Several fixes to make it work as a drop in replacement for roscore

.cargo/config.toml

@@ -0,0 +1,2 @@
+[target.aarch64-unknown-linux-gnu]
+linker = "aarch64-linux-gnu-gcc"

Cargo.toml

@@ -12,14 +12,22 @@ keywords = ["ros", "rosrust", "roscore", "robotics"]
 categories = ["science::robotics"]
 
 [dependencies]
-dxr = { version = "0.5.3", features = ["server", "server-axum"] }
+dxr = { version = "0.6.3" }
+dxr_server = { version = "0.6.3", features = ["axum", "multicall"] }
+dxr_client = { version = "0.6.3", default-features = false, features = [
+    "reqwest",
+    "rustls-tls" # Use rustls instead of openssl for easier cross-compilation
+] }
 anyhow = "1.0.69"
 log = "0.4.17"
 env_logger = "0.10.0"
 chrono = "0.4.24"
 paste = "1.0.12"
 tokio = { version = "1", features = ["macros", "rt-multi-thread"]}
 url = "2.3.1"
+maplit = "1.0.2"
+futures = "0.3.30"
+uuid = { version = "1.10.0", features = ["v1", "rng"] }
 
 [dev-dependencies]
 rosrust = "0.9"

README.md

@@ -71,3 +71,12 @@ necessary to use this script to use the standalone implementation on its own.
 We welcome contributions to this project! If you find a bug or have a feature
 request, please create an issue on the GitHub repository. If you want to
 contribute code, feel free to submit a pull request.
+
+
+## Cross-compilation to arm64
+```bash
+apt install libssl-dev:arm64
+export AARCH64_UNKNOWN_LINUX_GNU_OPENSSL_LIB_DIR=/usr/lib/aarch64-linux-gnu/
+export AARCH64_UNKNOWN_LINUX_GNU_OPENSSL_INCLUDE_DIR=/usr/include/aarch64-linux-gnu/
+cargo build --target aarch64-unknown-linux-gnu --release
+```

src/client_api.rs

@@ -1,5 +1,5 @@
-use dxr::client::{Call, Client, ClientBuilder, Url};
 use dxr::Value;
+use dxr_client::{Call, Client, ClientBuilder, Url};
 
 pub struct ClientApi {
     client: Client,
@@ -42,8 +42,8 @@ impl ClientApi {
         publisher_apis: &Vec<String>,
     ) -> anyhow::Result<()> {
         let request = Call::new("publisherUpdate", (caller_id, topic, publisher_apis));
-        let result = self.client.call(request).await;
-        result
+        let result = self.client.call::<_, ()>(request).await;
+        Ok(result?)
     }
 
     /// Sends a "paramUpdate" request to the ROS node.
@@ -65,6 +65,6 @@ impl ClientApi {
     ) -> anyhow::Result<()> {
         let request = Call::new("paramUpdate", (caller_id, key, value));
         let result = self.client.call(request).await;
-        result
+        Ok(result?)
     }
 }