Use colcon plugins

README.md

@@ -29,13 +29,34 @@ The `r2r_cargo` function requires cmake version 3.21 or newer, but
 ubuntu 20.04 ships with cmake 3.16.3. You can update to a newer cmake
 version by adding the kitware apt repo: <https://apt.kitware.com>.
 
+## Building using the Rust plugins for the ROS buildtools.
+It is also possible to build using the Rust plugins for the ROS buildtools.
+
+To install the Rust plugins for the ROS buildtools:
+```sh
+cargo install --debug cargo-ament-build
+pip install git+https://github.com/colcon/colcon-cargo.git
+pip install git+https://github.com/colcon/colcon-ros-cargo.git
+```
+
+`r2r_minimal_node_colcon_plugin` is configured to be built using the rust plugins. To only build one version of the minimal node package, this directory has a `COLCON_IGNORE` file in it. Move it to `r2r_minimal_node` to skip that package instead.
+
+```sh
+mkdir src
+cd src
+git clone [this repo]
+mv r2r_minimal_node_colcon_plugin/COLCON_IGNORE r2r_minimal_node/
+cd ..
+colcon build --clean-build --cargo-args --release
+```
+
 ## Building using only cargo
 
 Another option is to build the message package first, then sourcing the resulting workspace. When `r2r_minimal_node_msgs` is sourced, the r2r build script will automatically pick up the custom messages (it defaults to building everything).
 
 To avoid building everything, it is possible to declare only the messages needed using the environment variable `IDL_PACKAGE_FILTER`. Setting this can be done in `.cargo/config.toml` for convenience, e.g. <https://github.com/m-dahl/r2r_minimal_node/blob/master/r2r_minimal_node/.cargo/config.toml>
 
-``` sh
+```sh
 mkdir src
 cd src
 git clone [this repo]

r2r_minimal_node_colcon_plugin/.cargo/config.toml

@@ -0,0 +1,3 @@
+# Example of how to do idl package filtering.
+[env]
+IDL_PACKAGE_FILTER = { value = "std_msgs;r2r_minimal_node_msgs" }