../assets/ros1_common_interfaces/std_msgs"
-);
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
 
 // The example expects a zenoh-ros1-bridge to be running see [here](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
 // for details on running the bridge.
diff --git a/roslibrust_zenoh/examples/subscriber.rs b/roslibrust_zenoh/examples/subscriber.rs
index f6d4fd19..8fcd02a8 100644
--- a/roslibrust_zenoh/examples/subscriber.rs
+++ b/roslibrust_zenoh/examples/subscriber.rs
@@ -8,9 +8,7 @@ use roslibrust::topic_provider::TopicProvider;
 use roslibrust::topic_provider::Subscribe;
 
 // Generate rust definitions for our messages
-roslibrust_codegen_macro::find_and_generate_ros_messages!(
-    "../assets/ros1_common_interfaces/std_msgs"
-);
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
 
 // The example expects a zenoh-ros1-bridge to be running see [here](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
 // for details on running the bridge.

From f4e6a96d449041c20c3f26d726a0199e87144e38 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 2 Dec 2024 13:29:23 -0700
Subject: [PATCH 06/16] This will FIX CI

---
 roslibrust_zenoh/examples/publisher.rs  | 2 +-
 roslibrust_zenoh/examples/subscriber.rs | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/roslibrust_zenoh/examples/publisher.rs b/roslibrust_zenoh/examples/publisher.rs
index 05a4a148..66ff56e9 100644
--- a/roslibrust_zenoh/examples/publisher.rs
+++ b/roslibrust_zenoh/examples/publisher.rs
@@ -8,7 +8,7 @@ use roslibrust::topic_provider::TopicProvider;
 use roslibrust::topic_provider::Publish;
 
 // Generate rust definitions for our messages
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
 
 // The example expects a zenoh-ros1-bridge to be running see [here](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
 // for details on running the bridge.
diff --git a/roslibrust_zenoh/examples/subscriber.rs b/roslibrust_zenoh/examples/subscriber.rs
index 8fcd02a8..b2d8b900 100644
--- a/roslibrust_zenoh/examples/subscriber.rs
+++ b/roslibrust_zenoh/examples/subscriber.rs
@@ -8,7 +8,7 @@ use roslibrust::topic_provider::TopicProvider;
 use roslibrust::topic_provider::Subscribe;
 
 // Generate rust definitions for our messages
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
 
 // The example expects a zenoh-ros1-bridge to be running see [here](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
 // for details on running the bridge.

From 9150633fe54b92202bf7af7acb7460982150086f Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 2 Dec 2024 13:37:55 -0700
Subject: [PATCH 07/16] Reorg zenoh lib, fix ci, start on service

---
 roslibrust/examples/generic_client.rs         |   4 +-
 .../examples/generic_client_services.rs       |   4 +-
 roslibrust/examples/generic_message.rs        |   6 +-
 roslibrust_zenoh/README.md                    |   2 +-
 roslibrust_zenoh/src/lib.rs                   | 176 +++++++++++++++++-
 roslibrust_zenoh/src/zenoh_client.rs          | 151 ---------------
 6 files changed, 179 insertions(+), 164 deletions(-)
 delete mode 100644 roslibrust_zenoh/src/zenoh_client.rs

diff --git a/roslibrust/examples/generic_client.rs b/roslibrust/examples/generic_client.rs
index 137254c0..74a4f37e 100644
--- a/roslibrust/examples/generic_client.rs
+++ b/roslibrust/examples/generic_client.rs
@@ -12,9 +12,7 @@ async fn main() {
 
     use roslibrust::topic_provider::*;
 
-    roslibrust_codegen_macro::find_and_generate_ros_messages!(
-        "assets/ros1_common_interfaces/std_msgs"
-    );
+    roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
     // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters
     // This means we can't do:
 
diff --git a/roslibrust/examples/generic_client_services.rs b/roslibrust/examples/generic_client_services.rs
index 5460a1e9..6b0fd87a 100644
--- a/roslibrust/examples/generic_client_services.rs
+++ b/roslibrust/examples/generic_client_services.rs
@@ -12,9 +12,7 @@ async fn main() {
 
     use roslibrust::topic_provider::*;
 
-    roslibrust_codegen_macro::find_and_generate_ros_messages!(
-        "assets/ros1_common_interfaces/ros_comm_msgs/std_srvs"
-    );
+    roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
     // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters
     // This means we can't do:
 
diff --git a/roslibrust/examples/generic_message.rs b/roslibrust/examples/generic_message.rs
index 1eb1e456..1a1ba67a 100644
--- a/roslibrust/examples/generic_message.rs
+++ b/roslibrust/examples/generic_message.rs
@@ -7,14 +7,12 @@ use roslibrust_codegen::RosMessageType;
 /// 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::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
 }
 
 mod ros2 {
     roslibrust_codegen_macro::find_and_generate_ros_messages_without_ros_package_path!(
-        "assets/ros2_common_interfaces/std_msgs"
+        "assets/ros2_common_interfaces"
     );
 }
 
diff --git a/roslibrust_zenoh/README.md b/roslibrust_zenoh/README.md
index 7bbe76f5..616fa806 100644
--- a/roslibrust_zenoh/README.md
+++ b/roslibrust_zenoh/README.md
@@ -4,4 +4,4 @@ This crate provides a Zenoh client that is compatible with the zenoh-ros1-plugin
 
 The plugin / bridge performs "topic mangling" that makes it challenging to directly subscribe to the bridged topics from zenoh.
 
-The goal of this crate is to provide an effective intermediary between ros1 and zenoh, and eventually unify this behind the single TopicProvider trait.
\ No newline at end of file
+The goal of this crate is to provide an effective intermediary between ros1 and zenoh, and eventually unify this behind the single TopicProvider trait.
diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
index 7ca38c39..1fd7da35 100644
--- a/roslibrust_zenoh/src/lib.rs
+++ b/roslibrust_zenoh/src/lib.rs
@@ -1,4 +1,176 @@
 //! A crate for interfacing to ROS1 via the [zenoh-ros1-plugin / zenoh-ros1-bridge](https://github.com/eclipse-zenoh/zenoh-plugin-ros1).
 
