38 lines
1.7 KiB
Markdown
38 lines
1.7 KiB
Markdown
R2R - Minimal ROS2 Rust bindings
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====================
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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.
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Manual is available on github pages <https://sequenceplanner.github.io/r2r/>
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How to use
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--------------------
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1. Make sure you have libclang installed. (e.g. libclang-dev on ubuntu)
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2. Depend on this package: r2r = { git = "https://github.com/sequenceplanner/r2r" }.
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3. You need to source your ROS2 installation before building/running.
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4. The bindings will rebuild automatically if/when you source your workspace(s).
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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.
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A couple of examples are included in examples/
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```
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. /opt/ros/foxy/setup.sh
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cargo build
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cargo run --example subscriber_with_thread
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```
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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.
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What works?
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--------------------
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- Up to date with ROS2 ~Dashing~ ~Eloquent~ Foxy
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- Building Rust types
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- Publish/subscribe
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- Services
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- Parameters
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TODO
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--------------------
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- The code generation is currently just a big hack. Needs cleanup and refactoring.
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- Expose more of the RCL like QoS settings.
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- Action types?
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- Async API!
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