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.

How to use

1. Depend on this package: r2r = { git = "https://github.com/sequenceplanner/r2r" }.
2. You need to source your ROS2 installation before building/running.
3. The bindings will rebuild automatically if/when you source your workspace(s).
4. 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/eloquent/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
• Building Rust types
• Publish/subscribe
• Services (servers, not clients yet)

TODO

• The code generation is currently just a big hack. Needs cleanup and refactoring.
• Expose more of the RCL like QoS settings and logging.
• Services and action types...