-mod zenoh_client;
-pub use zenoh_client::*;
+use roslibrust::topic_provider::{Publish, ServiceProvider, Subscribe, TopicProvider};
+use roslibrust::{RosLibRustError, RosLibRustResult};
+use roslibrust_codegen::{RosMessageType, RosServiceType};
+
+pub struct ZenohClient {
+    session: zenoh::Session,
+}
+
+impl ZenohClient {
+    /// Creates a new client wrapped around a Zenoh session
+    pub fn new(session: zenoh::Session) -> Self {
+        Self { session }
+    }
+}
+
+pub struct ZenohPublisher<T> {
+    publisher: zenoh::pubsub::Publisher<'static>,
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T: RosMessageType> Publish<T> for ZenohPublisher<T> {
+    async fn publish(&self, data: &T) -> RosLibRustResult<()> {
+        let bytes = roslibrust_serde_rosmsg::to_vec(data).map_err(|e| {
+            RosLibRustError::SerializationError(format!("Failed to serialize message: {e:?}"))
+        })?;
+
+        // Note: serde_rosmsg places the length of the message as the first four bytes
+        // Which zenoh ros1 bridge does not expect, so we need to strip it off.
+        match self.publisher.put(&bytes[4..]).await {
+            Ok(()) => Ok(()),
+            Err(e) => Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                "Failed to publish message to zenoh: {e:?}"
+            ))),
+        }
+    }
+}
+
+// Using type alias here, I have no idea why zenoh has this type so deep
+type ZenohSubInner =
+    zenoh::pubsub::Subscriber<zenoh::handlers::FifoChannelHandler<zenoh::sample::Sample>>;
+pub struct ZenohSubscriber<T> {
+    subscriber: ZenohSubInner,
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T: RosMessageType> Subscribe<T> for ZenohSubscriber<T> {
+    async fn next(&mut self) -> RosLibRustResult<T> {
+        let next = self.subscriber.recv_async().await;
+
+        let sample = match next {
+            Ok(sample) => sample,
+            Err(e) => {
+                // TODO errors still suck with this API
+                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to receive next sample: {e:?}"
+                )));
+            }
+        };
+
+        let bytes = sample.payload().to_bytes();
+
+        // This is messy roslibrust expects the starting bytes to be total message size
+        // which Zenoh or the bridge is stripping somewhere, so I'm just manually sticking them back for now
+        // This is very inefficient, but it works for now.
+        let starting_bytes = (bytes.len() as u32).to_le_bytes();
+        let bytes = [&starting_bytes, &bytes[..]].concat();
+
+        let msg = roslibrust_serde_rosmsg::from_slice(&bytes).map_err(|e| {
+            RosLibRustError::SerializationError(format!("Failed to deserialize sample: {e:?}"))
+        })?;
+        Ok(msg)
+    }
+}
+
+impl TopicProvider for ZenohClient {
+    type Publisher<T: RosMessageType> = ZenohPublisher<T>;
+
+    type Subscriber<T: RosMessageType> = ZenohSubscriber<T>;
+
+    async fn advertise<T: RosMessageType>(
+        &self,
+        topic: &str,
+    ) -> RosLibRustResult<Self::Publisher<T>> {
+        let mangled_topic = mangle_topic(topic, T::ROS_TYPE_NAME, T::MD5SUM);
+        let publisher = match self.session.declare_publisher(mangled_topic).await {
+            Ok(publisher) => publisher,
+            Err(e) => {
+                // TODO errors still suck with this API...
+                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to declare publisher: {e:?}"
+                )));
+            }
+        };
+
+        Ok(ZenohPublisher {
+            publisher,
+            _marker: std::marker::PhantomData,
+        })
+    }
+
+    async fn subscribe<T: RosMessageType>(
+        &self,
+        topic: &str,
+    ) -> RosLibRustResult<Self::Subscriber<T>> {
+        let mangled_topic = mangle_topic(topic, T::ROS_TYPE_NAME, T::MD5SUM);
+        let sub = match self.session.declare_subscriber(mangled_topic).await {
+            Ok(sub) => sub,
+            Err(e) => {
+                // TODO errors still suck with this API...
+                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to declare subscriber: {e:?}"
+                )));
+            }
+        };
+        Ok(ZenohSubscriber {
+            subscriber: sub,
+            _marker: std::marker::PhantomData,
+        })
+    }
+}
+
+/// Takes in a regular ros topic and type and returns a zenoh topic mangled in the way the zenoh-ros1-plugin does
+fn mangle_topic(topic: &str, type_str: &str, md5sum: &str) -> String {
+    // Name mangling stuff!
+    // See: https://github.com/eclipse-zenoh/zenoh-plugin-ros1/issues/131
+    // Explicit implementation at: https://github.com/eclipse-zenoh/zenoh-plugin-ros1/blob/main/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_utilities.rs
+    // Note: the implementation inside of the bridge uses unstable zenoh, duplicating implementation here with stable zenoh instead.
+
+    // Remove leading and trailing slashes in the topic
+    let topic = topic.trim_start_matches('/').trim_end_matches("/");
+    // Encode the type as hex
+    let type_str = hex::encode(type_str.as_bytes());
+    format!("{type_str}/{md5sum}/{topic}")
+}
+
+impl ServiceProvider for ZenohClient {
+    type ServiceClient<T: RosServiceType> = ();
+    type ServiceServer = ();
+
+    async fn service_client<T: roslibrust_codegen::RosServiceType + 'static>(
+        &self,
+        topic: &str,
+    ) -> RosLibRustResult<Self::ServiceClient<T>> {
+        todo!()
+    }
+
+    async fn advertise_service<
+        T: roslibrust_codegen::RosServiceType + 'static,
+        F: roslibrust::ServiceFn<T>,
+    >(
+        &self,
+        topic: &str,
+        server: F,
+    ) -> RosLibRustResult<Self::ServiceServer> {
+        todo!()
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_mangle_topic() {
+        assert_eq!(
+            mangle_topic(
+                "/chatter",
+                "std_msgs/String",
+                "992ce8a1687cec8c8bd883ec73ca41d1"
+            ),
+            "7374645f6d7367732f537472696e67/992ce8a1687cec8c8bd883ec73ca41d1/chatter"
+        );
+    }
+}
diff --git a/roslibrust_zenoh/src/zenoh_client.rs b/roslibrust_zenoh/src/zenoh_client.rs
deleted file mode 100644
index b7c6c454..00000000
--- a/roslibrust_zenoh/src/zenoh_client.rs
+++ /dev/null
@@ -1,151 +0,0 @@
-use roslibrust::topic_provider::{Publish, Subscribe, TopicProvider};
-use roslibrust::{RosLibRustError, RosLibRustResult};
-use roslibrust_codegen::RosMessageType;
-
-pub struct ZenohClient {
-    session: zenoh::Session,
-}
-
-impl ZenohClient {
-    /// Creates a new client wrapped around a Zenoh session
-    pub fn new(session: zenoh::Session) -> Self {
-        Self { session }
-    }
-}
-
-pub struct ZenohPublisher<T> {
-    publisher: zenoh::pubsub::Publisher<'static>,
-    _marker: std::marker::PhantomData<T>,
-}
-
-impl<T: RosMessageType> Publish<T> for ZenohPublisher<T> {
-    async fn publish(&self, data: &T) -> RosLibRustResult<()> {
-        let bytes = roslibrust_serde_rosmsg::to_vec(data).map_err(|e| {
-            RosLibRustError::SerializationError(format!("Failed to serialize message: {e:?}"))
-        })?;
-
-        // Note: serde_rosmsg places the length of the message as the first four bytes
-        // Which zenoh ros1 bridge does not expect, so we need to strip it off.
-        match self.publisher.put(&bytes[4..]).await {
-            Ok(()) => Ok(()),
-            Err(e) => Err(RosLibRustError::Unexpected(anyhow::anyhow!(
-                "Failed to publish message to zenoh: {e:?}"
-            ))),
-        }
-    }
-}
-
-// Using type alias here, I have no idea why zenoh has this type so deep
-type ZenohSubInner =
-    zenoh::pubsub::Subscriber<zenoh::handlers::FifoChannelHandler<zenoh::sample::Sample>>;
-pub struct ZenohSubscriber<T> {
-    subscriber: ZenohSubInner,
-    _marker: std::marker::PhantomData<T>,
-}
-
-impl<T: RosMessageType> Subscribe<T> for ZenohSubscriber<T> {
-    async fn next(&mut self) -> RosLibRustResult<T> {
-        let next = self.subscriber.recv_async().await;
-
-        let sample = match next {
-            Ok(sample) => sample,
-            Err(e) => {
-                // TODO errors still suck with this API
-                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
-                    "Failed to receive next sample: {e:?}"
-                )));
-            }
-        };
-
-        let bytes = sample.payload().to_bytes();
-
-        // This is messy roslibrust expects the starting bytes to be total message size
-        // which Zenoh or the bridge is stripping somewhere, so I'm just manually sticking them back for now
-        // This is very inefficient, but it works for now.
-        let starting_bytes = (bytes.len() as u32).to_le_bytes();
-        let bytes = [&starting_bytes, &bytes[..]].concat();
-
-        let msg = roslibrust_serde_rosmsg::from_slice(&bytes).map_err(|e| {
-            RosLibRustError::SerializationError(format!("Failed to deserialize sample: {e:?}"))
-        })?;
-        Ok(msg)
-    }
-}
-
-impl TopicProvider for ZenohClient {
-    type Publisher<T: RosMessageType> = ZenohPublisher<T>;
-
-    type Subscriber<T: RosMessageType> = ZenohSubscriber<T>;
-
-    async fn advertise<T: RosMessageType>(
-        &self,
-        topic: &str,
-    ) -> RosLibRustResult<Self::Publisher<T>> {
-        let mangled_topic = mangle_topic(topic, T::ROS_TYPE_NAME, T::MD5SUM);
-        let publisher = match self.session.declare_publisher(mangled_topic).await {
-            Ok(publisher) => publisher,
-            Err(e) => {
-                // TODO errors still suck with this API...
-                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
-                    "Failed to declare publisher: {e:?}"
-                )));
-            }
-        };
-
-        Ok(ZenohPublisher {
-            publisher,
-            _marker: std::marker::PhantomData,
-        })
-    }
-
-    async fn subscribe<T: RosMessageType>(
-        &self,
-        topic: &str,
-    ) -> RosLibRustResult<Self::Subscriber<T>> {
-        let mangled_topic = mangle_topic(topic, T::ROS_TYPE_NAME, T::MD5SUM);
-        let sub = match self.session.declare_subscriber(mangled_topic).await {
-            Ok(sub) => sub,
-            Err(e) => {
-                // TODO errors still suck with this API...
-                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
-                    "Failed to declare subscriber: {e:?}"
-                )));
-            }
-        };
-        Ok(ZenohSubscriber {
-            subscriber: sub,
-            _marker: std::marker::PhantomData,
-        })
-    }
-}
-
-/// Takes in a regular ros topic and type and returns a zenoh topic mangled in the way the zenoh-ros1-plugin does
-fn mangle_topic(topic: &str, type_str: &str, md5sum: &str) -> String {
-    // Name mangling stuff!
-    // See: https://github.com/eclipse-zenoh/zenoh-plugin-ros1/issues/131
-    // Explicit implementation at: https://github.com/eclipse-zenoh/zenoh-plugin-ros1/blob/main/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/topic_utilities.rs
-    // Note: the implementation inside of the bridge uses unstable zenoh, duplicating implementation here with stable zenoh instead.
-
-    // Remove leading and trailing slashes in the topic
-    let topic = topic.trim_start_matches('/').trim_end_matches("/");
-    // Encode the type as hex
-    let type_str = hex::encode(type_str.as_bytes());
-    format!("{type_str}/{md5sum}/{topic}")
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_mangle_topic() {
-        assert_eq!(
-            mangle_topic(
-                "/chatter",
-                "std_msgs/String",
-                "992ce8a1687cec8c8bd883ec73ca41d1"
-            ),
-            "7374645f6d7367732f537472696e67/992ce8a1687cec8c8bd883ec73ca41d1/chatter"
-        );
-    }
-}

