Yet another ROS2 client library written in Rust

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)

The other ROS2 clients written in Rust

🦀 Zulip API Library Rust Client

Zulip API Client Library Rust Crate This repo contains the code for an unofficial, third-party Zulip API client library crate written in the Rust prog

3 Oct 23, 2022

librdkafka - the Apache Kafka C/C++ client library

6.4k Dec 31, 2022

Rust client for Pushover

Pushover RS Description It's a Rust client library you can use to interact with the Pushover messaging API. This client is unofficial and I'm in no wa

4 Dec 9, 2022

Feign-RS (Rest client of Rust)

9 Aug 12, 2022

A Rust client for the NOAA Weather Wire Service Open Interface.

nwws-oi A Rust client for the NOAA Weather Wire Service Open Interface. NWWS-OI is one of several platforms through which the National Weather Service

3 Sep 15, 2022

A simple external client made with rust

2 Mar 19, 2022

A fast & light weight Discord Client made with love using the Rust programming language.

LemonCord A fast & light-weight Discord Client written in Rust using the wry crate. Features Fast, light-weight, easy to use. 100% Open sourced. No su

5 Jan 30, 2023

A highly modular Bitcoin Lightning library written in Rust. Its Rust-Lightning, not Rusty's Lightning!

Rust-Lightning is a Bitcoin Lightning library written in Rust. The main crate, lightning, does not handle networking, persistence, or any other I/O. Thus, it is runtime-agnostic, but users must implement basic networking logic, chain interactions, and disk storage. More information is available in the About section.

850 Jan 3, 2023

A simple, external MCPE client. For learning purposes...

sage A simple, external MCPE client. For learning purposes... Current Cheats a VERY simple speed, it just edits the speed pointer TODO Clean-up code A

5 Sep 7, 2021

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