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Martin Dahl 2021-05-07 08:17:20 +02:00
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R2R - Minimal ROS2 Rust bindings
====================
Minimal bindings for ROS2 that do *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.
Minimal bindings for ROS2 that do *not* require hooking in to the ROS2 build infrastructure -- `cargo build` is all you need. Convenience Rust types are created by calling into the c introspection libraries. This circumvents the ROS2 .msg/.idl pipeline by relying on already generated C code. The convenience types can be ignored when you need to trade convenience for performance, e.g. treating large chunks of data manually. By default, the behavior is to build bindings to the RCL and all message types that can be found in the currently sourced ros environment.
When integration with other ROS2 software is desired, instead of the default mode of r2r, which is to build bindings to RCL and messages depending on what is currently sourced, a CMakeLists.txt file can be used to limit the binding to only include specific dependencies. This is done through additional environment variables. See the minimal example at <https://github.com/m-dahl/r2r_minimal_node/>.
When integration with the colcon build system is desired, a CMakeLists.txt file can be used to limit the generation of bindings to only include specific (idl) dependencies. This is done through additional environment variables. A minimal example is available here: <https://github.com/m-dahl/r2r_minimal_node/>.
Manual is available on github pages <https://sequenceplanner.github.io/r2r/>