From 533d21f782f2e01ff563094ba69f706470df7623 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Mon, 2 Dec 2024 13:54:14 -0700
Subject: [PATCH 08/16] Fix some shenanigans

---
 roslibrust/examples/generic_client.rs          |  6 +++---
 roslibrust/examples/generic_client_services.rs |  6 +++---
 roslibrust_codegen/src/lib.rs                  |  6 +++---
 roslibrust_zenoh/src/lib.rs                    | 14 ++++++++++++--
 4 files changed, 21 insertions(+), 11 deletions(-)

diff --git a/roslibrust/examples/generic_client.rs b/roslibrust/examples/generic_client.rs
index 74a4f37e..50b4081e 100644
--- a/roslibrust/examples/generic_client.rs
+++ b/roslibrust/examples/generic_client.rs
@@ -1,5 +1,8 @@
 //! Purpose of this example is to show how the TopicProvider trait can be use
 //! to create code that is generic of which communication backend it will use.
+use roslibrust::topic_provider::*;
+
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
 
 #[cfg(feature = "topic_provider")]
 #[tokio::main]
@@ -10,9 +13,6 @@ async fn main() {
         .init()
         .unwrap();
 
-    use roslibrust::topic_provider::*;
-
-    roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
     // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters
     // This means we can't do:
 
diff --git a/roslibrust/examples/generic_client_services.rs b/roslibrust/examples/generic_client_services.rs
index 6b0fd87a..28fec204 100644
--- a/roslibrust/examples/generic_client_services.rs
+++ b/roslibrust/examples/generic_client_services.rs
@@ -1,5 +1,8 @@
 //! Purpose of this example is to show how the ServiceProvider trait can be use
 //! to create code that is generic of which communication backend it will use.
+use roslibrust::topic_provider::*;
+
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
 
 #[cfg(feature = "topic_provider")]
 #[tokio::main]
@@ -10,9 +13,6 @@ async fn main() {
         .init()
         .unwrap();
 
-    use roslibrust::topic_provider::*;
-
-    roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
     // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters
     // This means we can't do:
 
diff --git a/roslibrust_codegen/src/lib.rs b/roslibrust_codegen/src/lib.rs
index a031008d..d1ae5adb 100644
--- a/roslibrust_codegen/src/lib.rs
+++ b/roslibrust_codegen/src/lib.rs
@@ -730,7 +730,7 @@ pub fn generate_rust_ros_message_definitions(
             }
             Ok(())
         })
-        .collect::<Result<_, Error>>()?;
+        .collect::<Result<(), Error>>()?;
     // Do the same for services
     services
         .into_iter()
@@ -744,7 +744,7 @@ pub fn generate_rust_ros_message_definitions(
             }
             Ok(())
         })
-        .collect::<Result<_, Error>>()?;
+        .collect::<Result<(), Error>>()?;
     // Now generate modules to wrap all of the TokenStreams in a module for each package
     let all_pkgs = modules_to_struct_definitions
         .keys()
@@ -753,7 +753,7 @@ pub fn generate_rust_ros_message_definitions(
     let module_definitions = modules_to_struct_definitions
         .into_iter()
         .map(|(pkg, struct_defs)| generate_mod(pkg, struct_defs, &all_pkgs[..]))
-        .collect::<Vec<_>>();
+        .collect::<Vec<TokenStream>>();
 
     Ok(quote! {
         #(#module_definitions)*
diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
index 1fd7da35..de309fb0 100644
--- a/roslibrust_zenoh/src/lib.rs
+++ b/roslibrust_zenoh/src/lib.rs
@@ -1,6 +1,6 @@
 //! A crate for interfacing to ROS1 via the [zenoh-ros1-plugin / zenoh-ros1-bridge](https://github.com/eclipse-zenoh/zenoh-plugin-ros1).
 
-use roslibrust::topic_provider::{Publish, ServiceProvider, Subscribe, TopicProvider};
+use roslibrust::topic_provider::{Publish, Service, ServiceProvider, Subscribe, TopicProvider};
 use roslibrust::{RosLibRustError, RosLibRustResult};
 use roslibrust_codegen::{RosMessageType, RosServiceType};
 
@@ -135,8 +135,18 @@ fn mangle_topic(topic: &str, type_str: &str, md5sum: &str) -> String {
     format!("{type_str}/{md5sum}/{topic}")
 }
 
+pub struct ZenohServiceClient<T: RosServiceType> {
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T: RosServiceType> Service<T> for ZenohServiceClient<T> {
+    async fn call(&self, request: &T::Request) -> RosLibRustResult<T::Response> {
+        todo!()
+    }
+}
+
 impl ServiceProvider for ZenohClient {
-    type ServiceClient<T: RosServiceType> = ();
+    type ServiceClient<T: RosServiceType> = ZenohServiceClient<T>;
     type ServiceServer = ();
 
     async fn service_client<T: roslibrust_codegen::RosServiceType + 'static>(

From 7770747a50af15b377bbbd648c473d6a10a62886 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Tue, 3 Dec 2024 09:34:35 -0700
Subject: [PATCH 09/16] Start of zenoh service implementation, hit bugs

