r2r/README.md

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.

Manual is available on github pages https://sequenceplanner.github.io/r2r/

How to use

1. Make sure you have libclang installed. (e.g. libclang-dev on ubuntu)
2. Depend on this package: r2r = { git = "https://github.com/sequenceplanner/r2r" }.
3. You need to source your ROS2 installation before building/running.
4. The bindings will rebuild automatically if/when you source your workspace(s).
5. If you make changes to existing message types, run cargo clean -p msg_gen to force recompilation of the rust message types on the next build.

A couple of examples are included in examples/

. /opt/ros/foxy/setup.sh
cargo build
cargo run --example subscriber_with_thread

An example application can be found here https://github.com/sequenceplanner/r2r-echo, which can be installed by running cargo install --git https://github.com/sequenceplanner/r2r-echo.

What works?

• Up to date with ROS2 ~Dashing~ ~Eloquent~ Foxy
• Building Rust types
• Publish/subscribe
• Services
• Parameters

TODO

• The code generation is currently just a big hack. Needs cleanup and refactoring.
• Expose more of the RCL like QoS settings.
• Action types?
• Async API!