1.3 KiB
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.