---
 Cargo.lock                                 |  4 +-
 roslibrust/examples/ros1_service_server.rs | 32 ++++-----
 roslibrust_zenoh/Cargo.toml                |  3 +
 roslibrust_zenoh/examples/publisher.rs     |  4 ++
 roslibrust_zenoh/examples/service_call.rs  | 33 ++++++++++
 roslibrust_zenoh/src/lib.rs                | 76 +++++++++++++++++++++-
 6 files changed, 133 insertions(+), 19 deletions(-)
 create mode 100644 roslibrust_zenoh/examples/service_call.rs

diff --git a/Cargo.lock b/Cargo.lock
index 4b7d1a73..a8d8de81 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,6 +1,6 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
 
 [[package]]
 name = "abort-on-drop"
@@ -2523,7 +2523,9 @@ name = "roslibrust_zenoh"
 version = "0.1.0"
 dependencies = [
  "anyhow",
+ "env_logger 0.11.5",
  "hex",
+ "log",
  "roslibrust",
  "roslibrust_codegen",
  "roslibrust_codegen_macro",
diff --git a/roslibrust/examples/ros1_service_server.rs b/roslibrust/examples/ros1_service_server.rs
index 016f826f..abe9afec 100644
--- a/roslibrust/examples/ros1_service_server.rs
+++ b/roslibrust/examples/ros1_service_server.rs
@@ -13,7 +13,7 @@ async fn main() -> Result<(), anyhow::Error> {
         .init()
         .unwrap();
 
-    let nh = NodeHandle::new("http://localhost:11311", "service_server_rs").await?;
+    let nh = NodeHandle::new("http://127.0.0.1:11311", "service_server_rs").await?;
     log::info!("Connected!");
 
     // Because our service server can run from any thread at any time
@@ -37,7 +37,7 @@ async fn main() -> Result<(), anyhow::Error> {
 
     // Start our service running!
     let _handle = nh
-        .advertise_service::<std_srvs::SetBool, _>("~/my_set_bool", server_fn)
+        .advertise_service::<std_srvs::SetBool, _>("/my_set_bool", server_fn)
         .await?;
     info!("Service has started");
 
@@ -50,20 +50,20 @@ async fn main() -> Result<(), anyhow::Error> {
     // As long as _handle is kept alive our service will continue to run
 
     // For funsies we can also spawn a task to periodically call our service
-    let service_client = nh
-        .service_client::<std_srvs::SetBool>("~/my_set_bool")
-        .await?;
-    tokio::spawn(async move {
-        let mut bool = false;
-        loop {
-            bool = !bool;
-            service_client
-                .call(&std_srvs::SetBoolRequest { data: bool })
-                .await
-                .unwrap();
-            tokio::time::sleep(tokio::time::Duration::from_secs(2)).await;
-        }
-    });
+    // let service_client = nh
+    //     .service_client::<std_srvs::SetBool>("~/my_set_bool")
+    //     .await?;
+    // tokio::spawn(async move {
+    //     let mut bool = false;
+    //     loop {
+    //         bool = !bool;
+    //         service_client
+    //             .call(&std_srvs::SetBoolRequest { data: bool })
+    //             .await
+    //             .unwrap();
+    //         tokio::time::sleep(tokio::time::Duration::from_secs(2)).await;
+    //     }
+    // });
 
     // We can still access our shared state, we just have to do it safely
     loop {
diff --git a/roslibrust_zenoh/Cargo.toml b/roslibrust_zenoh/Cargo.toml
index 9c7e526f..e3b2c526 100644
--- a/roslibrust_zenoh/Cargo.toml
+++ b/roslibrust_zenoh/Cargo.toml
@@ -14,4 +14,7 @@ zenoh = "1.0"
 hex = "0.4"
 anyhow = "1.0"
 roslibrust_serde_rosmsg = "0.3"
+log = "0.4"
 
+[dev-dependencies]
+env_logger = "0.11"
diff --git a/roslibrust_zenoh/examples/publisher.rs b/roslibrust_zenoh/examples/publisher.rs
index 66ff56e9..781b8903 100644
--- a/roslibrust_zenoh/examples/publisher.rs
+++ b/roslibrust_zenoh/examples/publisher.rs
@@ -18,6 +18,10 @@ roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_in
 // Or run the subscriber example `cargo run --example subscriber`
 #[tokio::main]
 async fn main() {
+    // Setup a logger for debugging purposes
+    // use RUST_LOG=debug for more information if this doesn't work for you
+    env_logger::init();
+
     let session = zenoh::open(zenoh::Config::default()).await.unwrap();
     let client = ZenohClient::new(session);
 
diff --git a/roslibrust_zenoh/examples/service_call.rs b/roslibrust_zenoh/examples/service_call.rs
new file mode 100644
index 00000000..3c951726
--- /dev/null
+++ b/roslibrust_zenoh/examples/service_call.rs
@@ -0,0 +1,33 @@
+//! Purpose of this example is to show how to call a ROS1 service from a Zenoh client.
+
+// IMPORTANT to bring this trait into scope so we can access the functions it provides
+// [Service] is what allows us to actually access [call]
+use roslibrust::topic_provider::Service;
+
+// IMPORTANT to bring this trait into scope so we can access the functions it provides
+// [ServiceProvider] is what allows us to actually access .service_client()
+use roslibrust::topic_provider::ServiceProvider;
+
+use roslibrust_zenoh::ZenohClient;
+
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+
+#[tokio::main]
+async fn main() {
+    env_logger::init();
+
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
+    let client = ZenohClient::new(session);
+
+    let client = client
+        .service_client::<std_srvs::SetBool>("/my_set_bool")
+        .await
+        .unwrap();
+
+    let response = client
+        .call(&std_srvs::SetBoolRequest { data: true })
+        .await
+        .unwrap();
+
+    println!("Got response: {response:?}");
+}
diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
index de309fb0..1aa40e80 100644
--- a/roslibrust_zenoh/src/lib.rs
+++ b/roslibrust_zenoh/src/lib.rs
@@ -4,6 +4,8 @@ use roslibrust::topic_provider::{Publish, Service, ServiceProvider, Subscribe, T
 use roslibrust::{RosLibRustError, RosLibRustResult};
 use roslibrust_codegen::{RosMessageType, RosServiceType};
 
+use log::*;
+
 pub struct ZenohClient {
     session: zenoh::Session,
 }
@@ -136,12 +138,65 @@ fn mangle_topic(topic: &str, type_str: &str, md5sum: &str) -> String {
 }
 
 pub struct ZenohServiceClient<T: RosServiceType> {
+    session: zenoh::Session,
+    zenoh_query: String,
     _marker: std::marker::PhantomData<T>,
 }
 
 impl<T: RosServiceType> Service<T> for ZenohServiceClient<T> {
     async fn call(&self, request: &T::Request) -> RosLibRustResult<T::Response> {
-        todo!()
+        let request_bytes = roslibrust_serde_rosmsg::to_vec(request).map_err(|e| {
+            RosLibRustError::SerializationError(format!("Failed to serialize message: {e:?}"))
+        })?;
+        debug!("request bytes: {request_bytes:?}");
+
+        let query = match self
+            .session
+            .get(&self.zenoh_query)
+            .payload(&request_bytes[4..])
+            // .timeout(tokio::time::Duration::from_secs(1))
+            .await
+        {
+            Ok(query) => query,
+            Err(e) => {
+                // TODO errors still suck with this API...
+                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to create query for service: {e:?}"
+                )));
+            }
+        };
+
+        let response = match query.recv_async().await {
+            Ok(data) => data,
+            Err(e) => {
+                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to receive response from service: {e:?}"
+                )));
+            }
+        };
+
+        // TODO unclear why this is double failable in the API
+        let sample = match response.into_result() {
+            Ok(bytes) => bytes,
+            Err(e) => {
+                return Err(RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to receive sample from service: {e:?}"
+                )));
+            }
+        };
+
+        let bytes = sample.payload().to_bytes();
+
+        // This is messy roslibrust expects the starting bytes to be total message size
+        // which Zenoh or the bridge is stripping somewhere, so I'm just manually sticking them back for now
+        // This is very inefficient, but it works for now.
+        let starting_bytes = (bytes.len() as u32).to_le_bytes();
+        let bytes = [&starting_bytes, &bytes[..]].concat();
+
+        let msg = roslibrust_serde_rosmsg::from_slice(&bytes).map_err(|e| {
+            RosLibRustError::SerializationError(format!("Failed to deserialize sample: {e:?}"))
+        })?;
+        Ok(msg)
     }
 }
 
