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Martin Dahl 2019-08-26 13:48:28 +02:00
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R2R - Minimal ROS2 Rust bindings
=============
Minimal bindings for ROS2 that does *not* require hooking in to the ROS2 build infrastructure. If you want a more ROS-oriented approach, see <https://github.com/ros2-rust/ros2_rust>. In these bindings, convenience Rust types are created by calling into the c introspection libraries to circumvent the .msg/.idl pipeline. The convenience types can of course be ignored when you need to trade convenience for performance, e.g. treating large chunks of data manually.
Minimal bindings for ROS2 that does *not* require hooking in to the ROS2 build infrastructure. If you want a more ROS-oriented approach, see <https://github.com/ros2-rust/ros2_rust>. In these bindings, convenience Rust types are created by calling into the c introspection libraries to circumvent the .msg/.idl pipeline. The convenience types can be ignored when you need to trade convenience for performance, e.g. treating large chunks of data manually.
How to use
------------
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cargo build
cargo run --example subscriber_with_thread
```
In order to avoid building everything, put the message types you need in `msgs.txt` before building. (Or just `ros2 msg list > msgs.txt`).
In order to avoid building everything, put the message types you need in `msgs.txt` before building. (Or just `ros2 msg list > msgs.txt` if you want everything).
What works?
--------
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TODO
------------
- The code generation is currently just a big hack. Needs cleanup and refactoring.
- There is no proper abstractions for nodes etc. Reuse/share with <https://github.com/ros2-rust/ros2_rust>?
- Implement error handling and cleanup code.
- Implement error handling. Now all methods just return Err(()).
- Expose more of the RCL.