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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. The convenience types can of course be ignored when you need to trade convenience for performance, e.g. treating large chunks of data manually.

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.