@@ -153,7 +208,13 @@ impl ServiceProvider for ZenohClient {
         &self,
         topic: &str,
     ) -> RosLibRustResult<Self::ServiceClient<T>> {
-        todo!()
+        let mangled_topic = mangle_topic(topic, T::ROS_SERVICE_NAME, T::MD5SUM);
+
+        Ok(ZenohServiceClient {
+            session: self.session.clone(),
+            zenoh_query: mangled_topic,
+            _marker: std::marker::PhantomData,
+        })
     }
 
     async fn advertise_service<
@@ -183,4 +244,15 @@ mod tests {
             "7374645f6d7367732f537472696e67/992ce8a1687cec8c8bd883ec73ca41d1/chatter"
         );
     }
+
+    #[test]
+    fn test_mangle_service() {
+        assert_eq!(
+            mangle_topic(
+                "/service_server_rs/my_set_bool",
+                "std_srvs/SetBool",
+                "09fb03525b03e7ea1fd3992bafd87e16"
+            ),
+            "7374645f737276732f536574426f6f6c/09fb03525b03e7ea1fd3992bafd87e16/service_server_rs/my_set_bool");
+    }
 }

From 7214d0c0c34925a3292830c61a3492baed0e8d06 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Tue, 3 Dec 2024 11:17:28 -0700
Subject: [PATCH 10/16] Got it working :(

---
 roslibrust/src/ros1/service_server.rs | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/roslibrust/src/ros1/service_server.rs b/roslibrust/src/ros1/service_server.rs
index 5abc3def..cd677aae 100644
--- a/roslibrust/src/ros1/service_server.rs
+++ b/roslibrust/src/ros1/service_server.rs
@@ -161,7 +161,10 @@ impl ServiceServerLink {
         debug!("Received service_request connection from {peer_addr} for {service_name}");
 
         let connection_header = match tcpros::receive_header(&mut stream).await {
-            Ok(header) => header,
+            Ok(header) => {
+                debug!("Received service request for {service_name} with header {header:?}");
+                header
+            }
             Err(e) => {
                 warn!("Communication error while handling service request connection for {service_name}, could not parse header: {e:?}");
                 // TODO returning here simply closes the socket? Should we respond with an error instead?
@@ -215,6 +218,11 @@ impl ServiceServerLink {
                     let full_response = [vec![1u8], response].concat();
 
                     stream.write_all(&full_response).await.unwrap();
+                    debug!("Wrote full service response for {service_name}");
+                    // Temporary change for testing with zenoh-ros1-bridge
+                    // THIS MAGICALLY MAKES IT WORK, THEIR CODE IS NOT "RECEIVING THE RESPONSE" UNTIL THE TCP SOCKET IS CLOSED!!
+                    stream.shutdown().await.unwrap();
+                    break;
                 }
                 Err(e) => {
                     warn!("Error from user service method for {service_name}: {e:?}");

From 7262ad684896c6124dccb0d4e12398f4ef18d721 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Tue, 3 Dec 2024 15:24:32 -0700
Subject: [PATCH 11/16] Working both ways zenoh services

---
 roslibrust_zenoh/examples/service_server.rs   |  47 ++++++
 .../examples/snoop_on_discovery.rs            |  16 ++
 roslibrust_zenoh/src/lib.rs                   | 138 +++++++++++++++++-
 3 files changed, 199 insertions(+), 2 deletions(-)
 create mode 100644 roslibrust_zenoh/examples/service_server.rs
 create mode 100644 roslibrust_zenoh/examples/snoop_on_discovery.rs

diff --git a/roslibrust_zenoh/examples/service_server.rs b/roslibrust_zenoh/examples/service_server.rs
new file mode 100644
index 00000000..f0879036
--- /dev/null
+++ b/roslibrust_zenoh/examples/service_server.rs
@@ -0,0 +1,47 @@
+//! Purpose of this example is to show how to host service visible to ROS1 from a Zenoh client.
+
+// IMPORTANT to bring this trait into scope so we can access the functions it provides
+// [ServiceProvider] is what allows us to actually access .service_client()
+use roslibrust::topic_provider::ServiceProvider;
+use roslibrust_zenoh::ZenohClient;
+
+// IMPORTANT this example will not work with the default zenoh-ros1-bridge settings!
+// It requires the flag `--client_bridging_mode auto` to be set when the bridge is started
+// Otherwise the service will not be advertised to ROS1 master.
+
+// Generate rust definitions for our messages
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+
+#[tokio::main]
+async fn main() {
+    // Setup a logger for debugging purposes
+    // Run this example with RUST_LOG=debug for more information if this doesn't work for you
+    env_logger::init();
+
+    // Create our zenoh client, depending on how you are running zenoh / the bridge you may
+    // need to pass specific configuration in here.
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
+    let client = ZenohClient::new(session);
+
+    // Service will remain alive until handle is dropped
+    let _handle = client
+        .advertise_service::<std_srvs::SetBool, _>(
+            "/my_set_bool",
+            |request: std_srvs::SetBoolRequest| {
+                log::info!("Got request to set bool: {request:?}");
+                Ok(std_srvs::SetBoolResponse {
+                    success: true,
+                    message: "You set my bool!".to_string(),
+                })
+            },
+        )
+        .await
+        .unwrap();
+
+    // Wait for ctrl_c to kill this process
+    tokio::signal::ctrl_c().await.unwrap();
+
+    // While this example is running:
+    // `rosservice list` should show /my_set_bool
+    // `rosservice call /my_set_bool "data: true"` should work
+}
diff --git a/roslibrust_zenoh/examples/snoop_on_discovery.rs b/roslibrust_zenoh/examples/snoop_on_discovery.rs
new file mode 100644
index 00000000..85ba9d68
--- /dev/null
+++ b/roslibrust_zenoh/examples/snoop_on_discovery.rs
@@ -0,0 +1,16 @@
+//! Not actually an example for this crate, just peeping on how discovery for zenoh-ros1-bridge works
+
+#[tokio::main]
+async fn main() {
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
+
+    let sub = session
+        .declare_subscriber("ros1_discovery_info/**")
+        .await
+        .unwrap();
+
+    loop {
+        let sample = sub.recv_async().await.unwrap();
+        println!("Got sample: {sample:?}");
+    }
+}
diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
index 1aa40e80..fe57286a 100644
--- a/roslibrust_zenoh/src/lib.rs
+++ b/roslibrust_zenoh/src/lib.rs
@@ -5,6 +5,8 @@ use roslibrust::{RosLibRustError, RosLibRustResult};
 use roslibrust_codegen::{RosMessageType, RosServiceType};
 
 use log::*;
+use tokio::select;
+use zenoh::bytes::ZBytes;
 
 pub struct ZenohClient {
     session: zenoh::Session,
@@ -137,6 +139,17 @@ fn mangle_topic(topic: &str, type_str: &str, md5sum: &str) -> String {
     format!("{type_str}/{md5sum}/{topic}")
 }
 
+/// Identical to mangle_topic, but for services we want to separate the datatype stuff from the service name
+fn mangle_service(service: &str, type_str: &str, md5sum: &str) -> (String, String) {
+    let service = service.trim_start_matches('/').trim_end_matches("/");
+
+    let type_str = hex::encode(type_str.as_bytes());
+    (
+        format!("{type_str}/{md5sum}"),
+        format!("{service}").to_string(),
+    )
+}
+
 pub struct ZenohServiceClient<T: RosServiceType> {
     session: zenoh::Session,
     zenoh_query: String,
@@ -200,9 +213,18 @@ impl<T: RosServiceType> Service<T> for ZenohServiceClient<T> {
     }
 }
 
