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. Another benefit of basing the code entirely on the exported shared libraries is that the native c types are still there when you need to trade convenience for performance. E.g. for looking into a large array of image data you can still get a pointer to the raw message.

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 https://github.com/ros2-rust/ros2_rust?
• Implement error handling and cleanup code.