Fix build instructions and ROS1 code

Author: modulrmike

Cargo.toml

@@ -16,6 +16,8 @@ gstreamer = "0.24.2"
 gstreamer-app = "0.24.2"
 bytes = "1.10.1"
 thiserror = "2.0.17"
+env_logger = "0.11.8"
+log = "0.4.28"
 
 # ROS 1 dependencies
 rosrust = { version = "0.9.12", optional = true }
@@ -26,8 +28,6 @@ rclrs = { version = "*", optional = true }
 geometry_msgs = { version = "*", optional = true }
 sensor_msgs = { version = "*", optional = true }
 std_msgs = { version = "*", optional = true }
-env_logger = "0.11.8"
-log = "0.4.28"
 
 [features]
 default = ["ros2"]

README.md

@@ -21,20 +21,21 @@ Finally, ROS is required. ROS 1 and ROS 2 are both supported.
 
 Follow the installation instructions here: https://wiki.ros.org/noetic/Installation/Ubuntu
 
+Unfortunately, dependency management is difficult with this package due to its dependency on `ros2rust`, which requires the packages to be built locally. To make this package easier to compile, open `Cargo.toml` and remove the `ros2` feature and the dependencies listed for ROS 2. Also set the default features to ros1.
+
 Then, build the package by running:
 
 ```bash
-cargo build --features ros1 --no-default-features
+source /opt/ros/noetic/setup.bash
+cargo build
 ```
 
 You can run the package with logging enabled using:
 
 ```bash
-RUST_LOG=debug cargo run --features ros1 --no-default-features
+RUST_LOG=debug cargo run
 ```
 
-*Alternatively, edit the Cargo.toml file such that ros1 is the default feature, then run without any of the --features or --no-default-features flags.*
-
 ## ROS 2
 
 Follow the installation instructions here: https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html

src/ros_bridge/ros1_bridge.rs

@@ -3,7 +3,6 @@ use std::sync::{Arc, Mutex};
 use bytes::Bytes;
 use log::{debug, error};
 use rosrust::{Publisher, Subscriber};
-use std::pin::Pin;
 use tokio::sync::mpsc;
 
 use crate::{
@@ -13,7 +12,7 @@ use crate::{
 
 pub struct RosBridge {
     _image_sub: Subscriber,
-    image_listeners: Arc<Mutex<Vec<RosBridgeOnFrameCallback>>>,
+    image_listeners: Arc<Mutex<Vec<OnCameraImageHdlrFn>>>,
     mvmt_pub: Publisher<rosrust_msg::geometry_msgs::Twist>,
 }
 
@@ -25,7 +24,6 @@ impl RosBridge {
 
         let (tx, mut rx) = mpsc::channel::<Bytes>(10);
 
-        let listeners_clone = Arc::clone(image_listeners);
         let image_sub = rosrust::subscribe(
             "/camera/image_raw",
             1,