+/// The "holder type" returned when advertising a service
+/// Dropping this will stop the service server
+pub struct ZenohServiceServer {
+    // Dropping this will stop zenoh's declaration of the queryable
+    _queryable: zenoh::query::Queryable<()>,
+    // Dropping this will stop the advertising of the service
+    _shutdown_channel: tokio::sync::oneshot::Sender<()>,
+}
+
 impl ServiceProvider for ZenohClient {
     type ServiceClient<T: RosServiceType> = ZenohServiceClient<T>;
-    type ServiceServer = ();
+    type ServiceServer = ZenohServiceServer;
 
     async fn service_client<T: roslibrust_codegen::RosServiceType + 'static>(
         &self,
@@ -225,7 +247,119 @@ impl ServiceProvider for ZenohClient {
         topic: &str,
         server: F,
     ) -> RosLibRustResult<Self::ServiceServer> {
-        todo!()
+        let mangled_topic = mangle_topic(topic, T::ROS_SERVICE_NAME, T::MD5SUM);
+
+        let (tx, mut rx) = tokio::sync::mpsc::unbounded_channel();
+        let (shutdown_tx, mut shutdown_rx) = tokio::sync::oneshot::channel();
+
+        let x = self
+            .session
+            .declare_queryable(mangled_topic)
+            .callback(move |query| {
+                let _ = tx.send(query).map_err(|e| {
+                    error!("Failed to send query: {e:?}");
+                });
+            })
+            .await
+            .map_err(|e| {
+                RosLibRustError::Unexpected(anyhow::anyhow!("Failed to declare queryable: {e:?}"))
+            })?;
+
+        // Spawn a task to handle the queries
+        // This task will shut down when queryable is dropped
+        tokio::spawn(async move {
+            while let Some(query) = rx.recv().await {
+                debug!("Got query: {query:?}");
+                let Some(payload) = query.payload() else {
+                    error!("Received a query with no payload for a ros0 service {query:?}");
+                    continue;
+                };
+                let bytes = payload.to_bytes();
+                debug!("Got bytes: {bytes:?}");
+                // TODO MAJOR HACK HERE STILL
+                // Our deserialization still expects the first four bytes to be the total message size
+                // So we're just going to manually add the bytes back in
+                let starting_bytes = (bytes.len() as u32).to_le_bytes();
+                let bytes = [&starting_bytes, &bytes[..]].concat();
+
+                let Ok(request) = roslibrust_serde_rosmsg::from_slice(&bytes).map_err(|e| {
+                    error!("Failed to deserialize request: {e:?}");
+                }) else {
+                    continue;
+                };
+
+                let Ok(response) = server(request).map_err(|e| {
+                    error!("Failed to handle request: {e:?}");
+                }) else {
+                    continue;
+                };
+
+                let Ok(response_bytes) = roslibrust_serde_rosmsg::to_vec(&response).map_err(|e| {
+                    error!("Failed to serialize response: {e:?}");
+                }) else {
+                    continue;
+                };
+
+                // TODO HACK HERE STILL
+                // Zenoh doesn't want the first four bytes that are the overall message size:
+                let response_bytes = &response_bytes[4..];
+
+                let _ = query
+                    .reply(query.key_expr(), response_bytes)
+                    .await
+                    .map_err(|e| {
+                        error!("Failed to reply to query: {e:?}");
+                    });
+            }
+        });
+        // zenoh-ros1-bridge won't serve our service without us publishing info on 'ros1_discovery_info'
+        // We don't have to worry about this for publishers, because zenoh will initiate the bridge whenever someone subscribes on the ros side.
+        // For service, zenoh-ros1-bridge has to create the service before anyone can call it so it has to know that it needs to do that.
+        // This is a bit of a brittle implementation as it relies on internal implementation details for zenoh-ros1-bridge, but it works for now.
+        // See: https://github.com/eclipse-zenoh/zenoh-plugin-ros1/blob/main/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/discovery.rs
+
+        // Note: I'm uncertain about "discovery_namespace" and just using * for now
+        // Note: I'm uncertain about "bridge_namespace" and just using * for now
+        let (type_mangle, service_name) = mangle_service(topic, T::ROS_SERVICE_NAME, T::MD5SUM);
+        let zenoh_info_topic = format!("ros1_discovery_info/*/srv/{type_mangle}/*/{service_name}");
+
+        let q2 = self
+            .session
+            .declare_publisher(zenoh_info_topic)
+            .await
+            .map_err(|e| {
+                RosLibRustError::Unexpected(anyhow::anyhow!(
+                    "Failed to declare queryable for service discovery: {e:?}"
+                ))
+            })?;
+        tokio::spawn(async move {
+            let mut interval = tokio::time::interval(std::time::Duration::from_secs(1));
+            loop {
+                let shutdown = shutdown_rx.try_recv();
+                match shutdown {
+                    Ok(_) => {
+                        break;
+                    }
+                    Err(tokio::sync::oneshot::error::TryRecvError::Empty) => {
+                        // Continue no shutdown yet
+                    }
+                    Err(tokio::sync::oneshot::error::TryRecvError::Closed) => {
+                        break;
+                    }
+                }
+                // Send an empty message to the discovery topic
+                let res = q2.put(ZBytes::default()).await;
+                if let Err(e) = res {
+                    error!("Failed to publish service discovery info: {e:?}");
+                }
+                interval.tick().await;
+            }
+        });
+
+        Ok(ZenohServiceServer {
+            _queryable: x,
+            _shutdown_channel: shutdown_tx,
+        })
     }
 }
 

From 032254b4a521ec26c2e1ff9f77aba99996d8d236 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Tue, 3 Dec 2024 15:54:50 -0700
Subject: [PATCH 12/16] Removed temprorary line not needed now that main fix
 was merged to master

---
 roslibrust/src/ros1/service_server.rs | 4 ----
 roslibrust/src/ros1/tcpros.rs         | 1 +
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/roslibrust/src/ros1/service_server.rs b/roslibrust/src/ros1/service_server.rs
index c20880f2..affa6394 100644
--- a/roslibrust/src/ros1/service_server.rs
+++ b/roslibrust/src/ros1/service_server.rs
@@ -217,10 +217,6 @@ impl ServiceServerLink {
 
                     stream.write_all(&full_response).await.unwrap();
                     debug!("Wrote full service response for {service_name}");
-                    // Temporary change for testing with zenoh-ros1-bridge
-                    // THIS MAGICALLY MAKES IT WORK, THEIR CODE IS NOT "RECEIVING THE RESPONSE" UNTIL THE TCP SOCKET IS CLOSED!!
-                    stream.shutdown().await.unwrap();
-                    break;
                 }
                 Err(e) => {
                     warn!("Error from user service method for {service_name}: {e:?}");
diff --git a/roslibrust/src/ros1/tcpros.rs b/roslibrust/src/ros1/tcpros.rs
index c95dc99e..a4379ece 100644
--- a/roslibrust/src/ros1/tcpros.rs
+++ b/roslibrust/src/ros1/tcpros.rs
@@ -212,6 +212,7 @@ pub async fn establish_connection(
 
     // Write our own connection header to the stream
     let conn_header_bytes = conn_header.to_bytes(true)?;
+    trace!("Sending connection header to server {server_uri} for topic {topic_name}: {conn_header:?}");
     stream.write_all(&conn_header_bytes[..]).await?;
 
     // Recieve the header from the server

From b828b8683b708aae1feb59a6a8fa0f14c0620d3d Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Tue, 3 Dec 2024 15:55:00 -0700
Subject: [PATCH 13/16] Removed temprorary line not needed now that main fix
 was merged to master

