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 . 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. How to use ------------ You need to source your ROS2 installation before building/running. A couple of examples are included in examples/ ``` . /opt/ros/dashing/setup.sh 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`). What works? -------- - Only tested with ROS2 Dashing - Simple publish/subscribe, see examples. 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 ? - Implement error handling and cleanup code.