Minimal ROS 2 Rust bindings

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Martin Dahl 8502a3a7d4 Arrays of Strings		2019-08-20 13:16:24 +02:00
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README.md

R2R - Minimal ROS2 Rust bindings

Minimal bindings for ROS2 that does not require hooking in to the ROS2 build infrastructure, in contrast to https://github.com/ros2-rust/ros2_rust. Message definitions are instead created by calling into the c introspection libraries to avoid the .msg/.idl pipeline.

How to use

You need to source your ros 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.

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.