---
 roslibrust/src/ros1/tcpros.rs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/roslibrust/src/ros1/tcpros.rs b/roslibrust/src/ros1/tcpros.rs
index a4379ece..5075a3bf 100644
--- a/roslibrust/src/ros1/tcpros.rs
+++ b/roslibrust/src/ros1/tcpros.rs
@@ -212,7 +212,9 @@ pub async fn establish_connection(
 
     // Write our own connection header to the stream
     let conn_header_bytes = conn_header.to_bytes(true)?;
-    trace!("Sending connection header to server {server_uri} for topic {topic_name}: {conn_header:?}");
+    trace!(
+        "Sending connection header to server {server_uri} for topic {topic_name}: {conn_header:?}"
+    );
     stream.write_all(&conn_header_bytes[..]).await?;
 
     // Recieve the header from the server

From d06e59bbd74363b289dd3bfeecf962f15aae966d Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Tue, 3 Dec 2024 16:06:44 -0700
Subject: [PATCH 14/16] remove unused include

---
 roslibrust_zenoh/src/lib.rs | 1 -
 1 file changed, 1 deletion(-)

diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
index fe57286a..523cdaee 100644
--- a/roslibrust_zenoh/src/lib.rs
+++ b/roslibrust_zenoh/src/lib.rs
@@ -5,7 +5,6 @@ use roslibrust::{RosLibRustError, RosLibRustResult};
 use roslibrust_codegen::{RosMessageType, RosServiceType};
 
 use log::*;
-use tokio::select;
 use zenoh::bytes::ZBytes;
 
 pub struct ZenohClient {

From db0b43d21d236e30e1e35812ca4d5a4f76c5226a Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Wed, 4 Dec 2024 09:25:25 -0700
Subject: [PATCH 15/16] Cleanups

---
 roslibrust/examples/ros1_service_server.rs | 32 +++++++++++-----------
 roslibrust_zenoh/Cargo.toml                |  8 ++++--
 roslibrust_zenoh/examples/service_call.rs  | 10 +++++++
 3 files changed, 32 insertions(+), 18 deletions(-)

diff --git a/roslibrust/examples/ros1_service_server.rs b/roslibrust/examples/ros1_service_server.rs
index abe9afec..016f826f 100644
--- a/roslibrust/examples/ros1_service_server.rs
+++ b/roslibrust/examples/ros1_service_server.rs
@@ -13,7 +13,7 @@ async fn main() -> Result<(), anyhow::Error> {
         .init()
         .unwrap();
 
-    let nh = NodeHandle::new("http://127.0.0.1:11311", "service_server_rs").await?;
+    let nh = NodeHandle::new("http://localhost:11311", "service_server_rs").await?;
     log::info!("Connected!");
 
     // Because our service server can run from any thread at any time
@@ -37,7 +37,7 @@ async fn main() -> Result<(), anyhow::Error> {
 
     // Start our service running!
     let _handle = nh
-        .advertise_service::<std_srvs::SetBool, _>("/my_set_bool", server_fn)
+        .advertise_service::<std_srvs::SetBool, _>("~/my_set_bool", server_fn)
         .await?;
     info!("Service has started");
 
@@ -50,20 +50,20 @@ async fn main() -> Result<(), anyhow::Error> {
     // As long as _handle is kept alive our service will continue to run
 
     // For funsies we can also spawn a task to periodically call our service
-    // let service_client = nh
-    //     .service_client::<std_srvs::SetBool>("~/my_set_bool")
-    //     .await?;
-    // tokio::spawn(async move {
-    //     let mut bool = false;
-    //     loop {
-    //         bool = !bool;
-    //         service_client
-    //             .call(&std_srvs::SetBoolRequest { data: bool })
-    //             .await
-    //             .unwrap();
-    //         tokio::time::sleep(tokio::time::Duration::from_secs(2)).await;
-    //     }
-    // });
+    let service_client = nh
+        .service_client::<std_srvs::SetBool>("~/my_set_bool")
+        .await?;
+    tokio::spawn(async move {
+        let mut bool = false;
+        loop {
+            bool = !bool;
+            service_client
+                .call(&std_srvs::SetBoolRequest { data: bool })
+                .await
+                .unwrap();
+            tokio::time::sleep(tokio::time::Duration::from_secs(2)).await;
+        }
+    });
 
     // We can still access our shared state, we just have to do it safely
     loop {
diff --git a/roslibrust_zenoh/Cargo.toml b/roslibrust_zenoh/Cargo.toml
index e3b2c526..53d1e431 100644
--- a/roslibrust_zenoh/Cargo.toml
+++ b/roslibrust_zenoh/Cargo.toml
@@ -7,9 +7,11 @@ edition = "2021"
 
 [dependencies]
 tokio = { version = "1.41", features = ["rt-multi-thread", "sync", "macros"] }
-roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro" }
-roslibrust_codegen = { path = "../roslibrust_codegen" }
+# We currently need to depend on these crates for trait information
+# I think we should move topic_provider and the generic message traits into their own crate
+# Then more things can work with them generically with less compile time dependencies
 roslibrust = { path = "../roslibrust", features = ["topic_provider"] }
+roslibrust_codegen = { path = "../roslibrust_codegen" }
 zenoh = "1.0"
 hex = "0.4"
 anyhow = "1.0"
@@ -18,3 +20,5 @@ log = "0.4"
 
 [dev-dependencies]
 env_logger = "0.11"
+# Used to generate message types for the examples
+roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro" }
diff --git a/roslibrust_zenoh/examples/service_call.rs b/roslibrust_zenoh/examples/service_call.rs
index 3c951726..e40b97e6 100644
--- a/roslibrust_zenoh/examples/service_call.rs
+++ b/roslibrust_zenoh/examples/service_call.rs
@@ -8,22 +8,32 @@ use roslibrust::topic_provider::Service;
 // [ServiceProvider] is what allows us to actually access .service_client()
 use roslibrust::topic_provider::ServiceProvider;
 
+// Bring our client type into scope
 use roslibrust_zenoh::ZenohClient;
 
+// Generate rust definitions for our messages compatible with roslibrust
 roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
 
 #[tokio::main]
 async fn main() {
+    // Initialize a logger for debug information while running the example.
+    // Setting the RUST_LOG environment variable can be used to get debug
+    // information if you have issues with this example.
     env_logger::init();
 
+    // Start a zenoh session, depending on how you are running zenoh / the bridge you may
+    // need to pass specific configuration into zenoh::open().
     let session = zenoh::open(zenoh::Config::default()).await.unwrap();
+    // Wrap the zenoh session into a roslibrust client
     let client = ZenohClient::new(session);
 
+    // Create a service client we'll use to call the service
     let client = client
         .service_client::<std_srvs::SetBool>("/my_set_bool")
         .await
         .unwrap();
 
+    // Actually makes the call, sending in the request data, and getting back the response
     let response = client
         .call(&std_srvs::SetBoolRequest { data: true })
         .await

From 13f9ecd05e3780618d289b5cdb83bab73a80e317 Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Wed, 4 Dec 2024 11:46:01 -0700
Subject: [PATCH 16/16] Move to updated version of roslibrust_serde_rosmsg so
 that we can avoid a lot of byte shuffling

---
 Cargo.lock                  |  5 ++-
 roslibrust/Cargo.toml       |  2 +-
 roslibrust_zenoh/Cargo.toml |  2 +-
 roslibrust_zenoh/src/lib.rs | 71 +++++++++++++++----------------------
 4 files changed, 33 insertions(+), 47 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index a8d8de81..ea02e785 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2493,14 +2493,13 @@ dependencies = [
 
 [[package]]
 name = "roslibrust_serde_rosmsg"
-version = "0.3.0"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee7ea0fc21625dd94a69e126b9f2c1eab4b60dd80a6abf3e0a3e284f9d648586"
+checksum = "dfcb4a6411b4969947dd4fcc23488c4fd7e2e3c180c8d167bece0661df5c0fae"
 dependencies = [
  "byteorder",
  "error-chain",
  "serde",
- "serde_derive",
 ]
 
