Undoing a lot of the sins committed while debugging

.github/workflows/noetic.yml

@@ -39,6 +39,4 @@ jobs:
       - name: Start rosbridge
         run: source /opt/ros/noetic/setup.bash; roslaunch rosbridge_server rosbridge_websocket.launch & disown; rosrun rosapi rosapi_node & sleep 1
       - name: Integration Tests
-        run: source /root/.cargo/env; cargo test --features ros1_test,ros1,running_bridge -- --test-threads 1
-      - name: Ros1 Evil Integration Tests # Added because these specific tests were flaky in CI and trying to get more info
-        run: source /root/.cargo/env; cargo test --features ros1_test,ros1 -- --ignored
+        run: source /root/.cargo/env; cargo test --features ros1_test,ros1,running_bridge -- --test-threads 1

roslibrust/src/lib.rs

@@ -33,12 +33,12 @@
 //!
 //! ## Message Generation
 //! Message generation is provided in two APIs. The first, which is visible in `roslibrust/examples`, is a proc-macro which can be invoked to generate ROS message structs in place:
-//! ```compile_fail
+//! ```ignore
 //! use roslibrust_codegen_macro::find_and_generate_ros_messages;
 //! find_and_generate_ros_messages!();
 //! ```
 //! If you have ROS installed, this macro will search for message files under paths in the `ROS_PACKAGE_PATH`. If you do not have ROS installed in your environment, you can specify search paths explicitly:
-//! ```compile_fail
+//! ```ignore
 //! use roslibrust_codegen_macro::find_and_generate_ros_messages;
 //! find_and_generate_ros_messages!("/path/to/noetic/packages", "/path/to/my/packages");
 //! ```
@@ -101,6 +101,9 @@
 mod rosbridge;
 pub use rosbridge::*;
 
+#[cfg(feature = "rosapi")]
+pub mod rosapi;
+
 #[cfg(feature = "ros1")]
 mod ros1;
 #[cfg(feature = "ros1")]

roslibrust/src/ros1/node.rs

@@ -345,7 +345,7 @@ impl Node {
                 );
             }
             NodeMsg::SetPeerPublishers { topic, publishers } => {
-                if let Some(mut subscription) = self.subscriptions.get_mut(&topic) {
+                if let Some(subscription) = self.subscriptions.get_mut(&topic) {
                     for publisher_uri in publishers {
                         if let Err(err) = subscription.add_publisher_source(&publisher_uri).await {
                             log::error!(