Yet another ROS2 client library written in Rust

rclrust

Last update: Dec 1, 2022

Related tags

Overview

RclRust

Target	CI Status	Document
Foxy (Ubuntu 20.04)

Introduction

This is yet another ROS2 client library written in Rust.
I have implemented it independent of the ament or colcon. By using proc-macro to generate message-type and service-type code, crate dependency resolution can now be completed in cargo. This was inspired by rosrust.

Development environment

OS: Ubuntu 20.04
ROS2: Foxy
rustc: 1.54.0 (stable)

Supporting features

Code generation from .msg, .srv, .action
Loggers
Publishers/Subscriptions
Services/Clients
Timers
Parameters (without services)

TODO

Parameter services/clients
Actions
Multithread
Lifecycles
More
- Unit test
- Documentation
- Examples (especially with ament)
etc...

I'm not going to support

Components
- Is it necessary for Rust?

Examples

Prepare

$ git clone [email protected]:rclrust/rclrust.git
$ cd rclrust
$ cargo build

Pub/Sub

Publisher:

$ cargo run --examples publisher

Subscription

$ cargo run --examples subscription

For more examples, see https://github.com/rclrust/rclrust/tree/main/rclrust/examples.

Notice

The icon of RclRust was created by combinating and modifing the following materials.

ros.svg © ROS (Licensed under CC BY 4.0)
Gear-icon.png (Licensed under CC0 1.0)

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Comments

Fix parsing CRLF termnated service files

The service file parser panics on /opt/ros/foxy/share/udp_msgs/srv/UdpSend.srv from ros2 foxy. The UdpSend.srv file is \r\n terminated, causing the parse fails to find --- separator using regex. Before parsing, this patch replaces \r\n with \n in the service file.

opened by jerry73204 1