 [[package]]
diff --git a/roslibrust/Cargo.toml b/roslibrust/Cargo.toml
index b8810433..7bc8db04 100644
--- a/roslibrust/Cargo.toml
+++ b/roslibrust/Cargo.toml
@@ -38,7 +38,7 @@ roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro", version = "0.
 roslibrust_codegen = { path = "../roslibrust_codegen", version = "0.11.1" }
 reqwest = { version = "0.11", optional = true } # Only used with native ros1
 serde_xmlrpc = { version = "0.2", optional = true } # Only used with native ros1
-roslibrust_serde_rosmsg = { version = "0.3", optional = true } # Only used with native ros1
+roslibrust_serde_rosmsg = { version = "0.4", optional = true } # Only used with native ros1
 hyper = { version = "0.14", features = [
     "server",
 ], optional = true } # Only used with native ros1
diff --git a/roslibrust_zenoh/Cargo.toml b/roslibrust_zenoh/Cargo.toml
index 53d1e431..729b2f90 100644
--- a/roslibrust_zenoh/Cargo.toml
+++ b/roslibrust_zenoh/Cargo.toml
@@ -15,7 +15,7 @@ roslibrust_codegen = { path = "../roslibrust_codegen" }
 zenoh = "1.0"
 hex = "0.4"
 anyhow = "1.0"
-roslibrust_serde_rosmsg = "0.3"
+roslibrust_serde_rosmsg = "0.4"
 log = "0.4"
 
 [dev-dependencies]
diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
index 523cdaee..64ad1ac0 100644
--- a/roslibrust_zenoh/src/lib.rs
+++ b/roslibrust_zenoh/src/lib.rs
@@ -25,13 +25,11 @@ pub struct ZenohPublisher<T> {
 
 impl<T: RosMessageType> Publish<T> for ZenohPublisher<T> {
     async fn publish(&self, data: &T) -> RosLibRustResult<()> {
-        let bytes = roslibrust_serde_rosmsg::to_vec(data).map_err(|e| {
+        let bytes = roslibrust_serde_rosmsg::to_vec_skip_length(data).map_err(|e| {
             RosLibRustError::SerializationError(format!("Failed to serialize message: {e:?}"))
         })?;
 
-        // Note: serde_rosmsg places the length of the message as the first four bytes
-        // Which zenoh ros1 bridge does not expect, so we need to strip it off.
-        match self.publisher.put(&bytes[4..]).await {
+        match self.publisher.put(&bytes).await {
             Ok(()) => Ok(()),
             Err(e) => Err(RosLibRustError::Unexpected(anyhow::anyhow!(
                 "Failed to publish message to zenoh: {e:?}"
@@ -63,16 +61,12 @@ impl<T: RosMessageType> Subscribe<T> for ZenohSubscriber<T> {
         };
 
         let bytes = sample.payload().to_bytes();
-
-        // This is messy roslibrust expects the starting bytes to be total message size
-        // which Zenoh or the bridge is stripping somewhere, so I'm just manually sticking them back for now
-        // This is very inefficient, but it works for now.
-        let starting_bytes = (bytes.len() as u32).to_le_bytes();
-        let bytes = [&starting_bytes, &bytes[..]].concat();
-
-        let msg = roslibrust_serde_rosmsg::from_slice(&bytes).map_err(|e| {
-            RosLibRustError::SerializationError(format!("Failed to deserialize sample: {e:?}"))
-        })?;
+        // Note: Zenoh decided to not make the 4 byte length header part of the payload
+        // So we use the known length version of the deserialization
+        let msg = roslibrust_serde_rosmsg::from_slice_known_length(&bytes, bytes.len() as u32)
+            .map_err(|e| {
+                RosLibRustError::SerializationError(format!("Failed to deserialize sample: {e:?}"))
+            })?;
         Ok(msg)
     }
 }
@@ -157,7 +151,8 @@ pub struct ZenohServiceClient<T: RosServiceType> {
 
 impl<T: RosServiceType> Service<T> for ZenohServiceClient<T> {
     async fn call(&self, request: &T::Request) -> RosLibRustResult<T::Response> {
-        let request_bytes = roslibrust_serde_rosmsg::to_vec(request).map_err(|e| {
+        // Note: Zenoh decided the 4 byte length header is not part of the payload
+        let request_bytes = roslibrust_serde_rosmsg::to_vec_skip_length(request).map_err(|e| {
             RosLibRustError::SerializationError(format!("Failed to serialize message: {e:?}"))
         })?;
         debug!("request bytes: {request_bytes:?}");
@@ -165,8 +160,7 @@ impl<T: RosServiceType> Service<T> for ZenohServiceClient<T> {
         let query = match self
             .session
             .get(&self.zenoh_query)
-            .payload(&request_bytes[4..])
-            // .timeout(tokio::time::Duration::from_secs(1))
+            .payload(&request_bytes)
             .await
         {
             Ok(query) => query,
@@ -199,15 +193,11 @@ impl<T: RosServiceType> Service<T> for ZenohServiceClient<T> {
 
         let bytes = sample.payload().to_bytes();
 
-        // This is messy roslibrust expects the starting bytes to be total message size
-        // which Zenoh or the bridge is stripping somewhere, so I'm just manually sticking them back for now
-        // This is very inefficient, but it works for now.
-        let starting_bytes = (bytes.len() as u32).to_le_bytes();
-        let bytes = [&starting_bytes, &bytes[..]].concat();
-
-        let msg = roslibrust_serde_rosmsg::from_slice(&bytes).map_err(|e| {
-            RosLibRustError::SerializationError(format!("Failed to deserialize sample: {e:?}"))
-        })?;
+        // Note: Zenoh decided to not make the 4 byte length header part of the payload
+        let msg = roslibrust_serde_rosmsg::from_slice_known_length(&bytes, bytes.len() as u32)
+            .map_err(|e| {
+                RosLibRustError::SerializationError(format!("Failed to deserialize sample: {e:?}"))
+            })?;
         Ok(msg)
     }
 }
@@ -275,15 +265,14 @@ impl ServiceProvider for ZenohClient {
                 };
                 let bytes = payload.to_bytes();
                 debug!("Got bytes: {bytes:?}");
-                // TODO MAJOR HACK HERE STILL
-                // Our deserialization still expects the first four bytes to be the total message size
-                // So we're just going to manually add the bytes back in
-                let starting_bytes = (bytes.len() as u32).to_le_bytes();
-                let bytes = [&starting_bytes, &bytes[..]].concat();
-
-                let Ok(request) = roslibrust_serde_rosmsg::from_slice(&bytes).map_err(|e| {
-                    error!("Failed to deserialize request: {e:?}");
-                }) else {
+
+                // Note: Zenoh decided the 4 byte length header is not part of the payload
+                let Ok(request) =
+                    roslibrust_serde_rosmsg::from_slice_known_length(&bytes, bytes.len() as u32)
+                        .map_err(|e| {
+                            error!("Failed to deserialize request: {e:?}");
+                        })
+                else {
                     continue;
                 };
 
@@ -293,16 +282,14 @@ impl ServiceProvider for ZenohClient {
                     continue;
                 };
 
-                let Ok(response_bytes) = roslibrust_serde_rosmsg::to_vec(&response).map_err(|e| {
-                    error!("Failed to serialize response: {e:?}");
-                }) else {
+                let Ok(response_bytes) = roslibrust_serde_rosmsg::to_vec_skip_length(&response)
+                    .map_err(|e| {
+                        error!("Failed to serialize response: {e:?}");
+                    })
+                else {
                     continue;
                 };
 
-                // TODO HACK HERE STILL
-                // Zenoh doesn't want the first four bytes that are the overall message size:
-                let response_bytes = &response_bytes[4..];
-
                 let _ = query
                     .reply(query.key_expr(), response_bytes)
                     .await